carrot/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A030x00x00'.json
FrogAi 5589bead02 Controls - Lateral Tuning - NNFF
Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.

Credit goes to Twilsonco!

https: //github.com/twilsonco
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
2024-06-01 02:34:40 -07:00

1 line
4.3 KiB
JSON
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

{"input_std":[[7.786729],[0.5672887],[0.28005219],[0.035554193],[0.5677058],[0.56628585],[0.56508285],[0.55352837],[0.54181147],[0.52912265],[0.5155199],[0.035507876],[0.0354848],[0.03545452],[0.03514088],[0.03492326],[0.034622278],[0.034296613]],"model_test_loss":0.019161002710461617,"input_size":18,"current_date_and_time":"2023-08-05_00-23-35","input_mean":[[27.090303],[0.047497954],[0.016577758],[0.0007272725],[0.044373695],[0.045599286],[0.046824276],[0.053295966],[0.05693411],[0.058819015],[0.0594564],[0.0004213227],[0.0004913575],[0.00056855136],[0.0008395286],[0.0009874002],[0.0010656398],[0.0010756186]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[0.25851473],[2.4962583],[-0.016582556],[-0.08381792],[-0.16407841],[0.7527331],[0.22097391]],"dense_1_W":[[0.23336808,-0.7667592,0.0008973085,0.34888005,0.4696916,-0.8726721,-0.052713018,-0.3410398,0.083063185,-0.21388897,0.14544983,-0.6639639,0.34076384,0.43210688,-0.18405053,0.14303815,0.1860583,-0.29693],[1.5149847,0.7346798,0.0012407255,0.12526828,-0.15258078,0.75175434,0.43043575,0.8569343,0.3044722,0.6560543,-0.6017985,0.586774,-0.2042676,-0.57615256,-0.82250106,-0.3673933,0.39087212,0.28107244],[-0.056961607,0.14175236,-0.14529344,-0.21935074,-0.4685559,-0.38604775,-0.30533233,0.08093428,-0.054244533,0.046247467,0.002660106,-1.0756555,-0.34733522,0.5118129,0.555274,0.9977485,0.5343106,0.76034987],[0.043177918,1.1426508,-0.2574032,-0.80439544,-1.0474149,0.018192194,-0.72060835,-1.5457815,0.4839822,-0.22740847,0.33749956,0.56239605,-0.18597472,-0.7004514,-0.12335018,0.9408467,1.3969381,1.9147022],[0.15510105,-0.51416093,-0.1709066,0.3122005,-0.27975515,-0.18827502,-0.018079426,-0.07361344,-0.17749901,-0.16815776,0.329771,-0.96269935,-0.41497013,-0.11298405,0.90808386,0.5985053,0.6670271,1.0441304],[0.04084261,-0.3579519,5.764384,2.1556206,-3.1756268,-2.5591285,-3.1059926,-2.1751692,1.9893773,5.344765,3.8095784,0.0068162596,-0.05961051,-0.7790495,0.25181335,0.08936475,-0.4691672,-1.5800782],[0.008442975,-0.9664588,1.254223,0.07495671,-0.9211808,-0.31230834,-1.420559,1.5870605,2.9423354,1.2097238,-1.5209136,0.53799206,-0.24978906,-0.4991973,-0.045118414,0.22720768,-0.021786746,-0.028036244]],"activation":"σ"},{"dense_2_W":[[0.08589389,0.5554316,-0.76533294,1.4370406,-0.749679,0.8190772,0.7847909],[-0.36651522,-0.23656718,-0.9679525,0.54530346,-0.44935027,-0.33107117,-0.11653592],[0.1937388,-0.51963365,-0.41821185,-0.56238693,-0.42072704,0.29349342,0.28873855],[0.18568017,-0.6255592,0.3175428,-0.1296441,0.36066276,0.090375744,0.011777949],[0.29389882,0.41541627,0.29456857,-0.06099775,0.8544443,-0.32980224,-0.018656367],[0.46638128,1.1828619,-1.0409766,1.1076639,-0.8162737,-0.1841819,0.35339093],[-3.1295595,-1.7625448,-0.9519052,2.3819635,-1.5629697,1.4751475,1.054407],[-0.26031867,-0.17098531,-0.86596596,-0.2823039,-0.09237936,-0.5557033,0.21093917],[0.17419276,-0.33989495,0.75525665,-0.23243514,0.067577615,-0.11459458,-0.12737218],[-0.5143146,-0.114794,-0.48588708,0.014262976,-0.3147008,-0.3320594,-0.050031766],[0.69564664,-0.20285861,-0.045860726,-0.24353331,-0.077484764,-0.48740336,-0.49667886],[-0.73832846,-0.056390353,-1.1750503,0.9696539,-0.14256468,-0.9768354,0.3639443],[-0.33827624,1.3389958,-0.90204453,1.2786052,-0.37693223,1.0066575,0.7839061]],"activation":"σ","dense_2_b":[[0.004400438],[-0.012242325],[-0.24042149],[-0.2775402],[0.026533086],[0.17362237],[-0.11018203],[-0.26839134],[-0.012196942],[-0.27722296],[0.061678015],[-0.030844057],[-0.1247429]]},{"dense_3_W":[[-0.004011368,0.44971785,-0.29006478,0.44446334,0.15595631,0.18539023,-0.027091525,-0.36382222,-0.47578183,0.3841759,-0.58085823,0.21311298,0.43156254],[-0.114403516,-0.58336,-0.15005592,0.4984802,0.050974183,-0.2988934,0.17598677,-0.38844588,-0.43446323,-0.46759152,0.59965366,-0.22926027,0.46112597],[-0.666863,-0.06357686,-0.37007764,0.7205996,0.7096061,-0.1758518,-0.8103027,-0.44219843,0.7200449,0.5289802,-0.16617142,-0.40598816,0.00529661]],"activation":"identity","dense_3_b":[[-0.09627088],[0.058493696],[0.09405641]]},{"dense_4_W":[[0.8841606,-0.039429788,-0.82832056]],"dense_4_b":[[-0.09594059]],"activation":"identity"}]}