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":[[8.5490465],[0.91654193],[0.30993494],[0.04199027],[0.9220449],[0.91940266],[0.91617274],[0.88627845],[0.86233324],[0.8315542],[0.8018313],[0.041735847],[0.041725885],[0.041704368],[0.041467432],[0.04125315],[0.04087492],[0.040402256]],"model_test_loss":0.03576897457242012,"input_size":18,"current_date_and_time":"2023-08-06_00-38-31","input_mean":[[25.217424],[0.025067292],[-0.005204237],[-0.007812521],[0.026058447],[0.02579975],[0.025364147],[0.022783877],[0.022563396],[0.023355754],[0.023063915],[-0.007938141],[-0.007910316],[-0.00788824],[-0.007943815],[-0.00795849],[-0.008054328],[-0.008234501]],"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":[[0.56764346],[-0.2503772],[-3.2322495],[-1.2317773],[0.867053],[4.308423],[-0.07558963]],"dense_1_W":[[0.61443913,1.1731157,0.009846442,-1.1333587,-1.0492755,0.835613,-0.68129694,0.3589496,0.5659384,0.08182793,-0.46320507,1.2664362,0.3659727,0.043432895,-0.78966564,-0.2789253,-0.13537817,0.58561194],[-0.05032384,2.7911828,-3.7081556,-0.22916593,-0.360789,-0.8509512,0.3955322,-2.2810001,-1.5297779,-0.37920654,1.2837292,-1.0756621,0.05912324,0.79691005,0.09919885,0.5648314,0.12931578,-0.2828693],[-1.3801426,0.8747989,2.6738997,0.97103757,0.64060503,1.3203064,0.78513944,0.21045975,0.27105168,0.008706952,0.47002545,0.17457546,-0.019201785,0.022376636,-0.8146881,-0.56253856,-0.40608642,0.1788786],[-0.969806,0.27810913,-0.019731548,0.20302768,-0.9765407,1.7610842,-0.3367136,-1.2561709,-1.1086024,-0.23725067,0.82246333,0.4905772,-0.39064184,-0.62869024,0.1729788,0.09018552,0.26754,-0.16145436],[0.77530533,-0.44069135,-0.016620232,0.91353315,0.7982677,0.18398845,-0.06542974,-0.99103695,-1.0689898,-0.41018635,1.0071982,-1.0062531,-0.37093124,-0.11219994,0.9221856,0.06667381,0.102350205,-0.44873643],[1.837604,0.17821689,2.7829952,0.15930298,-0.18984689,1.3086654,1.0448655,1.2770351,0.9262832,0.571854,-0.44966817,0.9585924,0.4791195,-0.7341206,-1.1710364,-0.137599,-0.054511473,0.0011886378],[-0.13465121,0.42229307,0.01184741,1.9792279,-1.3213581,2.0345612,-0.38451922,-0.08214897,-0.052292295,-0.003056054,0.016048811,0.14917925,-0.21642695,-1.6820744,-0.51334184,0.4513876,-0.0945018,-0.17454582]],"activation":"σ"},{"dense_2_W":[[0.462196,-0.695528,0.16549478,0.2736693,-0.56030834,0.19088152,0.89675313],[-1.4432595,0.9668788,-0.052712087,0.48390535,-1.6715928,-1.1171504,-0.93195546],[-0.7672027,0.73007417,-0.41485545,-0.41052285,0.17164469,0.41768378,-0.6074929],[0.42105144,-0.07561751,-0.071338296,0.5440764,-0.23689774,0.29708165,0.5137933],[-0.9067054,0.2790484,-0.27540752,-0.10838713,0.2654337,0.43244293,-0.84643334],[1.1417533,-1.143838,-0.8191056,-0.42449018,1.7451103,1.1444204,1.5084718],[-0.3675419,0.17639667,-0.024025898,-0.2504475,-1.080494,-0.48680314,-0.49096605],[-0.3961711,-1.3744208,0.4152261,-1.47457,1.1814389,1.061417,-0.9474496],[-1.0131743,-3.5613608,2.3236957,2.097592,-2.561644,-1.4451259,1.6597106],[-0.49788824,-0.18982293,0.17864513,-0.37159964,-1.355421,-0.842698,-0.01138827],[0.5584375,-0.6589816,-0.14198032,0.27809986,-0.29245555,0.2221168,0.70997316],[-0.18313819,-0.16005597,0.18829824,-0.80455697,-0.7474139,-0.46905053,-0.532434],[-0.8919243,-0.26659176,0.03377461,-0.0041140113,-0.96533835,-0.18453701,-0.29215154]],"activation":"σ","dense_2_b":[[-0.72258896],[-0.015371009],[0.37933466],[-0.29024404],[0.16602242],[-0.036112666],[0.019811722],[0.13048169],[-1.32474],[-0.21386966],[-0.14519048],[-0.037656378],[-0.10292112]]},{"dense_3_W":[[0.085076064,0.3378735,0.17556626,0.20053186,-0.4336372,0.27722207,0.04970122,-0.20942238,0.20168552,-0.27926138,-0.1960737,0.020075899,-0.6230306],[-0.27460775,1.1687195,0.616611,-0.21896681,0.06441218,-0.4682532,0.5580457,0.36150676,-0.68175566,0.2615018,-0.27429396,0.32094082,0.47348568],[0.07691053,-0.9330427,-0.46400392,0.28614432,-0.67953914,0.32567665,0.023056043,-0.5036641,0.92684317,-0.21211706,0.6364576,-0.33836454,0.13877176]],"activation":"identity","dense_3_b":[[-0.035371166],[-0.039440315],[0.032718766]]},{"dense_4_W":[[0.043920163,-1.2300794,0.6862739]],"dense_4_b":[[0.038186513]],"activation":"identity"}]} |