
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":[[5.3758683],[0.8794069],[0.46141535],[0.037675492],[0.88829136],[0.886115],[0.8817511],[0.84581715],[0.8278533],[0.80277216],[0.7799678],[0.03770945],[0.037679393],[0.037663188],[0.03748336],[0.037227985],[0.03666999],[0.03598855]],"model_test_loss":0.006474275607615709,"input_size":18,"current_date_and_time":"2023-08-08_10-12-47","input_mean":[[26.350012],[-0.09385938],[0.041549694],[-0.0030162074],[-0.09805675],[-0.09651579],[-0.09413497],[-0.07463795],[-0.06469781],[-0.05300219],[-0.045351826],[-0.0031147127],[-0.0030688543],[-0.0030160798],[-0.0029022517],[-0.0028611047],[-0.002841013],[-0.0029479503]],"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":[[-0.09162939],[-0.0024971273],[-0.24881262],[-1.32228],[-0.4374819],[-0.9960854],[-0.32367432]],"dense_1_W":[[0.0013978665,0.5157658,0.057618756,-0.4238105,-0.5857702,0.50526756,-0.3266269,0.012936584,0.3625385,0.11991571,0.0066418285,0.40299493,-0.23047242,0.21920505,-0.4174118,-0.089936666,-0.104478516,0.045391113],[0.045715943,0.04829665,0.030840999,-0.24445257,-0.267954,0.2661487,-0.7767349,0.6312683,0.6088808,-0.05871689,-0.37978205,0.4366248,0.22490036,-0.57898104,0.0108244065,0.28357658,-0.55379957,0.32254124],[0.011607531,0.6717766,-0.07031896,-0.20974216,0.22755674,1.115498,-0.24775673,-0.08535654,-0.2567366,0.009943826,0.21396203,0.22771065,0.110520564,-0.5468987,0.0013472787,0.12118877,0.38788018,-0.5846402],[1.2240443,0.36507532,-0.0076892683,0.1908495,0.10025321,0.8377715,-0.829348,0.010610993,-0.34508568,-0.002731332,0.255436,0.22866087,-0.1078464,0.13727446,-0.16703908,-0.24019064,-0.047107916,0.0975457],[-0.049711026,0.4607915,0.015162587,-0.170386,-0.80058587,0.6337767,-0.053720508,0.19613627,0.17618516,-0.047628276,-0.115387514,-0.010986527,0.14302418,0.016793815,-0.2661772,0.047418084,0.41987264,-0.30581895],[1.1685805,0.011218695,0.007829905,-0.68930507,-0.43452054,-0.6339981,0.60769325,0.28270322,0.07532135,-0.04884226,-0.21931998,-0.008426204,0.04834048,-0.06860812,0.38515458,0.122956015,0.4017405,-0.29282153],[-0.020134322,-0.8001443,-4.5559916,0.18659148,0.70608896,-0.2582699,0.20592918,0.049877867,-0.35152316,0.053292986,0.19451627,-0.7794339,-0.2684154,0.07639334,0.6773159,0.5250616,-0.0034250547,-0.43527722]],"activation":"σ"},{"dense_2_W":[[0.21119271,-1.0255879,-0.16154091,-0.4769789,-0.61767894,0.34280777,0.05404951],[-0.02319971,-0.5616842,-0.29918796,-0.4990605,-0.56629777,0.18677638,0.112850465],[-0.3342754,-0.06275528,-0.16850384,-0.0028333499,-0.7661835,-0.41394717,-0.03308939],[-0.4943371,-0.15990037,0.2436778,0.23711683,-0.41802898,0.472897,0.36362448],[-0.5475525,-0.5687474,0.4426769,-0.5622382,-0.11734036,0.46177107,0.16163152],[-0.26939043,-0.84531426,-0.17959583,-0.20131466,-0.16513735,0.46629128,0.11826833],[-0.66524285,-0.62074107,-0.2418173,-0.6427534,-0.16397402,-0.3407568,0.38450608],[-0.72491395,-0.3333499,-0.01070937,0.06758591,-0.3469214,0.58276814,-0.60413307],[-0.7090462,-0.28402704,-0.29168892,-0.97276664,0.17415757,-0.29785421,0.35881364],[-0.053390227,-0.1611089,-0.8964952,0.26221168,-0.58006567,0.667772,-0.67146504],[0.09106713,0.40570852,0.030234145,0.12706229,0.72801465,-0.7008442,0.033457078],[0.64675695,0.34196526,-0.0063973228,-0.15831146,0.3233861,-0.818193,-0.70464826],[-0.43582126,0.39073256,0.6456649,0.5558599,0.7124559,-0.4439334,0.094163485]],"activation":"σ","dense_2_b":[[0.089445606],[-0.12313768],[-0.06173512],[-0.1068826],[-0.07586955],[0.044505995],[0.046850294],[0.107835546],[-0.07275619],[0.1918601],[-0.15383899],[-0.19150755],[-0.17611705]]},{"dense_3_W":[[-0.26096532,-0.30031928,0.18381803,-0.22780605,0.06046405,0.6438302,0.45061895,0.15275083,0.5594882,-0.23233925,-0.0062613282,-0.37721986,-0.3175804],[0.57467216,0.42339224,0.36510932,0.22639248,-0.0027739918,-0.29680425,0.39515868,0.18335965,0.6245671,0.56803894,-0.58078635,-0.732932,-0.5319626],[-0.20106415,-0.45754662,-0.37109572,0.052946024,-0.08164918,-0.5180276,0.24222454,-0.39028975,-0.37767205,-0.3367975,-0.057989135,0.5503922,0.27205816]],"activation":"identity","dense_3_b":[[-0.037949592],[-0.040613495],[0.0736481]]},{"dense_4_W":[[-0.91081345,-1.2000608,0.3280663]],"dense_4_b":[[0.040748246]],"activation":"identity"}]} |