
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":[[8.497126],[0.7899638],[0.44968936],[0.040003814],[0.790069],[0.78973264],[0.7899307],[0.7765341],[0.7670328],[0.758676],[0.7496478],[0.039959125],[0.03996849],[0.039961126],[0.039813876],[0.039652888],[0.03946854],[0.039514165]],"model_test_loss":0.019624391570687294,"input_size":18,"current_date_and_time":"2023-08-09_11-08-09","input_mean":[[24.399408],[0.032711282],[0.0115032485],[-0.00525594],[0.030166635],[0.029666992],[0.029536955],[0.035590276],[0.03622483],[0.039915655],[0.042751476],[-0.005364839],[-0.005367187],[-0.0053584483],[-0.0053036655],[-0.0054080314],[-0.0055061234],[-0.00556505]],"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":[[1.6610016],[0.151701],[0.009707743],[-0.26353267],[-2.1897213],[-0.07288661],[-0.11378308]],"dense_1_W":[[0.7202683,-1.4521006,-0.36892205,-0.27287668,0.5218362,-0.9888661,0.7682538,-0.22947517,-0.0722589,0.04581978,0.17252716,0.20101401,0.2203343,0.5318873,0.16461913,-0.10408441,-0.046259586,-0.0836677],[0.0017382947,0.73556834,1.6531876,-0.23093462,0.20005266,0.42430395,-0.5890132,0.49725816,0.5355405,-0.10126484,-1.4101623,0.7921084,0.1510884,-0.73259395,0.084286,-0.4520055,0.11672066,0.25221756],[-0.015996123,0.6276854,0.052092206,-0.36424366,-0.07230438,-1.2923295,0.7504581,0.09663407,-0.18611723,-0.120635055,0.015938537,-0.37530875,0.2885642,-0.059331078,0.08137963,0.20130512,-0.021207044,0.046624325],[-0.012034361,-1.4192638,-5.2265596,0.2612958,4.1413407,2.314966,2.3661003,-1.5783347,-5.9282966,-2.0653381,1.9981527,-2.0700922,-0.5770653,0.38979787,1.1890407,0.48308054,1.4855419,-1.1318967],[-0.7691148,-1.4111314,-0.36992973,-0.56459725,0.38714254,-0.3826238,0.5399009,-0.63972545,0.04428801,-0.21149153,0.40715024,-0.2787244,0.7013386,0.6029106,0.50310415,-0.23025295,0.11826784,-0.23212224],[-0.006358524,0.69335353,0.02794763,0.3399404,-0.59244144,0.7978909,-0.6742573,0.063028805,-0.1886972,-0.104276046,0.08210134,0.7829205,-0.17847379,-0.42135885,-1.1342844,0.29648486,-0.25651482,0.43940562],[0.006844428,0.990331,0.011878585,0.54291165,-0.19225447,-1.9755626,0.30564827,-0.07925933,0.31555137,-0.15508366,-0.27373806,-0.18496017,-0.4336757,0.18401355,-0.26887777,-0.010644886,-0.10060476,0.2263297]],"activation":"σ"},{"dense_2_W":[[0.36306933,0.3977938,0.22641855,0.7298922,-0.27546063,-0.10226779,0.034273352],[0.08656265,-0.48553008,0.55096817,-0.048100367,0.53174394,-0.83036834,0.56428534],[-0.24495511,0.33051565,-0.12894641,-0.26901788,0.3568392,-0.52020496,-0.11631975],[0.37262198,-1.0897073,-0.45251986,0.30015078,-0.5788583,-0.06598383,-0.6937122],[-0.4771023,-0.2963909,0.20836869,-0.4795101,0.028140526,0.91956437,-0.6256226],[-0.035516877,0.4190135,-0.27137184,-0.76606,-0.10609275,1.59395,-0.753493],[-0.47961858,0.030423556,-0.071964465,0.21260998,0.027962271,0.08736105,0.0015122219],[0.44915485,-0.49171802,0.5426616,0.38728034,-0.04750208,-0.24676758,0.32686082],[0.014905465,-0.09540689,-0.39694756,-0.07622363,0.43361604,0.061137225,0.7645907],[0.2848,-0.07338248,-0.6300479,0.32704386,-0.45459402,-0.4455886,-0.20302792],[-0.14017946,0.19692336,-0.5500081,0.43361938,-0.79839504,0.14536503,-0.5962689],[-0.35142824,0.22747609,-0.5308471,-0.3816653,-0.14133443,0.7790726,-0.46167746],[0.033977807,-0.47663027,0.21505095,0.060140327,0.50756395,-0.46516722,0.5984394]],"activation":"σ","dense_2_b":[[-0.08834933],[-0.17998597],[-0.098719954],[-0.07162819],[0.18823287],[0.25482836],[-0.23286653],[-0.13847035],[-0.1420269],[-0.16621625],[0.107665256],[0.27800032],[-0.2690747]]},{"dense_3_W":[[0.31680772,-0.04880554,0.41232827,-0.5364121,-0.18391071,-0.19796918,0.4786881,0.3846168,0.53205895,0.21274851,-0.69326276,-0.359501,-0.47516134],[-0.21317686,0.22660097,-0.36739162,0.16952656,-0.485056,-0.033075597,0.113461725,0.47104463,-0.29169482,-0.12948655,0.38925797,-0.826083,0.6325188],[0.34189993,0.43732288,0.26165158,-0.18155214,-0.54409766,-0.19873665,-0.28346628,0.5721446,0.5639601,-0.036017355,-0.4653392,-0.79315287,0.1872007]],"activation":"identity","dense_3_b":[[-0.064026974],[-0.056641966],[-0.060960032]]},{"dense_4_W":[[-0.5811463,-0.62689096,-1.1673242]],"dense_4_b":[[0.05718782]],"activation":"identity"}]} |