5589bead02
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":[[9.342457],[1.7442162],[1.0585625],[0.042339433],[1.7128111],[1.7291123],[1.7405179],[1.7010015],[1.6303505],[1.5173334],[1.3917158],[0.04228282],[0.042308506],[0.04233088],[0.042356506],[0.042337846],[0.042242922],[0.041896895]],"model_test_loss":0.026538675650954247,"input_size":18,"current_date_and_time":"2024-01-01_14-37-19","input_mean":[[17.630861],[0.009298292],[0.007838624],[0.0032835982],[0.0077309483],[0.0085694995],[0.009159568],[0.013052543],[0.015393763],[0.015896533],[0.017929958],[0.0033108792],[0.0032970055],[0.003287367],[0.0033604093],[0.0032986784],[0.00309489],[0.0027548254]],"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":[[-4.025948],[-0.57760006],[-0.04032345],[-1.8288947],[0.050533567],[-0.105991326],[1.9519074]],"dense_1_W":[[-2.1756861,-1.8041475,-1.255968,-1.787824,-1.2496731,-0.6153777,-0.73954314,0.14788403,0.46648768,0.5214991,-0.5807211,1.2293968,0.708751,-0.10193688,-0.19470598,-0.9756705,-0.016834164,1.1327888],[-0.36894616,3.0307727,0.36033234,0.31339785,-0.13220114,0.8322493,1.3201841,0.29171407,0.017399386,1.3397319,0.31015956,0.67072874,-0.4162445,-0.419799,-0.31065512,0.24844313,0.05327717,-0.0053511453],[-0.008399213,-2.155792,0.053067375,0.7798433,0.31474063,0.12273431,-0.40497658,0.27412334,0.16586904,0.06813576,-0.09150888,-1.0381312,0.0027321253,0.5017614,0.151371,-0.22859631,0.10998002,-0.17623962],[-1.1032242,-2.04705,-0.48277566,-0.052578364,-0.039234716,-1.0665141,-1.611855,-1.4361931,-0.8610024,-1.1938204,-0.20963022,-0.5701757,0.33624104,0.3864525,0.18790556,-0.46496204,0.002519516,0.099309154],[-0.03300378,-3.2612245,0.21783361,0.024821047,2.307851,2.0135245,0.6276353,-3.8555145,0.098647505,-0.25670123,-0.45627886,-0.67832184,0.029242864,0.5440886,0.8045589,0.9906675,0.1252569,-0.5459391],[-0.050509024,-2.3867211,-15.243269,3.250071,3.0871577,2.1896174,0.39769983,-2.9049325,-0.7140871,-1.0149932,0.5264202,-2.2730236,0.0060549662,1.9290676,-2.1771653,-0.3960343,0.16706355,-0.05053814],[1.2290683,-1.1231753,-0.762657,-0.14957531,-0.5879094,-0.8684982,-0.25634283,0.14708987,0.8592472,-0.22336231,-0.22979788,0.4182018,0.25104547,-0.1227198,-0.55782425,-0.45007503,-0.079358876,0.6719016]],"activation":"σ"},{"dense_2_W":[[-0.568675,0.14207093,-0.48033807,-0.19914363,-0.38342887,0.2799019,-0.30628023],[-0.1610142,-0.46953765,-0.06760813,-0.30986336,-0.2712105,0.01806949,-0.32680678],[0.39694428,0.4770846,0.38152674,0.22690313,0.6201327,0.08812244,-0.41612005],[0.21117833,0.5424126,0.5623882,0.42657927,0.35399324,-0.30018282,-0.22155212],[0.29298574,-0.117204696,0.40485156,0.3876252,-0.3900396,-0.12095672,0.07040761],[0.017219035,0.3795242,-0.25423867,-0.56208634,0.35416833,-0.0583391,-0.5320933],[-0.17020574,0.48802575,-0.5327566,0.032044794,0.040157367,-0.26257697,0.2640019],[0.3236338,-0.92668486,1.4438529,-0.14751951,0.57572836,0.44676656,0.47287327],[-0.5677187,0.5809052,0.108644076,-0.58601135,-0.019072162,-0.23246334,-0.33373785],[-0.25816098,-0.6252232,0.22577475,-0.33012742,0.660937,0.45414823,0.27927405],[-0.1465318,0.60375494,-0.0651034,0.3100968,-0.44511616,-0.5895933,-0.33932605],[-0.42457345,-0.44540146,-0.44992286,-0.14253251,-0.06490472,0.040354434,-0.26714864],[0.3756648,0.52492774,-0.4107032,0.1910306,-0.27838138,-0.37190396,-0.46440202]],"activation":"σ","dense_2_b":[[0.03611569],[-0.08581338],[0.052156594],[0.017473184],[-0.09718666],[-0.082591124],[-0.040511627],[-1.3490877],[0.024950681],[-0.20235224],[-0.0317964],[-0.061854664],[0.026930796]]},{"dense_3_W":[[-0.42912257,-0.5142586,0.4445941,0.14092475,-0.17807427,-0.2101321,-0.0034900575,0.44434512,-0.1714806,-0.11775597,-0.48493472,-0.40047783,-0.22446017],[0.41035694,-0.6060434,0.013861664,-0.64386356,-0.12154571,0.053123318,-0.10583057,0.0703694,-0.5391717,0.14579317,0.2460482,-0.049358677,0.5454655],[0.29147273,-0.12195305,-0.52775496,-0.17743908,-0.24538438,0.5196899,0.5010664,-0.022741824,0.17160784,-0.63422054,0.010363789,0.2672065,0.49516493]],"activation":"identity","dense_3_b":[[0.08342762],[-0.09062037],[-0.08345945]]},{"dense_4_W":[[-0.8509136,0.150067,0.914452]],"dense_4_b":[[-0.08100657]],"activation":"identity"}]} |