
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":[[8.658497],[1.5859418],[1.0517546],[0.034734488],[1.689262],[1.6641207],[1.631185],[1.4353931],[1.3088481],[1.1599948],[1.0185405],[0.034241244],[0.034408618],[0.03457862],[0.03494214],[0.034875177],[0.03462209],[0.034483198]],"model_test_loss":0.020648179575800896,"input_size":18,"current_date_and_time":"2024-01-02_20-22-30","input_mean":[[15.897082],[-0.021277297],[0.692324],[0.014695472],[-0.00410467],[-0.009351435],[-0.015384687],[-0.0378949],[-0.040398844],[-0.036302257],[-0.028330054],[0.014786745],[0.01474422],[0.014721721],[0.014699671],[0.014642618],[0.014498711],[0.014347975]],"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":[[0.66380316],[1.055813],[-1.2781404],[-0.003714217],[0.68125474],[0.12518582],[-0.47189397]],"dense_1_W":[[0.023264969,2.4829106,1.0267612,0.0043253023,-0.31247467,-1.1404119,-1.6018424,1.3558357,-0.93140715,0.18093605,-0.2123544,0.5061299,0.0687944,-0.022963975,-0.2779211,-0.383169,-0.01585042,0.15245079],[0.49474946,1.1384137,-0.0093692355,0.10462006,-0.044534527,-0.14586692,-0.67813617,0.3774349,-0.07594121,0.05184082,0.3437861,-0.089935005,0.31418848,-0.3005194,-0.021800688,0.21499263,-0.15702608,-0.08469207],[-0.5061406,1.7402344,-0.011635434,0.2534429,0.49248964,-0.77797705,-1.1590934,0.27813736,-0.0066616554,0.027637795,0.34827945,-0.25132036,-0.23454213,0.43947166,-0.17733444,0.058890957,0.15550074,-0.25752288],[0.011753689,-0.6806257,-0.000551094,0.28400567,2.1204176,2.0476086,1.9125074,-2.8277118,-1.2360601,-0.6018121,0.32703117,-0.3390267,-0.08383199,-0.14645334,-0.15111357,0.12496398,-0.076250896,0.17740461],[-1.1100649,-0.6734473,0.033095483,0.2578394,-0.53153676,-0.7097742,0.34511015,0.37038705,0.3811427,0.48723713,0.30870646,-0.2964394,0.007650018,0.37098345,-0.014890661,-0.08688222,0.5134844,-0.49637595],[-0.012659322,-0.91445315,-0.019390168,0.7011325,-0.40988868,-0.20479149,-0.12280544,-0.089753054,0.14528649,-0.28201663,0.000121450554,-0.4059842,-0.11474353,0.06626348,0.32235426,0.14436008,-0.42664346,-0.031300116],[1.1211147,-0.51169,0.034471937,0.1913725,-0.7572973,-0.25504062,-0.006400122,0.39719194,0.32311705,0.46749884,0.30637088,-0.10741348,-0.05846461,0.26392573,-0.058053475,0.24499755,0.121531084,-0.33423558]],"activation":"σ"},{"dense_2_W":[[-0.41749936,-0.63439196,-0.9448203,0.24329051,0.619932,0.7001656,0.53887445],[-0.66495943,0.13385612,-0.9456324,-0.19996226,-0.35653448,-0.60729116,-0.0050391643],[0.08150003,-0.77151924,-1.148603,0.081893615,0.16614234,0.6755907,0.37989888],[-0.5214326,0.19628973,0.53569543,-0.6327269,-0.14861543,-0.2591358,-0.34359047],[0.015182724,0.37277704,-0.0011034289,-0.22393572,-0.5301208,-0.84692913,0.06273541],[0.45802754,1.217313,1.5646962,-0.6215956,-0.41615376,-1.1443934,-0.9446611],[0.21071436,-0.6204378,-0.28120154,0.34700617,0.10513924,0.28564954,0.48535228],[0.35082844,-0.04412084,-0.82934594,-0.016941322,0.06625491,-0.051617,0.5289725],[-0.37600332,-0.7144937,-0.4192915,-0.017298527,0.015305766,0.086317405,-0.2314713],[-0.15886012,-0.49864063,0.29157007,0.0035776151,-0.7188119,0.17826621,-0.5522002],[0.31840876,0.62237096,1.7238669,-1.5106426,-0.032441143,-0.68148625,-1.1493133],[0.06748733,-1.4481086,-0.80614007,0.92932874,0.8121929,-0.12867703,-0.54141766],[0.37633127,1.0065787,0.6632041,-0.30678326,-0.6382617,-0.6832509,-0.5337681]],"activation":"σ","dense_2_b":[[-0.0967127],[-0.27487153],[-0.15310854],[-0.09420893],[0.017467381],[0.05625827],[-0.14320686],[-0.14624876],[-0.13067968],[-0.16954601],[0.07325712],[-0.13529867],[0.05067112]]},{"dense_3_W":[[-0.7001766,0.3549783,-0.20392421,-0.3891577,0.6540974,0.79159707,-0.53696954,0.34622443,-0.10133679,-0.3635379,-0.1172522,-0.54936004,0.5023345],[-0.51806414,-0.2929332,-0.3900782,0.55228364,-0.16421004,0.1219131,-0.19932026,-0.4537847,-0.045063283,0.2877003,0.6241727,-0.28171238,0.42909577],[-0.41172424,0.049860835,0.38619703,-0.2254737,-0.030519836,0.34819195,-0.15273888,-0.23801045,-0.41230777,-0.10952787,0.62969553,-0.38496944,0.76767856]],"activation":"identity","dense_3_b":[[0.057925284],[0.06031366],[0.051095583]]},{"dense_4_W":[[0.7901525,0.7714246,0.20130797]],"dense_4_b":[[0.052549943]],"activation":"identity"}]} |