
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":[[8.358706],[1.0686424],[0.34114116],[0.044889364],[1.068699],[1.068358],[1.0675814],[1.045456],[1.0242518],[0.99177456],[0.9590156],[0.04477875],[0.04480059],[0.04482342],[0.04474932],[0.04458978],[0.044322193],[0.043946933]],"model_test_loss":0.035726360976696014,"input_size":18,"current_date_and_time":"2023-08-06_06-15-03","input_mean":[[24.615007],[-0.03660665],[0.0016246386],[-0.006489807],[-0.0361033],[-0.035993658],[-0.036171526],[-0.03401853],[-0.031212736],[-0.02772113],[-0.025683384],[-0.0064613656],[-0.0064720884],[-0.006487653],[-0.0065700756],[-0.0065773614],[-0.0066702664],[-0.0067906133]],"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":[[2.9387486],[1.7947302],[-2.419479],[-0.046714567],[-0.07710784],[-0.011005453],[2.2013001]],"dense_1_W":[[1.5500982,-0.562216,0.82173073,1.1276568,-1.1044303,2.0344303,-0.5962017,0.43611562,0.6137577,0.54552734,-0.40140414,0.13477002,-0.33703992,-0.995159,-0.5198411,0.6988811,0.23579559,-0.43389362],[1.9096831,0.4647536,-1.062686,-0.18994598,-0.7350096,1.1260368,-1.2783738,-0.017420385,-0.32890928,-0.6363917,0.1548712,0.10676455,0.18015237,-0.0953862,-0.13519493,0.2339727,0.07321837,-0.04309801],[-1.3224562,0.034447707,0.7349111,0.15789251,-0.54802585,0.91166073,-0.5362905,0.5046039,0.30484954,0.5900371,-0.38941008,0.33457753,-0.27889228,-0.6909375,-0.14148402,0.97603106,-0.13406259,-0.30469695],[-0.0017459231,-0.09968895,-0.014508084,0.23403876,0.836069,-1.5712544,0.19792208,0.34136322,0.15050764,-0.2420643,-0.05131571,-0.09686847,-0.47325152,0.21186271,0.033762608,0.17737845,0.0014673215,-0.12473483],[0.00029148505,-0.6372151,-0.0053334557,-0.05010357,0.99977154,-1.0182008,-0.14067085,0.3974594,-0.2723742,0.04584643,0.073329695,-0.34156838,-0.11684916,0.11896246,0.34009737,0.6478362,0.13086675,-0.43019354],[-0.0077469624,-0.1509263,-3.2484512,0.16014525,-0.5749223,-0.9640095,0.9543776,-0.7414716,-0.7872326,0.2741354,1.5463,-0.3455074,0.08961764,0.027934242,0.045294646,0.23221987,-0.1519019,8.7261986e-5],[2.0402718,-0.72642046,1.1085396,0.08754884,0.35070625,-0.522105,1.2273571,-0.049034014,0.7027618,0.56165534,-0.22607273,0.21941654,0.19681507,0.25899538,-1.0231488,-0.19570431,-0.065851234,0.37131593]],"activation":"σ"},{"dense_2_W":[[-0.60671103,-0.10295715,-0.2275175,0.703453,0.5107893,-0.019612279,0.060930736],[0.32735822,0.09359731,1.1961514,-0.5468047,-0.6979488,-0.8116451,-0.8816686],[0.28230911,0.26441634,0.32522315,-0.2709414,-0.97729933,-0.1853032,-0.6816012],[0.85672635,0.40473634,0.06306575,0.043324664,-0.09925389,-0.6707503,0.48766825],[0.3574693,0.24644808,0.8436976,-0.73305976,-0.87197644,-0.17207824,-0.34952453],[1.2755688,1.0824895,0.84866655,-0.5946056,-0.93967986,-0.64516634,0.18630773],[0.2624753,-0.12604286,-0.24697196,-0.36811814,0.14403982,0.43120542,0.1445742],[0.44066232,0.1534366,0.25932267,-0.65874845,-0.26324567,-0.31705675,-0.831388],[-0.030025106,-0.31389698,0.17181242,0.3696615,0.008856971,-0.5338608,-0.019544462],[0.053924862,0.46772835,0.94262034,-0.71287125,-1.2770078,0.48717985,0.09874367],[-0.5596553,0.1355415,-0.6685472,0.5694037,0.5835357,-0.050862506,-0.30772945],[0.26585215,0.15441975,-0.27715218,0.17482373,0.30534902,0.13441981,0.24543025],[-0.700537,-0.30525044,-0.40211698,0.23966432,-0.07130374,0.3517828,-0.30104256]],"activation":"σ","dense_2_b":[[0.0006462817],[-0.045901865],[-0.08447791],[0.018081808],[0.028199553],[0.15011074],[0.024169737],[-0.07767265],[0.003401174],[-0.09530233],[0.026245346],[-0.019555494],[0.029535577]]},{"dense_3_W":[[-0.4269903,0.38330346,0.3818396,-0.104428,-0.010993002,0.25576162,-0.14891353,0.5712297,0.43450522,-0.18818101,-0.40029064,0.113605164,-0.41539222],[-0.4444491,0.6585591,0.5286078,0.014278995,0.3499434,0.3896106,-0.37057588,0.058567323,-0.5987489,0.35249916,-0.5103405,-0.0007771231,-0.20807561],[-0.5559521,0.25394833,-0.35546854,0.4645985,0.3801913,0.20466149,-0.20871717,0.37793857,-0.093845844,0.5868493,0.12606087,-0.4579316,-0.5141172]],"activation":"identity","dense_3_b":[[-0.039426688],[-0.038285036],[-0.0388908]]},{"dense_4_W":[[0.98477775,0.89640814,0.94241107]],"dense_4_b":[[-0.040733967]],"activation":"identity"}]} |