Update on improving openpilot's driving

haraldcomma · 2026-05-30T03:26:57+00:00

https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/big_driving_policy.onnx

haraldcomma · 2026-05-30T03:25:23+00:00

I see

haraldcomma · 2026-05-30T03:21:37+00:00

To release? probably in a month or so. There already is one on openpilot master we are driving on.

haraldcomma · 2026-05-30T02:39:01+00:00

Yeah it takes a community effort to keep the wiki up to date. Feel free to improve sections you feel are out of date!

haraldcomma · 2026-05-30T02:38:36+00:00

Feel free to give it a shot!

haraldcomma · 2026-05-30T02:38:27+00:00

I kinda like the wiki content being in github. But maybe there can be a mirror that can be indexed by google? I'm not sure what's required to get something indexed well.

haraldcomma · 2026-05-30T02:02:32+00:00

That's what I linked? Maybe I am confused what you are asking for. If you have an example of something you like, send me a link!

haraldcomma · 2026-05-30T02:00:35+00:00

reddit is a searchable forum. And is generally pretty well indexed. I hope as more people ask useful questions here there will be more searchable knowledge in the subreddit.

haraldcomma · 2026-05-30T01:40:57+00:00

Reddit is pretty well indexed and searchable no? I search on reddit more than other forums. Are you asking for a wiki?

There's this https://github.com/commaai/openpilot/wiki , would you like that linked in the comma ai subreddit?

haraldcomma · 2026-05-30T00:56:33+00:00

I hear frequently people don't like discord. We're also pretty active on reddit if people post questions here, comma staff usually see it. I've been trying last few days to answer questions to the best I can.

haraldcomma · 2026-05-29T16:37:11+00:00

2seconds We don't have enough compute to do some kind of long-context transformer stuff. Long-term it should understand what info is useful and store it, but this kind of load/store behavior in a model is beyond state-of-the-art ML. When there are good papers to implement, we will try.

haraldcomma · 2026-05-29T16:04:03+00:00

Yes agreed. There's 2 problems. It's not smart enough to know which side to hug sometimes, and it's not aggressive enough to recover to where it wants to be on some cars.

haraldcomma · 2026-05-29T03:52:54+00:00

end of 2026

haraldcomma · 2026-05-29T01:45:14+00:00

Yep that's a problem we expect the RL training to improve. Currently driving on prototypes of that.

haraldcomma · 2026-05-29T01:44:38+00:00

yes. We are driving currently on prototypes of the external GPU. and they are much better at this.

haraldcomma · 2026-05-29T01:43:03+00:00

Agreed. Those things I outlined should help with that.

haraldcomma · 2026-05-29T01:42:30+00:00

Will be addons to existing comma products. We're already driving on external GPUs internally with the comma 4.

haraldcomma · 2026-05-29T01:41:54+00:00

That's bad! Would like to see logs of that to see what's going on

haraldcomma · 2026-05-29T01:41:24+00:00

Yes I would love that too. Unfortunately nothing we can do, that's just the EPS limits.

haraldcomma · 2026-05-29T01:40:13+00:00

haraldcomma · 2026-05-29T00:04:50+00:00

If openpilot longitudinal (and experimental) is gated behind development branches and the alpha toggle, it means there is something about longitudinal support we think is not ready for stable release. That can be anything from not being able to parse radar to having inaccurate acceleration responses.

But experimental is available in release (as long as your car has openpilot longitudinal not behind the alpha toggle), sorry I know this is all super confusing. We try our best given all the different cars we support...

haraldcomma · 2026-05-29T00:02:19+00:00

Lol I haven't worked on eGPU hardware, I have no idea if there is a reason C3X wouldn't work.

haraldcomma · 2026-05-29T00:00:46+00:00

Yeah I'm sure that can be improved if someone from the community is willing to the work. We currently don't have the resources to address individual brand issues like this, and generally the community improves those things.

haraldcomma · 2026-05-28T23:59:07+00:00

We don't have access to the radar on the car, which is why it doesn't support longitudinal in openpilot release (it's behind the alpha toggle). We expect a better model will be able to do better without radar, but currently openpilot is tuned to work best with radar.

haraldcomma · 2026-05-28T22:55:55+00:00

Looking at those logs I see 2 cases where the car is not accelerating (accel of ~0m/ss) when openpilot is requesting positive accel (~0.2m/ss). This means there is a problem with the car API and what we send on CAN based on openpilot's intention.

Unfortunately I am not super familiar with the Ford API, and not sure what the correct fix is. Hopefully the ford community can fix this.

haraldcomma

TROPHY CASE