5589bead02
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":[[6.33825],[1.1453629],[0.43486407],[0.046197876],[1.1367582],[1.1400605],[1.1420996],[1.1326395],[1.1184355],[1.1011796],[1.079299],[0.045960896],[0.046014525],[0.046063952],[0.046127878],[0.0460219],[0.045729626],[0.045291778]],"model_test_loss":0.021876206621527672,"input_size":18,"current_date_and_time":"2023-08-10_03-24-19","input_mean":[[27.181211],[-0.033823926],[0.008755515],[-0.0075790784],[-0.032792553],[-0.032709006],[-0.032333635],[-0.02890779],[-0.02326324],[-0.016518341],[-0.010042243],[-0.007586642],[-0.00755887],[-0.0075379773],[-0.007499133],[-0.0074144034],[-0.0072887978],[-0.007148881]],"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":[[0.046337597],[0.050293937],[1.8881503],[0.59185153],[0.8542854],[0.19480373],[1.5334643]],"dense_1_W":[[-0.008669442,-0.50197583,0.0013483413,0.07478634,-0.12987828,-0.42372242,0.451127,-0.21957916,-0.17928472,-0.0133529585,0.06471939,-0.61344665,-0.28108978,0.61214054,0.25012782,0.10078239,0.11161439,-0.16625455],[0.019537883,-0.25616175,0.0026798896,-0.47914556,-0.117883034,-0.5943702,0.47449878,0.02374437,-0.25907964,0.0004787899,0.041058734,-0.62058383,0.37889734,0.56780803,-0.12320269,0.24227172,0.05977054,-0.088733785],[0.9617319,0.5921454,0.08454962,-0.024177684,-0.33587864,0.7352508,-0.7387421,0.39873427,0.21945651,0.05807639,-0.2851063,0.16848388,-0.5095711,-0.648206,0.22489141,0.2630374,-0.10781773,0.05692585],[0.6508581,-0.034968324,-0.0046116984,0.042830404,0.2208985,-0.25876033,0.70590264,0.11468684,1.3392336,-0.462859,-0.19124633,-0.49964252,-0.112543315,0.23059364,0.22540659,0.8281614,-0.30613214,-0.41558707],[0.630478,0.72845036,-0.0040414827,-0.42815435,0.09451815,0.98280245,-0.5989212,0.11570024,0.012325331,-0.067932405,0.11440747,0.027836803,0.35311875,0.12638386,-0.23782413,0.35590366,-0.07542629,-0.12907898],[0.02959114,0.17071922,4.48706,-0.005770228,-1.3331827,-1.5406686,-1.4772613,-0.8343799,2.3675978,2.120532,0.66988176,0.90546036,0.2781295,-0.40613997,0.25572512,0.8060402,-0.9505193,-0.8492369],[0.9206642,-0.5364798,-0.08010512,0.04452516,0.0843251,-0.4182482,0.5212545,-0.20747036,-0.2660874,-0.06005273,0.2478061,-0.095565975,0.18786341,0.72273916,-0.19318765,0.028641535,-0.036184557,-0.10096181]],"activation":"σ"},{"dense_2_W":[[0.38142607,0.042492785,-0.77607405,-0.52826,-0.8402416,-0.63555807,0.26845828],[-0.36448377,0.013470403,-0.7751532,-0.62089664,-0.0025020323,-0.43518564,-0.032616902],[-0.51269734,-0.90651554,0.15344314,-0.97433233,0.13745055,0.95539695,-1.3348669],[-0.29381657,-0.72915894,0.1849723,-0.6422532,0.6542673,-0.23613134,-0.41772324],[0.98330545,0.1279324,0.07058928,-0.120830305,-0.6904588,0.43327442,-0.01615229],[-1.1281452,-0.7857186,0.7657339,-0.6405541,0.15110444,0.3140745,-0.77677655],[-0.10084952,-0.22716746,1.1716565,-0.091143146,1.0249162,1.0087454,-0.28616652],[-1.1938478,-0.12939769,-0.26710513,-0.8057877,0.28079078,0.6419189,-0.73595464],[-1.1646985,-0.43413186,0.16684091,-0.72566366,0.39882493,0.5024153,-0.07758079],[-1.0085496,-0.07076024,-0.20896135,-0.65417224,-0.2732086,-0.113864146,-0.6265197],[-1.1994962,-0.8906176,-0.33401784,-1.0209608,0.37494394,0.8777499,0.0017000877],[0.64241505,0.62737906,-0.6886972,-0.18807864,-0.07910444,0.48681334,-0.09631596],[0.8916427,0.6068368,-0.7540836,0.6216169,-0.3300996,-0.31663188,0.3107477]],"activation":"σ","dense_2_b":[[-0.13178545],[-0.15170422],[0.16972616],[0.02054858],[-0.06958599],[0.123835176],[0.06601367],[0.0011560497],[-0.0824041],[-0.1551787],[-0.07204721],[-0.0050074253],[-0.13309194]]},{"dense_3_W":[[-0.26774383,0.069543615,0.6138564,-0.19084257,-0.054911274,0.68343407,0.6239501,0.41537902,0.5271345,0.11967227,0.032000795,-0.057378754,-0.49043247],[-0.06432742,-0.7016147,0.10944263,-0.1354464,-0.13193382,-0.070864916,0.037493527,-0.88318646,0.12056807,0.35320503,-0.6730902,0.5864121,0.25374225],[-0.7003238,-0.21708901,0.26239115,0.7095383,-0.6740586,0.19532588,0.15621354,0.44259292,0.37482294,0.12022154,0.4868753,-0.46856374,-0.68130004]],"activation":"identity","dense_3_b":[[-0.056218784],[-0.079843864],[-0.01837998]]},{"dense_4_W":[[0.6685718,-0.15755904,1.0103254]],"dense_4_b":[[-0.027803186]],"activation":"identity"}]} |