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
4.4 KiB
JSON
1 line
4.4 KiB
JSON
{"input_std":[[5.639734],[0.85540456],[0.51403534],[0.0358391],[0.8370467],[0.8427152],[0.8486273],[0.84191525],[0.8333683],[0.81845397],[0.8031892],[0.03569495],[0.03575506],[0.035804357],[0.035734106],[0.035606634],[0.035394073],[0.035043836]],"model_test_loss":0.01249884907156229,"input_size":18,"current_date_and_time":"2023-08-05_08-42-51","input_mean":[[28.944149],[0.008511811],[0.006614594],[-0.0007803046],[0.008761563],[0.008401991],[0.0077602137],[0.010470908],[0.011851343],[0.013133246],[0.012414774],[-0.00091107877],[-0.00089483795],[-0.000888365],[-0.0009297467],[-0.00096828357],[-0.0011469029],[-0.0011704979]],"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":[[0.42215475],[-0.13067937],[-0.97678196],[0.032708973],[-0.21987508],[-0.13514404],[-0.035059012]],"dense_1_W":[[0.21781056,-0.33137965,-0.021430474,-0.025393143,0.41623712,-0.85452425,0.5125608,-0.028942296,-0.25001037,0.1056078,0.02808124,0.07531937,-0.1905481,0.16195467,0.12945747,0.20600978,-0.26016086,0.06601578],[0.45804447,0.39586294,0.016093273,-0.4889348,0.2889768,0.097107925,-0.4900717,0.08450028,0.12946251,0.029848771,-0.04884375,0.29394668,0.08218726,-0.18262681,0.046750773,0.006920203,0.25929216,-0.123556316],[-0.36142796,-0.4761168,-0.031057041,-0.03201091,0.3264201,-0.28861398,0.03595103,-0.03517199,0.12988408,-0.33035025,0.20245835,-0.050757732,-0.106270775,0.37782818,-0.1009953,-0.13087629,0.26906365,-0.10609762],[0.025104474,0.019358486,-0.024905588,0.21881673,-0.25832435,0.96893126,-0.7209163,0.41793713,-0.13289197,-0.12783904,0.13794017,0.21045911,0.050720435,-0.25170416,-0.62401164,-0.024670731,-0.29609823,0.35617065],[-0.008312407,-0.7407596,-7.084344,0.028729403,0.6807612,-0.014186225,0.67334884,0.29722595,-0.9668716,-0.531245,0.66484416,-1.1115197,-0.64549005,-0.120867796,-0.17233334,0.78614897,0.8250422,0.34976736],[-0.48205698,0.4224278,0.018553648,-0.2134916,0.04153917,0.7245894,-0.93251956,0.013013465,0.24247682,0.04031593,-0.08674914,0.14843619,0.25142464,-0.052657608,-0.067281075,-0.18016832,-0.3367292,0.36795783],[0.0060425145,-0.6726894,0.12755352,0.6079416,-0.19894339,-0.67753744,0.42177054,0.25688335,-0.6894623,-0.2502804,0.32992235,-0.27346176,-0.35465118,0.29624695,-0.12629414,-0.6665767,-0.173872,0.28384444]],"activation":"σ"},{"dense_2_W":[[-0.7923206,-0.009339641,-0.5352346,0.6091468,-0.04876316,0.39490545,-0.034111094],[-1.0249208,0.39700195,-0.58438927,0.16584569,0.17201081,0.5389196,-0.0868657],[-0.6531692,-0.007390197,0.17620674,-0.13442127,-0.58781165,0.47517285,-0.3037654],[0.93093103,-0.8664581,0.60659295,-0.41851223,-0.008249123,-0.3610143,-0.1658192],[0.18383585,-0.9612978,0.108306736,-1.0595605,0.6152441,-0.18968369,0.12764637],[-0.23412292,0.8866577,-0.36853278,0.41754025,-0.6953287,-0.2107403,0.3878631],[1.6182716,-1.1367084,1.2613131,-0.22455032,-1.5450573,-1.1383495,1.2916391],[-0.6907885,0.21876465,-0.37425384,0.28203624,-0.37134746,-0.060869645,-0.36596343],[0.32001236,-0.48894957,0.4011093,-0.63292897,0.14903933,-0.69945556,0.2776244],[0.7659646,-0.14666194,0.77608156,-0.29742083,0.26605186,0.016574113,-0.22834513],[-0.71138144,-0.062448937,0.30001172,-0.01717667,-1.2297869,0.69679105,0.046717945],[-0.7727106,0.2412452,-0.464044,0.80845594,-0.62951875,-0.08542672,0.07366458],[-0.025123067,-0.027039677,0.34798175,-0.7620366,0.43302727,-0.89325774,0.0035131366]],"activation":"σ","dense_2_b":[[-0.099672936],[-0.0876946],[-0.08204721],[-0.025810441],[-0.34068185],[0.060692374],[-0.024438279],[-0.07015547],[-0.039097134],[-0.14396088],[-0.15622896],[-0.005676818],[-0.011064758]]},{"dense_3_W":[[0.39419955,0.5720024,0.54087794,-0.73478484,-0.51288295,0.4327564,-0.5041765,0.3271926,-0.48603916,-0.5796963,0.72407377,0.71574676,-0.6588747],[-0.4544194,0.26937458,0.039873235,-0.34116194,0.16377093,-0.59205776,0.7291578,-0.12695956,0.7046899,0.10085361,0.14058925,-0.6534143,-0.31029704],[0.36182398,0.6130376,-0.03244722,-0.1537163,-0.62813044,0.25602,-0.7971318,0.06725275,-0.21288694,0.23565246,0.45994118,0.029152358,-0.028171498]],"activation":"identity","dense_3_b":[[-0.008158646],[0.024065692],[-0.046528816]]},{"dense_4_W":[[0.623884,-0.1895593,0.47617644]],"dense_4_b":[[-0.010568268]],"activation":"identity"}]} |