
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>
1 line
4.3 KiB
JSON
1 line
4.3 KiB
JSON
{"input_std":[[6.2238107],[1.0999861],[1.0237216],[0.030917104],[1.080883],[1.0892287],[1.0964848],[1.1095481],[1.1338676],[1.1659034],[1.1904993],[0.030738631],[0.030799534],[0.030840192],[0.03083153],[0.030916432],[0.030958567],[0.030870512]],"model_test_loss":0.005206789821386337,"input_size":18,"current_date_and_time":"2024-01-01_11-57-26","input_mean":[[24.24529],[0.05756154],[-0.0632731],[0.017583841],[0.055327304],[0.056597605],[0.055859726],[0.048662726],[0.0441032],[0.03953916],[0.042345066],[0.017708333],[0.017739309],[0.017785635],[0.017786268],[0.017895006],[0.018378546],[0.018828021]],"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":[[-0.16820902],[-0.28944993],[-0.16393247],[-0.053279888],[-0.012089822],[0.012318582],[-0.5326491]],"dense_1_W":[[0.01872466,-1.7726777,-0.14715043,-0.06254717,0.59121245,0.25485656,0.2582899,-0.43850252,0.123881124,0.21368086,-0.07392716,0.06369132,-0.12885395,-0.3349539,0.7058049,-0.1757423,-0.23110208,0.06885686],[0.7504311,-1.0000833,0.059666507,-0.013051193,0.13366099,0.07964775,0.84536976,-0.26316133,0.10797566,-0.08307639,0.115354225,-0.2783794,0.089669146,0.33560428,0.14797588,-0.09421214,0.0073674065,0.097703695],[-0.00849719,0.19328685,-0.21948425,0.28126544,0.031722806,-0.4100128,-0.043525305,0.095694095,-0.3163801,-0.21333033,0.35091814,-0.10713364,0.0319874,-0.18664022,0.08229352,0.22193079,-0.30003503,0.06740155],[-0.0063940436,-1.1138557,-2.798626,0.37131056,1.2587882,1.4496193,-0.01104526,-0.507762,-0.69043106,-0.22014697,-0.19669324,-0.5165185,-0.07978534,-0.32115915,0.46841535,0.20588124,-0.2585419,-0.2088462],[-0.0183,1.647155,-0.16064008,0.16871049,-0.38259304,0.7667645,1.0929366,1.1294544,0.62537587,-0.26169416,0.15110062,0.49177694,-0.3181754,-0.49889576,-0.26440153,-0.34219792,0.28548458,0.16226569],[-0.005357889,-0.19016568,0.07161324,0.008680895,-0.34995764,-0.48657995,0.11552249,-0.04967314,0.069833316,0.19102073,-0.29219496,0.11816197,-0.02532868,0.25928307,-0.59149396,0.07575945,0.4224811,-0.16802932],[0.72163624,1.1986411,-0.06257505,-0.44506377,0.19727337,-0.022920197,-1.460731,0.129415,-0.018701756,0.19003235,-0.16079374,0.34573904,-0.19049424,-0.12543702,0.11680434,0.2489625,-0.11062898,-0.12638038]],"activation":"σ"},{"dense_2_W":[[-0.11861429,0.31311065,0.10783667,0.20397666,0.11681119,0.2751088,-0.12253747],[-0.43567744,0.4225209,-0.19656093,-0.14743243,1.0328232,-0.3285998,0.96409386],[-0.43739504,-0.55259275,-0.2749247,0.047324225,-0.32372513,-0.68853766,-0.061445255],[-0.16717337,-0.29109693,-0.3293838,-0.4545471,0.59299475,0.20823821,0.18925254],[-0.31780067,-0.62915254,-0.1827452,-0.08567132,0.46090296,-0.46870434,0.42419901],[0.53212136,-0.39618716,0.2539842,0.15513696,-0.12249035,-0.00900019,-0.6638766],[-0.9300891,-0.91296226,0.0011721153,-0.34977525,0.17505321,-0.38730884,-0.64885867],[-0.074696384,0.40014616,-0.18361896,-0.4702224,-0.3556687,0.4816831,0.32365295],[-0.3063853,-0.5794173,-0.1085518,-0.14867549,-0.08731013,-0.020659253,-0.13481784],[-0.8055804,0.05811898,0.1130669,-0.21609896,1.1886069,-0.16795371,1.4175867],[-0.96685743,-0.14484665,-0.084251784,0.2933139,-0.45269522,-0.3219202,0.92641366],[0.40786716,0.29276294,0.63688123,0.07809751,-0.49516293,-0.16785908,0.15031388],[-0.13283324,0.009269115,0.30318433,0.14006446,0.35598415,0.10100226,-0.597882]],"activation":"σ","dense_2_b":[[0.012628574],[0.23742911],[-0.15270756],[-0.012898385],[0.02613168],[-0.037974246],[-0.036941435],[0.026866188],[-0.20447458],[0.25017068],[-0.019961758],[0.011852372],[0.0150667345]]},{"dense_3_W":[[0.3036153,-0.31839287,-0.1612958,-0.5367414,-0.3330819,0.34252793,-0.32257223,0.053514156,0.08345505,-0.056394294,-0.5438823,-0.35542023,-0.21887358],[0.52984434,0.24293672,-0.57210237,0.22941683,-0.5632825,-0.27987388,-0.112117305,0.27946368,-0.053344514,-0.48912144,0.44770354,0.47325325,0.3495374],[0.501893,-0.63316786,0.5391537,-0.3001747,-0.55075794,0.5775809,-0.34941012,0.40082902,-0.20677584,0.23605083,-0.566531,0.6458276,0.23212253]],"activation":"identity","dense_3_b":[[0.025049632],[0.019810967],[0.01974472]]},{"dense_4_W":[[-1.1668557,-1.1240513,-0.9788346]],"dense_4_b":[[-0.021864839]],"activation":"identity"}]} |