
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":[[9.006951],[1.0661907],[0.4208536],[0.040620446],[1.0632395],[1.063527],[1.0637337],[1.0418845],[1.0213413],[0.9960982],[0.9659563],[0.04054981],[0.04057159],[0.04058309],[0.04049591],[0.040372174],[0.04013236],[0.039733175]],"model_test_loss":0.014225631952285767,"input_size":18,"current_date_and_time":"2023-08-09_14-33-01","input_mean":[[25.177166],[-0.026529262],[0.009477891],[0.0017629279],[-0.028283715],[-0.027773762],[-0.02699433],[-0.023891538],[-0.02269541],[-0.020438392],[-0.017402157],[0.0018114187],[0.0018036948],[0.0017961235],[0.0018093524],[0.0017814242],[0.0017387652],[0.0016870175]],"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":[[-1.3488934],[-0.25318402],[1.3796363],[-2.4763696],[0.17862964],[-2.581063],[0.0374099]],"dense_1_W":[[-1.9565458,0.43680963,0.06587548,0.042409927,0.3682261,-0.32550198,0.3935391,0.34101823,-0.19819863,-0.09118507,0.072811775,-0.55412966,0.22973019,0.5704431,0.10271992,0.10906355,0.18409586,-0.25245637],[0.010017396,-0.23327492,-0.025723774,-0.06732227,-0.1377613,-0.9790948,1.1363516,-0.004057807,-0.09313964,0.054035064,-0.04986635,-0.6889519,-0.43221784,0.85702723,0.469375,0.3359073,0.1845464,-0.47437343],[2.133775,0.8436303,0.06543569,-0.19301523,0.7682015,-0.71488863,0.44514364,0.121126205,-0.5451813,-0.23265283,0.36209187,-0.10944904,-0.10013678,0.8461928,0.47840348,-0.4829053,-0.15971945,0.19538315],[-0.762671,0.8158483,0.11918508,0.11182312,0.045061667,0.5209565,-0.017836645,0.19029039,0.05993828,0.14132203,-0.14783566,0.21835268,-0.37212574,0.021008398,-0.07471657,0.23310561,0.30849415,-0.32095852],[0.012362058,1.1697396,4.896626,-0.6752607,-1.293956,-0.6969285,-1.2943544,0.48185518,1.9836872,0.80383307,-0.67689174,1.464715,1.0810806,-0.6226654,0.5317476,-0.97188056,-0.93535984,-0.07797605],[-0.76108575,-0.96115094,-0.12517042,-0.023074046,0.21048824,-1.0002247,0.1298013,0.017577004,-0.04171292,-0.13762209,0.09954114,-0.4320813,0.051972903,0.5637555,-0.20373943,-0.0645255,-0.17654338,0.17915705],[0.012589448,-1.178468,0.16960609,-0.042218912,-0.313776,-1.1033659,-0.3083642,0.04046465,-0.69654006,-0.5194823,0.22638294,-0.115158446,0.1719876,0.6620813,-0.27977157,-0.6041283,-0.16925894,0.5477763]],"activation":"σ"},{"dense_2_W":[[0.2714706,0.59053195,-0.0041459124,-0.41285,-0.3072934,0.30405983,0.29765671],[-0.05261304,0.61104286,0.083263226,-0.2729422,-0.15758975,0.3245751,0.08180204],[0.11750135,-0.9169556,0.16402717,-0.47221494,0.013237812,-0.9444454,0.07540947],[0.14767434,-0.2879568,-0.23108272,0.41553706,-0.022354566,-0.7293346,-0.44255376],[0.30335668,0.37456387,0.3885767,-0.7781797,0.03455829,0.701339,-0.088443086],[-0.1726601,-0.85276175,-0.42082515,1.3459167,0.014372793,-1.1087767,0.25560606],[-0.22434108,-0.61502177,-0.77391124,0.58211446,0.70793843,-0.44423535,-0.10059737],[-0.24011742,-1.1389203,0.13803475,0.5802644,0.4245233,-0.4964158,-0.06763477],[0.17082813,0.26018152,0.2441558,-0.798921,-0.34764507,0.53820854,0.4687339],[-0.142942,0.1200522,-0.2755005,-0.44287127,0.12139864,0.7061747,0.30685058],[0.26870826,0.27511376,0.013270598,-0.38270554,-0.25317055,0.5880916,0.38201085],[-0.51288533,-0.74000406,0.041218568,0.23942995,-0.61270565,-0.35922202,-0.41015244],[-0.31531772,-0.6721873,-0.0041211997,0.44185337,0.094147496,-0.532301,-0.09608283]],"activation":"σ","dense_2_b":[[-0.13420725],[-0.006237683],[-0.29298192],[-0.16996942],[-0.24118775],[0.39525142],[0.12012915],[0.079633266],[-0.14625302],[0.017826455],[-0.25199854],[0.08497193],[0.11287382]]},{"dense_3_W":[[0.3236856,-0.11585646,0.37450194,-0.3883134,-0.12542132,0.117089026,-0.33960536,-0.51633084,0.15317307,-0.46796653,0.22769703,0.14106414,0.37199378],[-0.46536645,-0.21581124,0.21901791,0.11581306,0.0037904275,0.20201044,0.76395154,0.2692143,-0.08054871,0.3889979,0.13807094,0.58494323,0.6641779],[-0.31520608,-0.5903212,-0.0585899,0.1499463,-0.49658206,0.3555356,0.734374,0.46968886,-0.6641194,-0.6121126,-0.57470906,0.48789984,0.46722496]],"activation":"identity","dense_3_b":[[-0.010275512],[-0.05716576],[-0.03483528]]},{"dense_4_W":[[0.05533481,0.9485316,1.0639691]],"dense_4_b":[[-0.04380799]],"activation":"identity"}]} |