Do not delay challenge agent by sensor send time.

erdos-project · Apr 11, 2021 · 388d4f7 · 388d4f7
1 parent 5d3287c
commit 388d4f7
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/pylot/perception/detection/efficientdet_operator.py b/pylot/perception/detection/efficientdet_operator.py
@@ -118,6 +118,11 @@ def _pick_model(self, ttd: float):
                     ('efficientdet-d5', 158), ('efficientdet-d4', 105),
                     ('efficientdet-d3', 77), ('efficientdet-d2', 59),
                     ('efficientdet-d1', 55)]
+        # # 99th percentile runitme on V100
+        # runtimes = [('efficientdet-d7', 238), ('efficientdet-d6', None),
+        #             ('efficientdet-d5', None), ('efficientdet-d4', 98),
+        #             ('efficientdet-d3', None), ('efficientdet-d2', None),
+        #             ('efficientdet-d1', 56)]
         # Runtimes from EfficientDet paper.
         # runtimes = [('efficientdet-d6', 190), ('efficientdet-d5', 141),
         #             ('efficientdet-d4', 74), ('efficientdet-d3', 42),

diff --git a/pylot/simulation/challenge/ERDOSAgent.py b/pylot/simulation/challenge/ERDOSAgent.py
@@ -170,7 +170,7 @@ def run_step(self, input_data, timestamp):
         if FLAGS.simulator_mode == 'synchronous':
             return command
         elif FLAGS.simulator_mode == 'pseudo-asynchronous':
-            return command, int(e2e_runtime)
+            return command, int(e2e_runtime - sensor_send_runtime)
         else:
             raise ValueError('Unexpected simulator_mode {}'.format(
                 FLAGS.simulator_mode))