
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":[[8.853577],[1.1593435],[0.49393934],[0.047530506],[1.1528559],[1.1569644],[1.1598135],[1.1245039],[1.0973833],[1.0626532],[1.0269637],[0.047361173],[0.047408417],[0.047455847],[0.047535572],[0.047536217],[0.04739956],[0.04713172]],"model_test_loss":0.017221078276634216,"input_size":18,"current_date_and_time":"2023-08-09_18-22-21","input_mean":[[23.515398],[0.012237509],[-0.0044900486],[-0.010730645],[0.013944725],[0.013308859],[0.012569497],[0.011769375],[0.010604365],[0.010843918],[0.011256869],[-0.0107458485],[-0.010734076],[-0.010720637],[-0.010731344],[-0.01076948],[-0.010765305],[-0.01082986]],"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":[[-0.199587],[-0.25501987],[-0.5037064],[-0.23722672],[0.22343779],[0.14423445],[-0.07885718]],"dense_1_W":[[1.2625326,0.16327555,0.0066552805,0.44784018,-0.124741316,0.79189295,-0.37784576,0.21143824,-0.52783173,-0.20586084,0.23246923,0.1308419,0.11561832,-0.55449927,-0.11027749,-0.18869302,-0.2170536,0.08424656],[-0.006859232,-0.086538136,-0.03269977,0.13604829,0.24823508,-0.5691345,0.670277,0.040435724,-0.16860203,-0.41622674,0.25470176,0.02203289,-0.23012973,0.39989966,-0.47250885,-0.10986197,0.20646292,0.02149021],[1.3279617,0.25124303,-0.007813492,-0.72305727,0.06114258,-0.8571762,0.063125186,-0.25974143,0.4144009,0.60714114,-0.46617725,-0.2852775,-0.0355692,0.5701069,0.69028735,0.27851647,-0.26454824,0.07074926],[0.022198461,1.6731384,0.037180465,0.765974,0.030372338,-0.7625096,2.1497931,-1.2226309,-1.9869789,-0.91440254,0.9935744,-0.3478071,0.53434056,-0.08860992,-0.28544557,-0.29930937,-0.5889199,0.4349971],[0.2660301,-0.86187685,8.6956774e-5,-0.016676437,-0.3185729,-0.8080561,1.0541335,0.12288944,0.1756726,-0.14763017,-0.09342803,0.17633434,-0.24657024,-0.3275839,0.37692598,0.048297286,0.19601016,-0.20960684],[0.15503937,0.78893465,-0.0035333869,-0.0016546088,0.18449067,0.46749434,-0.7731415,0.33954102,-0.035273015,-0.3853616,0.23819815,0.34393597,-0.057135757,0.15562473,-0.3307375,-0.28002447,-0.14485608,0.3072072],[-0.002361901,-1.5429035,-5.8346395,0.50011724,0.42428496,0.7945255,0.49649864,0.34323424,-0.9758048,-0.9413602,0.64176863,-0.59547406,-0.009193582,-0.36598718,0.48848686,-0.27432454,0.047451578,0.28842512]],"activation":"σ"},{"dense_2_W":[[0.46865103,-0.60989743,-0.03747131,-0.39046776,-0.057409145,-0.39815053,-0.59903854],[0.3293413,0.5657211,0.58408237,0.09847331,0.6722225,-0.5966699,0.43323725],[-1.1938511,0.3152245,-0.7231345,0.36246085,0.17062272,-0.9542798,0.42241877],[0.95589864,-0.5171128,-0.20689346,-0.2149552,-0.17504925,1.4507052,-0.458539],[0.6998986,-0.5149185,-0.41500762,-0.34256452,-0.59194785,0.68115014,0.022985162],[-0.58739376,0.5298398,0.35696748,-0.09943707,1.0701959,-0.8042608,-0.25183183],[-1.7204717,-0.5559019,-0.9794375,-2.4412615,0.009480803,-0.2547261,0.2289718],[0.6462851,-0.7868944,-0.9317859,-0.62466663,-0.11116908,0.48139545,-0.1042982],[0.7837947,-0.31750438,-0.61143816,-0.53003997,-0.8487594,0.52839005,0.071558826],[-0.6952866,-1.0207022,-0.8329126,-0.23308934,-0.103428386,0.37906075,-0.95636684],[-0.4912487,0.16609176,0.38974765,0.5311249,0.8187408,-0.9927307,-0.1320584],[-0.50672543,0.5862622,-0.2999275,-0.0069663594,0.18914229,-1.3985909,0.35376993],[-0.8134264,0.55566525,0.6216377,0.7941298,0.6479907,-1.2260833,-0.31804174]],"activation":"σ","dense_2_b":[[-0.19038986],[-0.16041437],[-0.5408977],[0.30586013],[0.085234426],[-0.10838832],[0.22506814],[0.0007744643],[0.13522272],[0.03689445],[-0.13003486],[-0.27763245],[-0.092821054]]},{"dense_3_W":[[-0.65185815,0.54327095,0.10433931,-0.116812855,-0.55839425,0.6606599,-0.59668356,-0.1460392,-0.4181811,-0.8674938,0.51525503,-0.23707807,0.29755294],[-0.09864905,-0.65130895,-0.7366327,0.44178113,0.7440715,-0.18855122,0.5229587,0.648026,0.7389669,0.58856255,-0.29644322,-0.56690645,-0.47691458],[-0.028702423,-0.025029318,0.3560928,0.08559789,-0.5590178,-0.21502936,0.4283347,0.14829901,0.15673526,-0.36272648,-0.21479517,0.23683308,0.39158282]],"activation":"identity","dense_3_b":[[-0.08270337],[-0.04420589],[-0.00881405]]},{"dense_4_W":[[-0.259468,1.106187,0.007629875]],"dense_4_b":[[-0.03991197]],"activation":"identity"}]} |