GM: Volt NanoFF

[nworb-cire]

Description

Adds a neural controller for Volt à la Bolt. See discussion here.

Verification

NLL is -1.71 on a 5-fold CV. θ parameter ("uncertainty") output values on the domain of interest seem sensible and close to those output by the Bolt controller on a similar dataset. A -1.73 can be squeezed out by changing the hidden layer sizes but that difference is small enough that I opted just to keep the same hidden layer sizes as the Bolt network.

[github-actions[bot]]

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[nworb-cire]

Marking as WIP until ML controls sim v2 exists to validate this

[sshane]

We've moved the car interfacing code to our opendbc repository, which is now the new home for car ports and fingerprints. Please re-open your pull request against opendbc at your convenience by using this command below. This will transform all changes under selfdrive/car/ to opendbc_repo/opendbc/car/. Make sure you have initialized submodules beforehand and have checked out the latest opendbc commit.

PR_NUMBER=33045
curl -L https://github.com/commaai/openpilot/pull/$PR_NUMBER.patch | sed -e 's/selfdrive\/car/opendbc_repo\/opendbc\/car/g' | git apply -v --reject

Simply replace the PR number with your own. Once done, add the files, fix any conflicts, and open a new PR. Alternatively, you may start a new PR from scratch if that is easier for you.