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":[[7.414752],[0.809778],[0.32968998],[0.038563218],[0.81399393],[0.8130152],[0.8116411],[0.8044098],[0.7990659],[0.7908311],[0.7781809],[0.03845621],[0.038476728],[0.038496315],[0.038509805],[0.038388517],[0.03807538],[0.037689537]],"model_test_loss":0.007678080350160599,"input_size":18,"current_date_and_time":"2023-08-06_05-48-54","input_mean":[[21.623014],[-0.06315314],[0.028330239],[-0.0069412887],[-0.07000519],[-0.06754908],[-0.06473992],[-0.055388335],[-0.04912587],[-0.041271344],[-0.032815684],[-0.006859833],[-0.0068624676],[-0.006869615],[-0.0069527323],[-0.0069756005],[-0.0070287744],[-0.0070639635]],"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":[[-3.7605686],[3.5044053],[2.0832198],[-0.25828874],[0.3039091],[-0.089539275],[0.118453376]],"dense_1_W":[[-1.7583797,0.589543,-1.0319984,0.110393494,-0.21674192,-1.7155991,0.8325825,-0.16004571,-0.913345,-0.0812225,0.67669153,-0.80105156,0.25075755,0.916074,-0.095394626,-0.020104544,-0.005883078,-0.080861904],[1.8151304,0.19393112,-1.090924,0.33811733,0.05085238,-1.1737207,0.32235587,-0.44897,-0.5966143,-0.14382847,0.75931793,-0.14169198,-0.35926667,0.5962395,-0.093506224,0.16791871,-0.18208155,-0.02677418],[1.5013692,0.84768164,0.9670481,-0.18950337,0.05811444,0.036552854,0.6984422,0.047381528,-0.19678752,-0.6145364,0.11384745,-0.26299715,0.15431781,0.42217052,-0.61956424,0.076191664,0.17176628,-0.015458679],[0.010009106,-0.08474945,-0.11727848,-0.5954893,0.21653149,-0.83162314,-0.12228016,-0.006441115,-0.48080042,0.007156214,0.22622024,-0.6214733,0.30532193,0.7250713,-0.22122426,-0.3155122,0.31625217,0.4177061],[-0.0022816912,0.36319026,2.6736248,-0.23002017,-0.6987022,-0.0061110156,-0.36389568,0.5511679,0.08328913,0.5146548,-0.5392843,0.7437445,-0.046624888,-0.21139482,-0.35767952,-0.3415711,0.3786916,0.07167081],[0.0050385734,-0.43462712,-0.05308,0.025633823,0.29115447,-1.6235275,0.13262115,0.3036328,0.48786274,0.30519634,-0.50269544,-0.89282864,0.34320372,0.69487166,0.34770367,0.17281933,0.122459196,-0.2835277],[-0.16018158,-2.6079166,0.051285002,-0.8959181,-2.6147542,-2.7455857,-3.0082538,-2.166046,-1.4802098,-0.9145916,0.4948057,-3.1999378,-1.971094,-1.618746,-0.6039725,0.5491652,1.9303606,5.316056]],"activation":"σ"},{"dense_2_W":[[-0.8494065,-0.94668996,-0.25524712,-0.49821833,0.10248175,0.16570607,0.08037025],[0.407395,1.2177871,0.6595171,0.51689386,-0.5024803,-0.112236835,0.55882525],[0.38773674,-0.94255173,-0.21581627,0.40207997,-0.7363527,0.35848704,0.21115805],[0.6955828,-0.40022588,0.18614924,-0.1998243,-0.5945706,0.63007945,0.121129975],[0.6693154,-0.42887792,-0.43107304,-0.12879528,0.096946076,0.4243904,-0.1448268],[-0.45311376,-0.06397047,-0.475693,-0.18040454,0.19093697,-0.36706218,-0.008771336],[-0.84971607,-0.5401956,0.28763822,-0.50512564,-0.279698,-0.8399409,0.5433065],[-1.0076836,-0.49472776,0.20072678,-0.19309734,-0.29518792,-0.08193111,0.2831805],[-1.0347741,0.15746295,0.09370998,-0.25177705,-0.017589109,-0.40057716,0.45802802],[-0.32091177,0.17798328,-0.49051303,-0.12601621,0.10984774,-0.7267025,0.09803074],[0.39275715,0.24044967,-0.058441114,-0.15604238,-0.051029686,-0.18873541,0.061358593],[-0.1873293,-1.9225551,-0.067686126,-0.5021896,-0.051216066,0.24865563,-1.235181],[1.4839585,-1.365924,-1.2432988,-0.8610499,-0.119583905,-0.20667724,-2.5413523]],"activation":"σ","dense_2_b":[[-0.090611175],[0.13049172],[-0.2995885],[-0.18042783],[-0.18258452],[0.03439863],[0.038779728],[-0.0974849],[0.2627597],[-0.09157007],[0.0042730095],[-0.022836503],[0.07373033]]},{"dense_3_W":[[-0.09544235,0.07383687,0.57643867,0.51306605,0.5831484,-0.39026436,0.4894308,-0.30050197,-0.3482933,0.16585375,-0.013200446,-0.538111,0.012991255],[-0.23729068,0.22367261,-0.22196151,0.670639,0.15204789,-0.5559103,-0.42776123,0.12732859,0.0007805089,-0.40029454,-0.12749611,0.1569053,-0.42127144],[-0.5697941,0.6104953,0.22483532,0.38580984,0.058564458,-0.20807105,-0.41168946,-0.49617398,-0.67103213,-0.032330584,0.30103138,-0.6870759,-0.7820781]],"activation":"identity","dense_3_b":[[0.0017381236],[0.0156807],[0.015327422]]},{"dense_4_W":[[-0.36441112,-0.7462365,-1.0239874]],"dense_4_b":[[-0.012290128]],"activation":"identity"}]} |