
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":[[7.672505],[0.97997594],[0.48896867],[0.036406606],[0.9879945],[0.98470104],[0.9816876],[0.9598457],[0.9478727],[0.9382326],[0.9277363],[0.036488507],[0.036457427],[0.036408816],[0.036040876],[0.035670046],[0.035212148],[0.034712877]],"model_test_loss":0.013047197833657265,"input_size":18,"current_date_and_time":"2023-08-09_16-38-38","input_mean":[[26.06892],[-0.032476645],[0.01847185],[0.008156076],[-0.03514416],[-0.03364282],[-0.03196355],[-0.0248437],[-0.023279596],[-0.017502444],[-0.018172378],[0.008091517],[0.008101025],[0.008103796],[0.00808531],[0.008018075],[0.0077868756],[0.007642417]],"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":[[-3.0938547],[-1.5377342],[0.11164253],[-1.3607982],[-0.001633297],[0.28943086],[-0.017152473]],"dense_1_W":[[-2.6134133,0.1072478,-0.038407013,-0.55906427,-0.54777765,0.53895926,-0.26524103,0.15754877,0.0075992765,0.11399316,0.060622185,0.04282183,-0.9743834,-1.0467935,-0.030679928,0.2015473,-0.170534,0.72894627],[-0.4446471,-0.6120142,0.0009793217,0.28336817,0.028145306,-1.2111511,0.52227914,-0.02825454,-0.021248085,-0.09601412,-0.050700705,0.004752271,-0.20404592,0.27143523,-0.5377922,-0.22390097,0.28489593,0.043314826],[-0.013865213,-0.42944995,0.0024095853,0.33657116,-0.17577003,-1.3745159,0.96880376,0.08447174,-0.18238825,-0.11932599,-0.00020815701,-0.72243226,0.27775034,0.31180686,-0.02206438,0.043953754,0.0844208,0.16568054],[-0.37105855,0.68786305,-0.00039992417,0.18125659,-0.23189458,1.2473199,-0.55478483,0.04226533,0.08798957,-0.0069234855,0.058259994,0.7714291,-0.383511,-0.9248507,0.36679336,0.15952906,0.12819786,-0.2177665],[0.013770035,0.33806401,0.00094282354,0.17861775,-0.23762894,1.1728739,-1.2293357,0.07470985,-0.08396865,0.14319621,-0.040008016,0.5050906,0.26662126,-0.6125382,-0.6498126,-0.17428778,-0.17383261,0.46036986],[0.0077164564,1.5451698,7.429268,0.31939277,-2.2427018,-1.5543389,-2.5262957,1.1669385,3.063373,1.1486622,-0.49699086,1.9423336,1.13846,-0.5957547,-1.5996556,-0.34185794,-0.6949594,0.12978563],[-0.042126972,-0.29461217,-1.4955524,0.45490184,-0.033281934,-0.6029691,0.3394342,-0.30512628,-0.15046905,-0.14568257,0.8093577,-0.8086997,-0.15785371,0.51180923,0.26197797,-0.17697093,0.12429469,-0.21264184]],"activation":"σ"},{"dense_2_W":[[-0.5995437,-0.3603585,-0.20216258,0.08936401,-0.49370512,-0.54119444,0.28133863],[-0.58552414,0.81165653,0.91113776,-0.79454756,0.22261482,-0.21558377,0.10684496],[-0.4171185,-0.568881,0.43534383,0.0026570433,0.21137409,0.25033414,-0.29121745],[-0.36481413,-0.9939236,0.05604151,-0.35338676,0.9317966,1.4149865,-0.54362875],[0.54199463,-0.6108903,-1.0630567,0.39385843,0.7272977,0.33584854,-0.31977272],[0.24222183,-0.15256006,0.60300756,-0.4242564,-0.46528172,-0.34210142,-0.3140277],[0.09832237,-0.16391051,-1.2382702,1.0045747,0.8160615,0.110929355,0.02551595],[0.02746031,-0.19373654,-0.2355057,0.24359266,0.5353504,-0.22755131,0.2656299],[-1.1224236,-0.3300643,-0.407043,-0.353378,0.65846336,-1.0422004,0.09945112],[-0.18847044,-0.886505,-0.16673878,0.5101195,1.0061107,0.11062626,-0.050155606],[0.3335287,0.11981937,0.29632357,-0.13577487,-0.0740185,-0.02512637,0.44026503],[-0.10581189,0.38680208,0.5723,-0.26251873,-0.27632186,-0.5749631,0.35630655],[-0.16280471,-0.25712195,0.53059477,-0.66531825,-0.66056573,0.0900753,0.48065072]],"activation":"σ","dense_2_b":[[-0.2385691],[0.12793182],[-0.10159543],[0.25047785],[-0.23729679],[0.024322221],[-0.18446803],[-0.07810453],[-0.41927636],[-0.016799252],[-0.053551592],[0.055111423],[0.04165242]]},{"dense_3_W":[[-0.059520952,-0.5622691,0.45825937,0.39820474,0.13583045,-0.32961982,0.015958305,0.3244693,0.4253685,0.23013696,-0.54041684,-0.40731147,-0.30158764],[0.09375583,-0.0017320638,-0.39634547,0.24657139,0.5715864,-0.140639,0.52030236,0.553719,-0.18884522,0.516919,-0.1633942,-0.6434239,-0.5723449],[0.029367253,-0.6095855,-0.5169094,0.41468775,0.1923313,0.57539755,0.39066675,0.48482603,-0.5734151,-0.060352806,0.33851054,-0.28380212,-0.28927657]],"activation":"identity","dense_3_b":[[-0.022509072],[-0.026452657],[-0.0094871335]]},{"dense_4_W":[[0.83508223,0.90878975,0.025333464]],"dense_4_b":[[-0.026976062]],"activation":"identity"}]} |