#WMIv8 (3 Jan 2026) [General/Model Discussions] model_drop

43 messages · Page 1 of 1 (latest)

queen ironBOT
gray vine
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I'm going to load this one up and try it. I like these newer WMI models.

lilac haven
regal tapir
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I’ll attach the E2E Long (experimental mode) graphs included in the pull request here for record-keeping.

desiredAcceleration_4c438f5.png
regal tapir
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I drove with WMI model v8 (0e0f6dd2-96dc-4f34-a7cd-63bccc2f5616) for about an hour on the same roads I used to test WMI v7, during a clear daytime drive.

In experimental mode, the E2E longitudinal performance felt very similar to v7, with appropriate and natural acceleration and deceleration. After resetting calibration, the first ~10 minutes showed some ping-pong–like behavior in longitudinal control, but this gradually disappeared after about 10 minutes. It feels like the device is adjusting itself online, which is honestly very impressive technology.

Regarding lateral control, stability has improved compared to v7. It almost feels like v8 includes tuning specifically aimed at improving lateral performance.

I was planning to make WMI v7 my daily driver, but after this drive, I think WMI v8 will be my new daily driver instead.

regal tapir
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Explanation for the diagram above:
The thick black lines represent a raised center curb/median.
On roads like this, where the position of the center median has gaps or offsets on the left and right sides, WMI v7 would typically continue straight and then make a late trajectory correction to avoid hitting the curb.
With WMI v8, the behavior is noticeably different. The model appears to anticipate the offset in the center median and select a safer path from the beginning, resulting in a smoother and more confident trajectory without last-moment corrections.
This predictive path selection is the main reason I feel WMI v8 shows a clear lateral performance improvement over v7.

Screenshot_2026-01-04-14-51-39-83_40deb401b9ffe8e1df2f1cc5ba480b12.jpg Screenshot_2026-01-04-14-52-03-41_40deb401b9ffe8e1df2f1cc5ba480b12.jpg
modest epoch
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This is the best model. Full exp on Tucson 25. Wow.

sonic helm
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yeah I'm liking this one so far

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exp very usable on highways

sleek sundial
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only drove with this one briefly, but lateral control on my angle steering car felt just okay. could have done better at centering within the lane. also, it exhibited some odd behavior with 90° turns, seemingly not picking up turn desires as well as i typically expect and flip-flopping on whether it’s actually gonna try to turn. not sure how model-dependent this functionality is. When it handled turns correctly, it didn’t really seem to line up left turns as nicely as some other recent models

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lane changes were nice though. planplus v2 is probably still my favorite because it does really well at centering in the lane, especially in places with more narrow lanes.

wraith root
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I liked both its chill and experimental

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and it’s good for low speed

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maybe finally a FPCM replacement

lofty willow
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Sorry if this is a dumb question, but how does one go about installing this model? I'm not seeing it appear in the list of driving models to choose from 🤔

short tulip
modest epoch
sly dew
hollow garnet
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ooo I'll try omw home from work

sage sluice
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Experimental has been crazy on these new models. Finally useable for me. Stopped at 3/4 stop signs on my way home. Red light detection getting there too

hollow garnet
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This one is so close to almost being usable in complete exp mode.
I can see it's trying and of the WMI models, this is the best, but it still feels like it's just a tad too sloppy in the lane, and doesn't consistently go/stop at signs and lights

teal trail
mellow juniper
regal tapir
gentle aspen
mellow juniper
modest epoch
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One thing, this model kind of goes too much towards the lane in curves. It starts the curve great, but then goes too far towards the center of the road. Is there a way to correct it?

sly dew
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no wonder

image.png
hollow garnet
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Id also be interested to see if David's torque changes make this any better? Though I'd have to go back to stock bc chubbs cherry picked that one out

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my Lexus NX with that tune on dark souls ping ponged like crazy though

sonic helm
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y'all still on WMIv8?

modest epoch
modest epoch
# sonic helm

I haven’t seen fast unwinds like this since SP Vikander!

sly dew
jagged maple
quasi cedar
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My kia k4 on exp mode doesn't really accelerate Does anyone know how to fix it?

short tulip
sly dew
sly dew
regal tapir
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I enjoyed another few hours of driving today with WMI v8 (0e0f6dd2-96dc-4f34-a7cd-63bccc2f5616) in experimental mode.
Aside from the frequent issue of not reliably stopping at stop signs or traffic lights, it’s an excellent model and very enjoyable to drive.

oak surge
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This model has been the most solid for me of the newer world models on My 2025 Ioniq 6. Both long and lat is solid. No oscillations like v12 at higher speeds. Low speed turns could be better about not drifting into the lanes like the GWM series but I like it 🙂