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Browse the most complete community-maintained list of openpilot driving models from comma.ai and sunnypilot. Compare 89+ models — WMI V12, OP Model 10, Dark Souls, Tomb Raider, Off-Policy, Down to Ride and more — with community ratings, release dates, steering feel, and lane behavior. Visualize each model’s driving personality in real time. Updated regularly with the latest end-to-end (E2E) releases.
WMI V12, V11, V10, SC Model, Macrostiff
These are the cutting edge. 'WMI' likely stands for 'World Model Iteration.' These models use the latest End-to-End (E2E) architecture, meaning they 'see' the world more like a human. They understand 3D scenes, stop signs, intersections, and road edges - not just painted lines. WMI V12 is the current flagship. It's the smartest at complex urban scenarios but can feel slightly 'loose' on straight highways because it's constantly micro-adjusting like a human driver would. If you drive mostly city streets with stop signs and turns, this is your series.
Best: Daily driving in 2026. They balance smoothness with intelligence.
Dark Souls Model, Dark Souls v2, Firehose
High-performance, high-attention. Dark Souls is named because it's 'unforgiving' or 'hardcore.' Expect tighter following distances, faster acceleration, and sharper turns. It drives like a human who is in a hurry but still safe. Great for heavy trucks (F-150s, Sierras) that need authoritative inputs to move their mass. The Firehose model is the raw, unfiltered developer feed from comma.ai's State-of-the-Art (SOTA) training runs. It represents the absolute 'bleeding edge' of model development, updating almost daily as new data is ingested from the global fleet.
Best: Heavy traffic commuters (Dark Souls) or adventurous testers (Firehose).
Down to Ride (DTR), Space Lab, Kumars Vibe
Relaxed and passenger-friendly. Down to Ride (DTR) is famous for being 'wife-approved.' It prioritizes gentle braking and slow turns over perfect lane centering. Kumars Vibe is custom-tuned for a specific car setup but became popular because it removes the 'robotic' feel - very natural steering transitions. These models are perfect for road trips where passengers might get motion sick from abrupt steering corrections.
Best: Road trips with family or passengers who get motion sick.
Tomb Raider 16, 15, 14, Le Tomb Raider
These are experimental training runs. Despite the name, some are hidden gems! Tomb Raider 16 (Trash Folder 16) was a community favorite for a long time due to its unique handling of highway curves. It felt like driving 'on rails.' These models often have quirks but can surprise you with excellent performance in specific scenarios. Worth trying if you drive curvy roads.
Best: Adventurous users looking for unique driving characteristics.
Recertified Herbalist, North Dakota, Blue Diamond
The 'Old Guard.' These models are from 2023-2024. They are less 'smart' (bad at stop signs) but incredible at highway lane keeping. Recertified Herbalist is the 'Gold Standard' of stability. North Dakota is famous for its STIFF steering - it hugs the center of the lane and refuses to move. WD40 'lubricated' this stiffness for smoother inputs. Blue Diamond excels in rain and poor lane markings. These are the 'Toyota Camry' of models - boring, reliable, and rock solid.
Best: Highway-focused driving with rock-solid lane centering.
OP Model 10 v3 (latest), OP Model 10 v2/v1, OP Model 7-9, Off-Policy Model v1-v5
These models use off-policy training — they learn from moments where the model's behavior differed from the human driver's corrections, rather than just cloning driving behavior. This allows them to learn more effectively from edge cases. They show improved highway centering and quicker lateral recentering compared to standard WMI models, though longitudinal control is still being refined.
Best: Highway-focused driving with improved lane centering.
Browse the complete collection of driving models.
Common questions about comma.ai openpilot, sunnypilot, and the model picker.
openpilot driving models are the neural networks at the heart of openpilot — the open-source advanced driver assistance system from comma.ai. Each model is trained on millions of miles of real-world driving data and is responsible for predicting steering, lane positioning, and longitudinal control. Different models have distinct personalities — some hug the center of the lane, some cut the apex on curves, and others prioritize passenger comfort.
There is no single "best" openpilot model — the right pick depends on your car and how you drive. WMI V12 is the flagship for daily driving in 2026, OP Model 10 v3 is the current Off-Policy recommendation, Down to Ride v6 is the comfort favorite, Dark Souls v2 suits trucks and SUVs, and Recertified Herbalist remains the gold standard for highway stability. Use the comparison grid above to filter by tag, score, and steering feel.
Most stock driving models ship with openpilot from comma.ai, and sunnypilot — the popular community fork — bundles many of them plus additional community-tuned and experimental variants distributed through Sunnylink. This wiki tracks both pipelines: official comma.ai releases, sunnypilot custom builds, and community models like TCPmV3 (The Cool Peoples Model).
WMI stands for World Model Iteration. The WMI series (V10, V11, V12) uses comma.ai's end-to-end (E2E) architecture, which "sees" the world more like a human driver — understanding 3D scenes, stop signs, intersections, and road edges instead of just painted lane lines. WMI V12 is the current flagship and is the recommended starting point for most drivers.
End-to-end (E2E) models are neural networks trained to map raw camera input directly to driving commands, rather than relying on hand-tuned perception → planning → control pipelines. The result is more human-like behavior in complex urban scenarios — stop signs, intersections, lane merges — at the cost of feeling slightly less rigid on straight highways. The WMI series and most 2025/2026 comma.ai releases are E2E.
Comma.ai pushes new openpilot driving models on a roughly weekly cadence through their Firehose / SOTA training pipeline. Sunnypilot then ships stabilized cuts to Sunnylink users along with community-tuned variants. This database is updated as new models land — last refreshed 2026-04-19.
They share the same underlying model architecture, but sunnypilot exposes far more of them through the Sunnylink model picker — including experimental, community-tuned, and legacy models that comma.ai no longer ships by default (like Blue Diamond or Recertified Herbalist). If you run sunnypilot you can switch between dozens of models live; on stock openpilot you typically get whatever ships with the release.
Lane bias usually comes from a mismatch between the model's training data and your specific camera mount. The standard fix is to adjust the Camera Offset in Sunnylink settings — typically +0.05 to +0.10 for left-hugging models. The model details on each card above call out known left/right hug issues so you know what to expect before you flash.