Op model16#38069
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Split the driving model into vision + off_policy + on_policy ONNX files and wire up the RL policy: - 3-file model split (vision / off_policy / on_policy), replacing the combined big_driving_policy/vision models - compiler updates for the split models - actually consume the policy action in modeld - add desire state to the driving model - model iterations (smoothness, off/on-policy weight updates)
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Process replay diff reportReplays driving segments through this PR and compares the behavior to master. ✅ 0 changed, 66 passed, 0 errors |
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ref for commit 316c8cc: https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/model_replay_op_model16/8494c69d3c710e81|000001d4--2648a9a404_model_tici_316c8ccf70dc4fa0167fa25dea6f2a16caa92684.zst Model Replay Differences
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