Driving Models

Models are machine learning made models that openpilot uses to control your car. They aren't perfect and sometimes there's hardcoded-logic to workaround issues in them in the codebase.

Models are given nicknames.

List assembled by @FrogAi and other contributors from various comma and community comments. Source post on Frogpilot discord.

https://discord.com/channels/1137853399715549214/1198495371261919382/1198495371261919382

Reformatted and Pasted here for Google Indexing (via https://github-wiki-see.page/).

---

Joint Model:

• Released: May 16th, 2022
• Reverted 2 days later

Hugging Begone:

• Released: May 24th, 2022
• Summary: Better laneless

Rocket League:

• Released: June 15th, 2022
• Acronym: RL
• Summary: First trained in sim
• Reverted 6 days later

Falcon Punch:

• Released: August 12th, 2022
• Acronym: FP
• Summary: Turn cutting improvements
• Merged a few iterations from August 5th to August 12th

Nuclear Grade:

• Released: August 25th, 2022
• Acronym: NG
• Summary: Less memory, more accuracy

Rocket Launcher:

• Released: October 6th, 2022
• Summary: New lateral planner

Nuclear Grade Rocket Launcher:

• Released: October 7th, 2022
• Summary: Faster Rocket Launcher model

DH:

• Released: October 15th, 2022
• Summary: No klblock

Wide Transform:

• Released: October 21st, 2022

Long Noise:

• Released: October 26th, 2022

BAE:

• Released: October 31st, 2022
• Summary: Headlight augmentation

Albert Einstein:

• Released: November 18th, 2022
• Acronym: AE
• Reverted 4 days later

Weight Decay:

• Released: January 26th, 2023
• Acronym: WD (Weight Decay)
• Summary: Fixed weight decay logic

New Neural Pose:

• Released: Feb 9th, 2023
• Summary: Improved height estimation

2023 Driving:

• Released: March 22nd, 2023
• Summary: Trained on new dataset

Augmented Turn:

• Released: May 1st, 2023
• Summary: Augmented turn desire pulses

Nicki Minaj:

• Released: May 22nd, 2023
• Acronym: NM (Nav Model)
• Summary: The OG bae model. Great lateral and longitudinal

Hot Coffee:

• Released: June 2nd, 2023
• Acronym: HC (Height Calibration)
• Summary: Crosses intersection stop lines and is a bit too antsy at red lights

Nicolas Cage:

• Released: June 16th, 2023
• Acronym: NC (No Comma Dongles)
• Summary: Likes to cut corners and same issues as "Hot Coffee"

MoonRise:

• Released: June 30th, 2023
• Acronym: MR (Map Reconstruction)
• Summary: Detects red lights sooner and smoother and fixes issues with NC

Non-Inflatable:

• Released: August 9th, 2023
• Acronym: NI (Navigation Instructions)
• Summary: "MoonRise" with improved navigation instructions

Optimus Prime:

• Released: September 21st, 2023
• Acronym: OP (First model to use transformers)
• Summary: Likes to double change lanes but holds a "normal" speed better

Night Strike:

• Released: October 3rd, 2023
• Acronym: NS (No Stop Lines)
• Summary: Fixes the double change lane issue. Overall a minor progression over OP

New Lemon Pie:

• Released: November 2nd, 2023
• Acronym: NLP (No Lateral Planner)
• Summary: comma's first model since laneless to remove a handful of lateral code and integrate it directly into the model. Comes with much improved lateral control

FarmVille:

• Released: November 7th, 2023
• Acronym: FV (FastViT)
• Summary: Much improved longitudinal control. Detects stop lights and lead vehicles much sooner

Blue Diamond:

• Released: December 12th, 2023
• Acronym: BD (Big Dataset)
• Summary: Improved lateral controls with some minor regressions in regards to lane hugging

New Delhi:

• Released: January 2nd, 2024
• Acronym: ND (Nav Data)
• Summary: Improved lateral controls with some minor regressions in regards to lane cutting in curves

Los Angeles:

• Released: January 22nd, 2024
• Acronym: LA (Lateral Actions)
• Summary: comma removed more lateral code and integrated it directly into the model. Comes with improved lateral control as well as left and right turns

Quarter Pounder Deluxe:

• Revealed: January 25th, 2024
• Acronym: QPD (?)
• https://github.com/commaai/openpilot/pull/31170
• Summary: Driver model update

Certified Herbalist:

• Released: February 3rd, 2024
• Reverted: February 8rd, 2024
• Version 2 PR'd: February 13th, 2024
• Acronym: CH (Curvature History?)
• Merge: https://github.com/commaai/openpilot/pull/31294
• Revert: https://github.com/commaai/openpilot/pull/31382
• Version 2: https://github.com/commaai/openpilot/pull/31425
• Related PR that v2 was later rebased upon: https://github.com/commaai/openpilot/pull/31495 (Past versions of this model had iffy behavior without a padding fix)
• Summary: Uses previous commanded curvature as an input. So it should be a little more smooth and accurate. Seems to take turns better, seems to perform better on less clear roads. Reverted to due to reports of unwanted lane change/controls stoppage bug. New version put out, fix success TBD.