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":[[9.646497],[1.6080656],[1.0450001],[0.03796059],[1.6090212],[1.6115941],[1.6122428],[1.5627505],[1.50906],[1.4364159],[1.3509071],[0.037930854],[0.037937],[0.037944406],[0.03795521],[0.03795582],[0.037809376],[0.03757185]],"model_test_loss":0.05549382045865059,"input_size":18,"current_date_and_time":"2024-01-01_16-54-05","input_mean":[[19.17006],[-0.011072188],[0.024284795],[0.00044136433],[-0.01485811],[-0.014131017],[-0.013129477],[-0.0029433654],[0.0016964633],[0.009073086],[0.020033203],[0.00043870314],[0.00044612764],[0.00045634198],[0.0003415661],[0.000185181],[-1.4826568e-5],[-0.0002361427]],"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":[[-0.090186976],[-0.04059763],[-0.01648539],[-2.2723923],[-0.017620223],[1.8905188],[-0.062891625]],"dense_1_W":[[0.0015787226,-1.8798773,-0.60089487,-1.0367246,-0.5239711,0.4251952,0.7041809,0.41136977,0.2390611,0.5285198,-1.3429027,-0.15548788,0.6668489,0.045217678,0.25622842,0.8746488,-0.41143563,-0.11414716],[0.04196336,-1.552161,0.36812878,1.5571585,-0.09768537,1.274284,2.6429248,-2.1585898,0.10808149,-0.90514076,-0.6499832,-0.285121,0.7087454,1.2547133,-0.32061327,-0.9381869,-0.68644893,-1.2575704],[-0.009745333,1.9963006,0.007166846,-3.2248402,1.10819,1.8354942,1.7763247,3.3415632,2.506535,0.5714923,0.08055603,2.6819124,0.8108587,0.042612497,-0.53714347,1.4567461,-1.5722563,0.31247818],[1.3839006,-2.6431673,0.10428463,-0.1330461,1.8073312,0.70936424,-0.2867951,-2.034517,-2.3372817,-1.1177777,1.2709998,-0.8935502,-0.17710873,0.38571915,1.1610795,1.8709427,0.31180146,-0.5448934],[0.02159365,0.2880477,0.20548868,0.10693718,0.81440574,0.49679747,-0.3718908,-0.7536887,-0.662245,-0.59653276,-0.13027182,0.6498143,-0.2712847,0.43051192,0.12978572,0.4848636,-0.056735087,-1.4424113],[-1.3635336,-2.0199459,0.09311483,0.1571687,0.7043616,0.9071751,-0.17936194,-1.8874177,-2.053098,-1.1292455,1.0112475,-0.29312867,-0.23120055,-0.4857688,1.2476006,1.6171536,0.3569562,-0.45175406],[-0.04136226,-3.429948,0.15090276,-2.000574,1.7524941,0.4341022,-0.72986895,-2.369891,-2.3885486,-0.69219387,-2.7393322,-0.6202453,1.9650695,2.2393687,1.3138272,-1.3777095,0.051579326,0.013741996]],"activation":"σ"},{"dense_2_W":[[-0.47707498,-0.46552283,0.59396684,-0.67141676,0.36398697,-0.40268806,0.3343175],[0.0076393494,-1.1112212,0.027531004,-0.25141686,0.5471753,0.24373552,-0.06448814],[0.29773253,0.5514845,-0.64719737,-0.6301057,-0.786082,0.057141628,0.30851698],[-0.60657746,-1.3661056,0.09914009,-0.33032092,1.4626551,0.6132937,-0.6989771],[0.19363587,0.504403,0.5966382,-0.47726533,-0.69677776,0.5861579,-0.09659827],[-0.073847786,-0.7186009,0.6959688,0.09347459,0.5070894,1.2690829,0.08019214],[-0.029076014,-0.626198,0.23411676,-0.0501654,0.6776168,0.009462367,-0.28726807],[0.28566298,-0.10477857,-0.18365043,-0.60414594,0.38419026,-0.845856,-0.017014563],[0.2037591,-0.031475488,-0.31564313,-0.1875779,-0.18091403,0.084839076,-0.9718005],[-0.6966869,-0.32651228,0.66197383,-0.11137025,0.9033252,-0.10582907,-0.43835634],[0.21853365,0.0017890176,-0.010399503,0.411944,-0.3177475,-0.31837267,0.859426],[0.26023173,-0.7127138,-0.5176179,-0.3001611,-0.5553915,-0.4160974,-0.4521707],[-0.5504061,-0.33200583,0.97760403,-1.2696804,0.49991482,-0.2696139,-0.31403634]],"activation":"σ","dense_2_b":[[0.13127075],[-0.23351508],[-0.32743496],[-0.22644739],[-0.037320524],[0.13009673],[-0.08864767],[-0.16778758],[-0.17502768],[0.20276514],[0.06224583],[-0.2270451],[-0.037867837]]},{"dense_3_W":[[-0.50936705,0.43601283,0.3488807,0.03961809,0.6700858,0.44181392,-0.41455448,0.30143327,-0.32891387,-0.3489786,0.611748,0.5456739,-0.19810487],[-0.41819364,0.06447778,-0.5552434,0.9435826,-0.2923163,0.17919192,-0.20278607,-0.48181778,0.060186796,0.83008075,-0.43337345,0.04454432,0.61790943],[0.50471777,0.56816,-0.22083566,0.42082107,0.2738656,-0.6334427,-0.10881529,0.5152344,-0.072060056,0.32290906,0.1665719,0.41882446,0.20520742]],"activation":"identity","dense_3_b":[[0.07413496],[-0.020340724],[-0.08657169]]},{"dense_4_W":[[-0.8483326,0.28338253,1.18224]],"dense_4_b":[[-0.08115355]],"activation":"identity"}]} |