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modeld: group npy -> qcom copies to avoid graph breaks#37866

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Armandpl merged 3 commits intomasterfrom
modeld-speedup
Apr 21, 2026
Merged

modeld: group npy -> qcom copies to avoid graph breaks#37866
Armandpl merged 3 commits intomasterfrom
modeld-speedup

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@Armandpl Armandpl commented Apr 21, 2026 •
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=== 902b702d5f3cabf8/00000003--2cfecd006b ===
gitBranch: release-mici (a1af07d967be163b06eecbd39fd56fd4dc8a8366)
field                            active mean(ms)  min(ms)  max(ms)  count
modelV2.modelExecutionTime            0    28.13    24.92   181.75  18818
modelV2.modelExecutionTime            1    30.77    26.38    33.20   3200
driverStateV2.gpuExecutionTime        0    13.29    11.99   737.59  18799
driverStateV2.gpuExecutionTime        1    14.82    12.45    17.12   3202

=== 902b702d5f3cabf8/0000000e--c1303f84a0 ===
gitBranch: master (4988a62b310b536fb5336c35151eb2df56e37d97)
field                            active mean(ms)  min(ms)  max(ms)  count
modelV2.modelExecutionTime            0    24.51    22.65    29.47   6995
modelV2.modelExecutionTime            1    25.40    22.73    30.34   3934
driverStateV2.gpuExecutionTime        0    18.80    16.08   114.83   6987
driverStateV2.gpuExecutionTime        1    18.90    16.30    27.96   3933

=== 902b702d5f3cabf8/0000000a--12974a33b2 ===
gitBranch: modeld-speedup (90ac75d52b764b6295b29da22c7b2f2f5cda3868)
field                            active mean(ms)  min(ms)  max(ms)  count
modelV2.modelExecutionTime            0    23.73    22.16    29.16   8795
modelV2.modelExecutionTime            1    24.59    21.84    27.61   3271
driverStateV2.gpuExecutionTime        0    17.66    15.82   113.53   8781
driverStateV2.gpuExecutionTime        1    18.56    16.03    23.76   3270

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github-actions Bot commented Apr 21, 2026 •
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Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

✅ 0 changed, 66 passed, 0 errors

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commaci-public commented Apr 21, 2026 •
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ref for commit 90ac75d: https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/model_replay_modeld-speedup/8494c69d3c710e81|000001d4--2648a9a404_model_tici_90ac75d52b764b6295b29da22c7b2f2f5cda3868.zst

All Model Replay Plots

@Armandpl Armandpl marked this pull request as ready for review April 21, 2026 01:41
@Armandpl Armandpl merged commit 859bd21 into master Apr 21, 2026
19 checks passed
@Armandpl Armandpl deleted the modeld-speedup branch April 21, 2026 20:50
karelnagel pushed a commit to asiusai/openpilot that referenced this pull request Apr 23, 2026
@Armandpl @karelnagel
modeld: group npy -> qcom copies to avoid graph breaks (commaai#37866)
d6807f8 
* modeld: group npy -> qcom copies to avoid graph breaks

* batch realize

* dm as well
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@Armandpl @commaci-public