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":[[7.973185],[1.2308006],[0.47124374],[0.039767727],[1.2234948],[1.2267562],[1.228702],[1.2206274],[1.2050939],[1.1789762],[1.1437212],[0.0397065],[0.039725386],[0.039734013],[0.039686594],[0.039645616],[0.039555065],[0.039334625]],"model_test_loss":0.005078984424471855,"input_size":18,"current_date_and_time":"2023-08-07_22-00-26","input_mean":[[22.121334],[-0.010464258],[-0.004889951],[0.003433857],[-0.00816012],[-0.008416927],[-0.008662932],[-0.008998272],[-0.008217049],[-0.0068580806],[-0.006010885],[0.003438706],[0.0034568459],[0.0034763422],[0.0035396859],[0.0035731636],[0.0036217745],[0.0036836462]],"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":[[-0.10654221],[-0.2905768],[-2.871999],[-0.1245177],[0.16143306],[0.082655065],[2.428078]],"dense_1_W":[[-0.009274342,0.5175485,-0.040819537,-0.2658763,0.66790605,0.5001351,-0.3282055,-0.21050686,0.13056423,-0.19473574,0.27589467,0.500145,0.09231609,-0.6249076,0.07356131,-0.2784489,0.2743887,-0.14142068],[0.045650993,-0.7187672,-3.9221926,0.25971168,0.0050335308,0.815766,0.9371128,-0.28306046,-0.60010844,-0.4402398,0.334732,-0.3486068,-0.43578961,0.25923377,-0.06565995,-0.33657274,0.63861084,-0.118178956],[-0.21374783,0.42282847,0.266799,0.05025237,0.0064825355,0.820618,0.2315524,0.26671964,-0.082816996,0.4062073,-0.17926975,0.1487991,0.139769,-0.3999773,-0.13033853,-0.06021389,0.13246544,-0.12687539],[2.2001243,-0.46080446,0.021041024,-0.025847267,-0.0166095,-0.59955376,0.71440715,0.577141,0.040229637,0.1345268,-0.21883093,-0.07305829,0.07283621,-0.030786302,0.3648521,-0.32475784,0.45030454,-0.24509932],[0.0038562298,-0.60293394,-0.020617504,0.019694017,0.3763915,-0.5692821,0.9114758,-0.21734723,-0.1944635,-0.018555427,0.17110226,-0.13353539,-0.5393221,0.6298117,0.1664842,-0.04548269,0.03591765,-0.080464125],[2.0805016,0.294753,-0.015689991,-0.55368453,0.109172165,0.39725655,-0.34113577,-0.54655766,-0.3882753,0.09528684,0.21858771,-0.055341844,0.22205897,-0.2005731,0.5021007,0.059200656,-0.046633355,-0.09212842],[0.21265858,0.5654287,0.24386185,0.10141437,0.066008195,0.45167878,0.1299337,0.4275724,0.05719904,0.15785104,-0.13811876,0.19489175,-0.2531665,0.06650904,-0.31723106,-0.05296288,0.14543928,-0.10396655]],"activation":"σ"},{"dense_2_W":[[0.7208203,-0.5637391,0.59667504,-0.24075457,-0.9961346,-0.13531135,-0.12724179],[0.08353179,-2.235628,0.29917157,-1.315324,-0.22382064,-1.8709669,-0.44139647],[0.5387289,0.32765672,0.35890356,-0.52188003,-0.70411855,0.3507985,0.5237647],[-0.25249085,0.050148275,0.6831794,-0.27731276,-0.10181721,0.8868131,0.51331794],[-0.061348394,0.0007661709,-0.43009564,-0.5424198,0.14139919,-0.5450331,-0.039015777],[-0.18883842,0.14738812,-0.23603185,-0.3689771,0.36367714,0.12600073,-0.4179159],[-0.4459407,0.36866704,0.113049746,0.29777262,0.1801355,-0.38669178,-0.7965472],[-0.017579421,0.05280841,-0.38046154,0.4176994,0.14375417,0.10180892,-0.53780746],[-0.13019691,0.32150963,-0.7783258,0.4411255,0.9020806,0.30856878,-0.24670088],[-0.71212524,-0.3333824,-0.10890434,-0.05027984,0.58339226,-0.3812356,0.18127146],[0.4350403,0.11608274,0.16477108,-0.072991945,-0.6695063,-0.11097746,0.06759265],[-0.7526205,0.5938332,0.34072697,-0.696911,0.17783667,-0.74074334,-0.9378376],[0.804114,-0.12623003,0.16351596,-0.31503728,-0.7229197,0.40303767,0.2082207]],"activation":"σ","dense_2_b":[[-0.31468102],[-0.17055899],[-0.2285355],[-0.097128555],[-0.010586535],[-0.015096155],[-0.0655667],[0.019932993],[0.071114086],[0.026876245],[-0.35583144],[-0.100859694],[-0.06898828]]},{"dense_3_W":[[0.2983101,-0.7078514,-0.65568393,-0.36758986,0.13057497,0.6307905,0.36659017,-0.25304082,0.42478424,-0.14673297,-0.34746668,-0.24960928,-0.6091494],[-0.3587975,0.03995377,-0.4216834,-0.5777477,0.10252213,-0.20580202,0.28845647,0.40347326,0.67879415,0.48831588,0.15095003,0.6822594,-0.04936859],[0.22906187,0.17523333,0.50960416,0.23045082,-0.21069351,0.058853656,0.3477555,-0.40553525,-0.54917115,0.047501687,-0.12622266,-0.13184138,0.646118]],"activation":"identity","dense_3_b":[[0.042785127],[0.029713841],[-0.12879385]]},{"dense_4_W":[[-1.0081478,-1.2892519,0.112720646]],"dense_4_b":[[-0.032802135]],"activation":"identity"}]} |