
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":[[8.316072],[0.9590723],[0.36351156],[0.0441653],[0.9523992],[0.954041],[0.9552573],[0.9414871],[0.92725456],[0.9035007],[0.8794774],[0.044077154],[0.044106334],[0.044123128],[0.04409188],[0.04404384],[0.04385866],[0.043682296]],"model_test_loss":0.01662302203476429,"input_size":18,"current_date_and_time":"2023-08-09_17-54-54","input_mean":[[24.043165],[0.030592984],[0.008662194],[-0.009329172],[0.030800642],[0.030898405],[0.031143442],[0.032330383],[0.031538412],[0.030825427],[0.032572977],[-0.00929861],[-0.00929033],[-0.009281115],[-0.009265514],[-0.009250021],[-0.009282802],[-0.009329454]],"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":[[0.026120635],[1.9416399],[0.60815054],[0.25644714],[0.3952565],[0.17582616],[-0.19558431]],"dense_1_W":[[3.335223,-0.14903972,0.017792625,0.44585547,-0.17456532,-0.3629251,0.34922808,0.67767817,0.15890893,0.31689033,-0.45744747,-0.78738886,-0.15512607,0.31531373,0.13215774,0.08615877,0.7029011,-0.66872466],[0.33444184,0.3865422,0.033097874,-0.10416669,-0.13609071,0.37232438,0.041280344,0.3434424,-0.06693412,0.37225628,-0.31096882,0.6194188,0.019381195,-0.81112,-0.11371732,0.12016824,0.15621446,-0.051286366],[0.32034597,-0.5460983,-0.022756906,0.24789928,0.08965753,-0.78998137,0.8077627,-0.25334057,0.30262712,-0.57730323,0.31271738,-0.413183,0.26481584,0.20591393,-0.2825443,0.048321266,0.037722778,-0.02604145],[-0.001096885,0.877505,4.375584,-0.21056944,-1.4921321,0.30686256,-0.07281465,-0.23879132,1.7749463,0.65912414,-1.1899405,0.7710069,0.51181823,-0.3327569,-0.69171345,-0.14890115,-0.16795291,-0.058986213],[3.0410533,0.37130952,-0.014436474,2.9947143e-5,-0.20359561,0.08057991,-0.4799077,-0.21630915,0.02990563,0.44693226,-0.31517798,0.34675393,-0.35125488,0.04655145,0.0073511093,-0.02863017,-0.3938378,0.28197953],[-0.02691242,-0.27878886,-0.025484474,0.11147362,0.010308179,-0.70408285,0.24386121,-0.26564816,-0.09767933,0.54513925,-0.30042544,-0.70545626,0.19622594,0.4065873,0.2987727,0.13130112,-0.16078812,-0.09777715],[-0.045214858,-0.3631571,-0.036500983,-0.11810798,0.45778593,-1.060346,1.0526772,0.031578775,-0.59605724,-0.36440456,0.511626,-0.73647,0.015697645,0.37303218,0.7600099,-0.21960646,0.16917647,-0.29108718]],"activation":"σ"},{"dense_2_W":[[-0.35218585,0.14308812,-0.57519746,0.31768999,0.17070374,-0.3732793,-0.48790818],[-0.34943467,-0.60227203,-0.4166511,-0.112191014,-0.04813801,-0.32272428,-0.032062355],[0.16224292,0.1755412,-0.6478811,-0.387053,0.63158387,-0.72614723,-0.8409673],[0.03339276,0.5439781,-0.7387804,-0.08449288,0.11998959,-0.18540213,-0.2549742],[-0.27214608,0.19542813,-0.13491894,-0.38912305,0.19247393,-0.8167929,-0.35544467],[-1.5148702,-0.19982053,-0.4914989,1.1792556,-0.88855046,-1.1474198,-0.6109534],[0.43902197,-0.2789942,-0.12047118,-0.30758274,-0.41768637,0.5652369,-0.0692086],[0.41314223,-0.50518227,0.5529299,-0.5850712,-0.14101315,0.15159719,0.4114286],[-0.013627578,-0.103289954,-0.45013615,0.4243168,-0.04401468,-0.6160927,-0.43941525],[-0.11910079,-0.30987215,0.2152533,0.38692838,-0.30739278,0.0892118,-0.04579046],[-0.44247296,1.0036645,0.045824107,0.4684638,0.7781144,-0.6853828,-0.62459666],[0.10554759,-0.05212664,0.4570351,-0.031150939,0.12591816,0.81590295,0.060838416],[0.4397581,-0.34536296,0.10181044,-0.39205134,-0.38584864,0.4655003,0.29053125]],"activation":"σ","dense_2_b":[[0.056989435],[-0.06921607],[0.05528886],[-0.010666541],[-0.2541545],[-0.019204568],[-0.021566926],[-0.043972496],[0.023812661],[-0.0577136],[0.13183823],[-0.033985566],[-0.05114418]]},{"dense_3_W":[[0.53362375,-0.31393358,0.77158445,0.42364752,0.27630767,0.6144512,-0.45349428,-0.63806015,0.28949618,-0.34986678,0.30039573,-0.56956017,-0.5325901],[0.25773355,-0.5742002,-0.18550177,-0.2709638,-0.43932548,0.4737292,0.486204,-0.49685073,0.22938772,0.07413067,0.3179722,-0.38822258,-0.021123026],[0.2324419,-0.27651238,-0.7168737,-0.4830318,0.29606512,0.303249,-0.074232936,0.09739446,-0.6291083,-0.49824134,-0.56967014,0.36437067,0.6702277]],"activation":"identity","dense_3_b":[[0.008113352],[0.044839732],[0.00069537724]]},{"dense_4_W":[[1.2693222,0.03663439,-0.6965769]],"dense_4_b":[[0.0059736283]],"activation":"identity"}]} |