
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":[[5.154286],[0.76042634],[0.3701081],[0.034407996],[0.7532322],[0.755637],[0.7579886],[0.7569121],[0.7567644],[0.75660825],[0.75161266],[0.034349248],[0.034364954],[0.034366276],[0.034332108],[0.03430826],[0.034186568],[0.033984024]],"model_test_loss":0.010220293886959553,"input_size":18,"current_date_and_time":"2023-08-10_03-48-50","input_mean":[[26.29757],[0.21858484],[-0.00041749518],[0.015462894],[0.21635525],[0.2165749],[0.21686907],[0.21543358],[0.21598789],[0.21505341],[0.21361327],[0.015312114],[0.01533278],[0.015349211],[0.015250495],[0.015165519],[0.014907059],[0.014465246]],"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":[[-1.5426987],[0.12417949],[-1.4781233],[-0.028249433],[0.20633578],[-0.13907257],[0.72390795]],"dense_1_W":[[-1.1175315,-0.07495566,0.02891214,0.19389996,-0.45027134,0.13735463,-0.6250549,0.85820234,0.59452385,0.042644564,-0.27779862,0.13595949,-0.09487241,-0.10740118,0.17391424,-0.38815653,-0.27959245,0.3287145],[-0.0005434315,0.7250965,-0.001302344,-0.052765388,0.10030851,0.33485708,-0.21132289,-0.115699075,-0.12958458,-0.18765004,0.22767502,0.3379646,0.17437504,-0.35456493,-0.18415342,0.1511127,-0.023203105,-0.03965679],[-1.095963,0.10147642,-0.028861295,-0.45387205,0.49530742,-0.11415999,0.055746414,-0.2760433,-0.46584845,-0.20907946,0.19582038,0.14730005,-0.041585524,0.4082932,-0.3926017,0.2602935,0.29690772,-0.18358155],[0.0038369219,0.37911403,-0.0045367144,-0.23510593,0.094250835,0.34022862,-0.2284937,-0.13612238,0.27017567,-0.33356893,0.14501272,0.4917901,0.03173992,-0.1809757,-0.032653864,-0.33173367,0.115388945,-0.28278348],[-0.003918218,-0.43321767,0.0073618796,0.5832146,0.45349523,0.29272223,0.3733469,0.47134906,-0.83762276,-0.85482854,0.09775691,0.017050214,-0.01622581,0.47676057,-0.03653979,-0.34529078,-0.30939806,0.26684877],[-0.017790653,0.697322,-6.3714147,0.46992886,0.8733624,0.17037292,0.6718011,0.47720847,-0.32684425,-1.1077062,-1.3093247,-0.6193358,-0.10829769,0.15212813,0.27934057,-0.50214195,-0.5461845,0.43900922],[0.51826936,0.12391658,0.051776137,0.072040915,-0.3065168,0.027357819,-0.37797117,-0.17238732,-0.353872,-0.31592342,0.29717565,0.38155913,-0.3906893,-0.14551696,0.22231571,-0.15257306,0.20485455,1.0147902]],"activation":"σ"},{"dense_2_W":[[0.32709605,1.1362737,-0.17482026,-0.046062417,-0.51949316,0.17334434,-0.2578324],[-0.15792392,-0.9065706,0.30352244,-0.48481166,0.3429801,-0.02744591,-0.19637136],[0.91549116,0.3893739,-0.13849072,0.090474464,-0.4911054,-0.309263,-0.51762164],[-0.4134321,-0.7770418,0.8557953,-0.3741374,0.751485,-0.051834386,-0.51904815],[-0.4399301,-0.61924434,0.6309824,-0.35251677,0.66121125,0.2404353,-0.23494475],[0.086413786,0.6363439,-0.41028103,1.0290276,0.047232375,-0.40705454,-0.4344609],[0.9350081,-1.4516156,0.7794276,-0.565611,-0.6901311,0.41864678,-1.1327723],[-0.8245831,-0.8406043,0.08613439,0.052566387,0.6732224,0.28659236,0.16209623],[-0.20109951,1.205864,0.6048377,0.7521136,0.44900057,0.3182956,-0.281427],[0.8864913,0.30494544,-0.53948045,0.63693535,-0.5898942,-0.17208202,0.16690974],[-0.5475406,-0.7371354,0.4504668,-0.5240461,0.34616926,0.32284823,0.44203338],[0.12659965,0.09303629,0.014360431,0.11488345,0.17780194,0.13185121,0.030691903],[-0.29399133,-1.1127974,0.42915276,-0.2730042,0.13696739,-0.2734059,-0.30105415]],"activation":"σ","dense_2_b":[[-0.095232666],[-0.12903397],[-0.16596866],[0.10246624],[-0.03857397],[-0.073855616],[-0.2992988],[0.2189761],[-0.1223435],[-0.1884392],[0.18001069],[-0.08254514],[-0.029937575]]},{"dense_3_W":[[0.26818132,-0.25044084,0.027241506,-0.19964801,0.56580776,0.22428977,-0.43430313,0.67310864,-0.6071206,-0.75302726,0.5696926,-0.25766462,0.02067551],[-0.5776643,0.3400569,-0.1890818,0.5839983,0.35982898,-0.75322586,0.5884296,0.4361948,-0.04064355,-0.82264584,0.77007246,-0.028092124,0.30400428],[-0.565468,-0.022219652,-0.61670506,0.17880899,0.33762756,0.25232822,-0.6182462,0.07745964,-0.14152253,0.07606692,0.43158156,0.40247133,-0.14412662]],"activation":"identity","dense_3_b":[[-0.02423033],[-0.05393112],[-0.025509434]]},{"dense_4_W":[[-0.25194114,-0.987808,-0.020282954]],"dense_4_b":[[0.045462962]],"activation":"identity"}]} |