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":[[8.738584],[1.5957829],[0.58238095],[0.048208784],[1.5838295],[1.5881729],[1.5908173],[1.5664002],[1.5340934],[1.4806168],[1.4221525],[0.047998115],[0.04803774],[0.048071872],[0.048102442],[0.04803064],[0.047811132],[0.04743304]],"model_test_loss":0.007402807008475065,"input_size":18,"current_date_and_time":"2023-08-06_22-19-42","input_mean":[[21.779322],[-0.078570016],[-0.0073580677],[-0.0065681813],[-0.07246284],[-0.0734754],[-0.07447408],[-0.07268334],[-0.069738925],[-0.06446174],[-0.057134904],[-0.0064781737],[-0.006475137],[-0.006476324],[-0.006474212],[-0.006491243],[-0.00650736],[-0.00642134]],"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":[[-2.1603358],[-0.419876],[0.084331356],[-0.07068766],[2.0145605],[-0.63310754],[1.434537]],"dense_1_W":[[-0.31878927,-0.47954968,-0.260915,-0.23391017,-0.14123324,-0.16656223,0.34148905,-0.55040246,0.048909064,-0.084660634,-0.05452977,-0.14122179,0.19401318,0.18124454,0.29322624,-0.11721254,0.058719337,0.049679324],[1.2746987,0.53341556,-0.5038306,-0.3943573,-0.3552817,0.6985798,-0.7583908,-0.071790285,0.10988926,-0.1613498,-0.43469277,0.20283195,0.37326258,-0.2713744,0.053292856,0.12493837,0.112449214,0.071374826],[-0.005748887,0.4395075,-0.023206176,-0.00010381389,0.10724853,0.79803634,-0.10418732,-0.17200217,0.07352905,-0.04382284,0.12897137,0.27188876,-0.2986032,0.1732639,-0.43260622,-0.13877538,0.108885035,0.037624177],[-0.009819267,0.7978249,3.3524475,0.21963945,-1.1893661,0.12886666,-0.12307468,-0.0057551884,0.89947134,0.2433565,-0.7049134,0.41656977,0.5013669,-0.4488184,-0.19362147,-0.21371745,-0.12667105,-0.11616998],[0.5350432,-0.6518214,-0.29382524,-0.186406,-0.17762733,-0.1445377,0.13506992,-0.35136354,0.24111918,-0.36675584,0.021335155,-0.05516007,-0.15420103,0.4554361,0.4533603,-0.34406003,0.006251238,0.1428859],[1.1166015,-0.29759768,0.48270738,0.43025842,0.0056440467,-0.4213741,0.4217568,0.15726581,0.074272975,0.1225627,0.32488325,-0.059570342,-0.34078333,0.076991476,-0.26384223,-0.06351244,0.1692961,-0.21616662],[0.098687425,-0.3278237,-0.21179028,0.0031954458,-0.20943744,-0.13822405,0.548112,-0.34726304,-0.3400807,0.25883827,-0.17620128,-0.36422935,0.52832425,-0.1289231,-0.026027037,0.18089916,0.1012807,-0.07116273]],"activation":"σ"},{"dense_2_W":[[1.3021795,-0.4139669,-0.7120532,-0.74666166,-0.18984732,0.048739053,-0.25614926],[-0.45348325,-0.5127636,-0.35794353,0.021264847,-0.73585445,0.02490475,-0.37029886],[-1.0356512,0.21161588,0.15873429,0.17991234,-0.3031208,0.07505193,-0.33505473],[1.5017016,-0.31481206,-1.1198424,-0.40624765,-0.09357655,0.51827437,-0.055450503],[-0.6468184,0.053211562,-0.6933904,-0.13317326,-0.24886934,-0.3967814,-0.6371098],[-0.41236708,0.3045984,0.51569694,0.026683038,-0.66206634,0.038440548,-0.3386708],[-0.58338356,-0.09002029,-0.13582824,0.008655593,-0.69411683,-0.21923552,-0.3192624],[-0.6897999,0.12905283,0.67996913,0.1456075,0.25029323,-0.34134966,-0.6459057],[-0.252227,0.043475367,-0.9427369,-0.14302255,-0.10663869,0.31176025,-0.35857844],[0.22877508,-0.5189181,-0.41833526,0.20187113,-0.1781152,-0.16428699,-0.2800521],[-0.65191513,0.44252837,0.6581859,0.25468537,-0.9424999,-0.32678768,-0.8593621],[0.43401113,-0.24967693,-0.281952,-0.284015,0.7110927,0.27138582,0.9720163],[-1.1512148,-0.18058608,0.45996955,-0.5937282,0.31828657,0.15207982,-0.22012103]],"activation":"σ","dense_2_b":[[0.0048766164],[-0.056708604],[-0.123050824],[-0.07202907],[-0.25869218],[-0.20529492],[-0.091088444],[-0.091022156],[-0.32449347],[-0.17546864],[-0.0612454],[0.04344016],[-0.074389376]]},{"dense_3_W":[[0.25576973,-0.575117,-0.6076316,0.36512917,-0.41574427,-0.40301278,-0.4620185,-0.5097215,0.122016355,0.3936914,-0.041409556,-0.059126735,0.07365807],[0.29514056,-0.25677466,-0.18109803,-0.030853858,-0.029449929,-0.28013232,-0.025037538,-0.4706025,0.02876151,-0.48724273,-0.6757201,0.6601352,-0.20265144],[-0.7641006,0.21497111,-0.28698337,-0.379376,-0.31239873,-0.26711258,0.02512146,-0.31214246,0.077003516,-0.18367848,0.6396449,-0.61027414,0.5836878]],"activation":"identity","dense_3_b":[[0.047669664],[0.041923303],[-0.020977087]]},{"dense_4_W":[[-0.6845342,-1.0030532,0.7527504]],"dense_4_b":[[-0.03611581]],"activation":"identity"}]} |