
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":[[4.684907],[0.9460035],[0.33342025],[0.043801006],[0.943236],[0.9438911],[0.9439055],[0.9338765],[0.9230702],[0.90794885],[0.8921319],[0.04381569],[0.043804597],[0.043778293],[0.04356958],[0.043327603],[0.042924862],[0.042455677]],"model_test_loss":0.00282586133107543,"input_size":18,"current_date_and_time":"2023-08-09_06-25-49","input_mean":[[29.41278],[-0.009032724],[-0.0021492816],[0.004332889],[-0.00860808],[-0.00887388],[-0.010132152],[-0.0102206785],[-0.00937236],[-0.0074595967],[-0.005152443],[0.004347949],[0.004330746],[0.0043104156],[0.0040981416],[0.0039356602],[0.0037958957],[0.0036709488]],"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":[[0.09501388],[0.8404856],[0.7934484],[-0.066568784],[-0.31608787],[-0.109698914],[-0.12751737]],"dense_1_W":[[0.0011169801,-0.018726321,0.0015862584,0.17112947,-0.5446971,0.5853068,-0.3039678,0.4737596,0.21017975,-0.23414794,-0.07348194,0.98195386,-0.14195174,-0.10654367,-0.34493265,0.20805775,-0.4868443,-0.23417883],[0.9548257,-0.46348402,-0.29633194,0.18528488,0.40596813,-0.824306,0.30642077,-0.007846376,0.033617396,-0.23929001,0.1453222,-0.35812417,-0.22854868,0.39195415,0.49922717,0.7028648,0.50149786,-0.86416316],[0.97592115,0.007649104,0.3003986,-0.33777642,-0.13973069,0.46592122,0.03299811,0.19446975,0.067927755,0.1478205,-0.13307863,-0.11891002,-0.47453943,-0.19565998,0.54486775,-0.04400889,-0.35464677,0.13683307],[0.0047029937,0.14668527,-0.005069146,0.24684682,-0.614384,1.0910827,-0.094034076,-0.19462726,0.28000307,-0.42661187,0.2321289,-0.064942434,-0.42558447,-0.39662802,-1.0747879,0.06939005,0.2870679,1.3147138],[0.016900972,0.39719796,-0.0023543735,-0.0913586,-0.27493247,0.90382856,-0.43656674,0.011338879,-0.26157647,0.2745171,-0.04499426,0.9156245,0.18295021,-0.9320426,-0.07365104,-0.19892058,0.16344132,-0.0042856243],[-0.011051511,-0.78559583,-3.1862526,-0.13295761,0.65890294,-0.68599087,-0.12433693,0.08657334,-0.41985497,0.47015917,0.5829991,-0.71003574,-0.34596688,-0.17925437,0.41965798,0.31952843,0.61812705,0.09319992],[0.014576556,-0.18765137,-0.001399782,-0.12696555,0.0890215,-0.64548665,0.17923205,0.14201109,-0.30869052,0.19999632,-0.092428885,-0.6353419,0.07439351,0.80051905,0.04906582,-0.1398521,-0.2728979,0.2945558]],"activation":"σ"},{"dense_2_W":[[-0.6210588,0.45552707,-0.25218815,-0.17052735,-0.28304043,-0.3500373,0.014205802],[0.33707482,-1.3240942,-0.6408793,0.8307369,-0.10797842,-1.2964274,-1.3836163],[-0.33217075,-0.43026388,-0.12341792,-0.41299066,0.2880537,0.083734885,0.1641773],[0.35629743,-0.4401899,0.1567848,0.30102292,1.318357,0.048755936,-1.2286369],[-0.12527834,-0.23215155,0.56640136,0.3483607,0.8943009,-0.039557446,-0.9478881],[-0.57511246,-0.2275013,0.23487775,0.46695858,0.37859124,-0.17711872,0.26375052],[0.63963145,-0.45322925,-0.54017925,-0.3060082,0.12730126,-0.6374732,-0.018194102],[-0.5951409,-0.08423941,-0.0051530325,-0.53952223,-0.6064661,0.23082048,0.39190525],[-0.3667256,0.008534655,0.4268871,0.34291455,-0.6101535,0.21997947,0.25764218],[-0.11584076,0.5873763,-0.63031334,0.2047302,-0.08922794,-0.18342617,0.6476465],[0.07069251,-0.45771497,0.12435426,0.04750334,1.8602587,0.24760254,-1.2554413],[0.33669302,0.4188555,-0.46464103,-0.048415337,0.05759297,0.3541,-0.13896422],[0.511148,0.23681977,0.36551967,0.35152832,0.792135,-0.31216228,-0.83162516]],"activation":"σ","dense_2_b":[[0.08171513],[-0.1163031],[-0.0041464856],[-0.21284437],[-0.06291548],[-0.047316123],[-0.13749899],[0.047459695],[-0.03701015],[0.045251872],[-0.29556692],[-0.00961862],[-0.029000068]]},{"dense_3_W":[[0.12327876,-0.048812684,0.6152893,0.21222751,0.18817006,-0.3728164,0.270455,0.4454563,-0.11968707,0.59693485,-0.06342227,0.34730113,-0.57901394],[-0.4065829,-0.04221764,0.020975756,0.42464995,0.34640458,0.4587765,0.20783032,-0.86228454,-0.72097176,0.101609,0.16048418,0.48934665,0.49102414],[-0.29578757,0.22049302,-0.14916682,0.33021316,0.40887907,-0.35374218,0.4427254,-0.24567138,0.15444578,-0.63093376,0.25220618,-0.3500056,0.50111896]],"activation":"identity","dense_3_b":[[0.016075611],[-0.12729394],[-0.029249111]]},{"dense_4_W":[[-0.2641593,0.3333745,0.8707298]],"dense_4_b":[[-0.031108981]],"activation":"identity"}]} |