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relax policy ASSERT_MIN_STEP_TIME to 3.2 (#16273)

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chenyu 2026-05-19 22:29:09 -04:00 • committed by GitHub
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2 changed files with 3 additions and 3 deletions
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4
.github/workflows/benchmark.yml vendored
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@ -625,7 +625,7 @@ jobs:
- name: IR3 openpilot compile3 0.11.0 driving_vision
run: BENCHMARK_LOG=ir3_openpilot_0_11_0_vision PYTHONPATH="." ASSERT_MIN_STEP_TIME=17 DEV=QCOM:IR3 FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.11.0/selfdrive/modeld/models/driving_vision.onnx
- name: openpilot compile3 0.11.0 driving_policy
run: BENCHMARK_LOG=openpilot_0_11_0_policy PYTHONPATH="." ASSERT_MIN_STEP_TIME=3 DEV=QCOM FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.11.0/selfdrive/modeld/models/driving_policy.onnx
run: BENCHMARK_LOG=openpilot_0_11_0_policy PYTHONPATH="." ASSERT_MIN_STEP_TIME=3.2 DEV=QCOM FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.11.0/selfdrive/modeld/models/driving_policy.onnx
- name: openpilot compile3 0.11.0 dmonitoring
run: BENCHMARK_LOG=openpilot_0_11_0_dmonitoring PYTHONPATH="." ASSERT_MIN_STEP_TIME=11 DEV=QCOM FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/v0.11.0/selfdrive/modeld/models/dmonitoring_model.onnx
- name: DEBUG=2 openpilot compile3 0.10.1 driving_vision
@ -633,7 +633,7 @@ jobs:
- name: openpilot compile3 0.10.1 driving_vision
run: BENCHMARK_LOG=openpilot_0_10_1_vision PYTHONPATH="." ASSERT_MIN_STEP_TIME=17 DEV=QCOM FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/720392c9a5b986981fdbed1bb8c47a6c5573a50e/selfdrive/modeld/models/driving_vision.onnx
- name: openpilot compile3 0.10.1 driving_policy
run: BENCHMARK_LOG=openpilot_0_10_1_policy PYTHONPATH="." ASSERT_MIN_STEP_TIME=3 DEV=QCOM FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/720392c9a5b986981fdbed1bb8c47a6c5573a50e/selfdrive/modeld/models/driving_policy.onnx
run: BENCHMARK_LOG=openpilot_0_10_1_policy PYTHONPATH="." ASSERT_MIN_STEP_TIME=3.2 DEV=QCOM FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/720392c9a5b986981fdbed1bb8c47a6c5573a50e/selfdrive/modeld/models/driving_policy.onnx
- name: openpilot compile3 0.10.1 dmonitoring
run: BENCHMARK_LOG=openpilot_0_10_1_dmonitoring PYTHONPATH="." ASSERT_MIN_STEP_TIME=11 DEV=QCOM FLOAT16=1 IMAGE=1 NOLOCALS=1 taskset -c 4-7 python3 examples/openpilot/compile3.py https://github.com/commaai/openpilot/raw/720392c9a5b986981fdbed1bb8c47a6c5573a50e/selfdrive/modeld/models/dmonitoring_model.onnx
- name: benchmark MobileNetV2 on DSP

2
examples/openpilot/compile3.py
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@ -87,7 +87,7 @@ def test_vs_compile(run, inputs, test_val=None):
step_times.append((et-st)*1e3)
print(f"enqueue {(mt-st)*1e3:6.2f} ms -- total run {step_times[-1]:6.2f} ms")
if (assert_time:=getenv("ASSERT_MIN_STEP_TIME")):
if (assert_time:=getenv("ASSERT_MIN_STEP_TIME", 0.0)):
min_time = min(step_times)
assert min_time < assert_time, f"Speed regression, expected min step time of < {assert_time} ms but took: {min_time} ms"