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":[[10.312392],[1.691447],[1.1781801],[0.027925443],[1.7033275],[1.7017933],[1.696327],[1.5858251],[1.4787921],[1.3436197],[1.211072],[0.027743671],[0.027801901],[0.027850855],[0.02792756],[0.02803829],[0.02812877],[0.02793867]],"model_test_loss":0.032720234245061874,"input_size":18,"current_date_and_time":"2024-01-02_15-43-38","input_mean":[[17.943943],[-0.02775269],[0.9116229],[-0.010992696],[-0.027205516],[-0.028401742],[-0.029025607],[-0.016780479],[-0.010519397],[-0.0076644747],[-0.009148206],[-0.0111726215],[-0.011127744],[-0.011090689],[-0.010990168],[-0.011043246],[-0.011224984],[-0.011489741]],"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":[[-0.23412375],[-0.33534557],[-0.90779483],[1.0487387],[0.21560933],[-0.48163137],[-1.0092809]],"dense_1_W":[[0.11533479,0.34995964,-0.05782234,-0.3185806,-0.17450908,0.14034608,0.33376357,0.27696988,0.1356995,-0.059196655,-0.060148116,0.38243568,-0.27106613,0.11391729,-0.30807197,-0.01355857,0.17140023,-0.022226203],[-0.020774677,-1.7764652,-0.08966258,-0.043022536,0.05115888,-1.296434,-1.8339031,3.242265,0.570978,0.10187445,0.42266095,-0.21189049,0.21253629,-0.18896739,0.24101263,0.0025316828,-0.08863169,0.015649233],[-0.4914543,0.456208,0.13746765,0.37592602,0.4611708,-0.17297776,0.5157846,0.074453756,-0.20727196,0.24249116,-0.060670953,0.14714846,-0.3579456,-0.18543868,-0.17964663,0.23935005,-0.29762307,0.14354591],[2.0640905,0.7434108,0.023971107,-0.26663226,-0.5104089,-0.39389926,0.5062992,0.14679392,0.03068359,-0.02664845,-0.15116382,-0.007930783,-0.14505732,0.5037913,-0.12038466,-0.056063842,-0.0653482,0.102173395],[-0.0043780957,-0.95979375,0.27670962,0.19646417,0.11942475,0.011856796,0.30504584,0.3656583,0.42588997,0.08851781,-0.36579373,0.040938023,-0.2502692,-0.12415776,-0.25880143,0.063724674,-0.17301567,0.4048585],[-0.16510028,-2.0594225,-0.14241494,0.10552359,-0.5507206,0.27335605,0.8150537,0.1752237,0.27770188,-0.14244512,-0.000256497,-0.023739604,0.17320177,-0.18454584,0.080657914,-0.12069192,0.055011556,-0.028557457],[-2.0110476,0.8285863,0.02526347,-0.015316528,-0.39117455,-0.5198279,-0.05497711,0.46704063,0.12427825,-0.0042444123,-0.26276138,0.40808702,-0.085643575,-0.18299535,-0.22663233,-0.14293878,-0.014583938,0.17575544]],"activation":"σ"},{"dense_2_W":[[-0.5567989,-1.0009942,-0.32356784,-1.0090915,0.032144587,1.2191825,0.20291324],[-0.44703802,-0.24576868,-0.23382786,-0.07961264,-0.07185404,0.31039047,-0.154632],[0.8346994,0.5054818,-0.07338161,-0.052768614,-0.2132984,-1.2337501,0.41267988],[0.66421306,0.47026002,0.30943596,0.6274828,-0.46749762,-0.29560977,0.06959312],[-0.30055588,-0.63607126,0.19724157,-1.1135163,0.3048848,-0.11721973,-0.60583913],[-1.3349278,0.88216305,-0.49548072,-0.1407402,-0.16597904,-0.45941508,-1.4370222],[-0.61323684,-0.5285495,-0.49784973,-0.588667,0.012005989,0.79327,0.032732934],[-0.94647545,0.88930553,0.68508166,-1.6012986,-1.1032522,-1.2674446,1.127441],[0.4316844,-0.207973,0.1624576,0.3359385,0.059648946,-0.68135136,0.7049275],[0.12450544,-0.22585079,0.8879183,0.40986446,-0.97213924,-0.84641874,0.9881626],[-0.08499921,0.0694997,-0.8446889,-0.4103038,0.3531856,0.6844965,-0.44759074],[-0.064126365,-0.0119105885,-0.783358,-0.6281712,0.53984475,0.49933845,-0.59969145],[0.5434787,-2.6113288,-0.0360059,-2.61955,0.23580234,0.02307848,0.6444307]],"activation":"σ","dense_2_b":[[0.006646881],[-0.09918633],[-0.08642522],[-0.01640176],[0.011374112],[-0.24264254],[0.14609504],[-0.5544069],[-0.12874104],[-0.35538346],[-0.120828025],[0.027748039],[-0.49473974]]},{"dense_3_W":[[-0.06471948,-0.008940038,-0.4113735,-0.39914057,0.7510951,0.3812421,0.62303436,-0.78587806,-0.31701303,-0.10559163,0.38270476,0.57876027,0.6874902],[-0.3360816,-0.013387057,0.28573835,0.49967286,-0.38708043,-0.6703259,0.13225378,0.5585253,-0.10213111,0.33435532,-0.118166625,-0.67603976,-0.9492992],[0.48236284,0.13927041,-0.42313224,-0.1944356,0.118940465,0.13069417,0.697627,-0.8768578,-0.6355869,-0.21820486,-0.053444505,0.25719538,0.7284109]],"activation":"identity","dense_3_b":[[0.017564278],[-0.0022242568],[0.039144468]]},{"dense_4_W":[[-0.64959824,0.5458391,-0.86525375]],"dense_4_b":[[-0.026433773]],"activation":"identity"}]} |