carrot/selfdrive/car/torque_data/lat_models/SUBARU IMPREZA SPORT 2020 b'nxc0x04x00'.json
FrogAi 5589bead02 Controls - Lateral Tuning - NNFF
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>
2024-06-01 02:34:40 -07:00

1 line
4.3 KiB
JSON
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

{"input_std":[[9.980195],[0.8902488],[0.8070875],[0.03257718],[0.8953016],[0.89031625],[0.88743836],[0.89235497],[0.90851164],[0.9239161],[0.9447767],[0.032612618],[0.03262547],[0.032595012],[0.032548025],[0.032664005],[0.03282697],[0.033103693]],"model_test_loss":0.009699137881398201,"input_size":18,"current_date_and_time":"2024-01-04_21-21-05","input_mean":[[24.120556],[0.1632483],[0.023861311],[0.0147835845],[0.14919128],[0.15183832],[0.15603127],[0.17794198],[0.18692817],[0.20140825],[0.21107665],[0.014518038],[0.014652762],[0.01480422],[0.015257349],[0.015597308],[0.016006842],[0.01647026]],"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":[[-0.41434076],[0.47100475],[0.25878212],[3.3235054],[3.5177846],[0.13404989],[-0.13643628]],"dense_1_W":[[-0.92123795,-0.77370846,0.022691695,-0.07790139,-0.20414366,0.5991271,0.08337419,1.0632988,-0.043701112,-0.17161869,-0.0092314845,-0.43879083,0.45678508,-0.0049796565,-0.12165722,-0.26707762,0.26063353,-0.06772255],[0.11359898,-0.46701995,-1.2995908,-0.47816324,0.3636185,0.5432069,-1.2213827,0.6940409,0.031207955,0.08939084,-0.69122905,-0.36107653,0.24200062,0.4803771,0.5007158,0.3570912,0.20814823,-0.061939437],[1.1049083,0.07950327,0.024387283,0.14897044,-0.45386603,0.45754367,0.015965039,1.089031,-0.6210556,-0.15595365,0.12850593,-0.24717121,0.22878689,-0.039471325,-0.18666841,-0.18978322,-0.2110078,0.23616989],[1.4418225,-1.6953553,0.03887411,-1.2404288,2.0327652,0.5597275,-2.007225,0.073066145,1.5059367,0.5392841,-0.6734567,0.2988414,0.78362036,0.119642295,-0.2267346,0.17255563,-0.057587247,0.16656625],[1.5840691,0.16470784,-0.037120346,0.96298766,-1.1541628,-0.016035227,1.567226,-0.29719245,-1.020799,0.16862048,0.26370668,-0.3780657,-0.3382693,0.015179881,-0.19329911,0.11940154,-0.30349213,0.09716912],[0.028778266,-0.056476623,-0.14893295,-0.42721495,1.3510091,0.055654604,-2.0045779,-0.60969025,1.7509011,1.4397215,-0.77692837,0.41213953,0.077350736,0.0071952706,0.035285734,-0.21977054,-0.18215455,0.34535488],[0.05003375,0.82211673,-6.3161664,-1.0726271,0.94027805,1.5504705,2.4108317,-0.99013567,-3.0261922,-2.8092763,-0.3297549,0.05401559,-0.5702454,-1.1244844,0.40039316,1.485614,0.7000478,0.425315]],"activation":"σ"},{"dense_2_W":[[0.05671496,0.22766165,-0.7023338,-1.1824517,0.1567486,-0.31571746,-0.40852085],[-0.38148612,0.14666894,-0.8086249,-2.0353353,-0.43475363,-0.71017694,1.3138568],[-0.31384853,-0.16664314,-0.3651064,-0.22927575,0.42055959,-0.39741367,-0.5130281],[0.16826388,0.24410725,0.5933021,0.1943228,-0.8620908,0.15426959,-0.40410686],[0.92956597,0.2916223,-0.05568004,0.25697502,-0.47548386,-0.35674304,0.17114595],[0.6405669,0.05145477,0.66856414,0.0026098252,-0.124029465,-0.27971375,-0.5073879],[-0.40939358,0.38469547,-0.0034202514,-0.19515075,0.8354581,-0.33033758,0.5566204],[-0.07101766,-0.25594482,-0.54715955,-0.5171954,0.1893425,-0.22550954,-0.81523395],[0.72327435,0.21307369,0.88254416,-0.29098767,-0.57836694,0.09571422,0.7168073],[-1.2741618,-0.43000433,0.5603259,-0.17398001,3.0656028,-0.8982835,1.0940095],[1.0206568,-0.06915136,0.025682503,0.039994564,-0.8462077,0.03296951,0.57301086],[1.2280036,-0.47336474,-1.0858823,-1.9772041,-0.5471055,-1.2567662,0.3420132],[-0.014259761,-0.62657106,0.40719366,0.20000564,-0.039943434,0.15631977,-0.4537468]],"activation":"σ","dense_2_b":[[0.087081015],[-0.00911468],[-0.19366582],[0.012923386],[0.010033324],[0.0044713207],[0.04445832],[-0.1831768],[0.018952766],[0.43353507],[-0.023605164],[-0.03001045],[-0.0012084204]]},{"dense_3_W":[[0.6582728,0.88688254,0.13761106,-0.5019578,0.01700025,0.04056353,0.5712606,0.33200184,-0.62236595,0.59788674,-0.560683,0.17621863,0.26311198],[-0.08760376,0.06777276,-0.5443093,-0.48284766,0.45007154,-0.6496141,0.061475247,-0.4916339,0.23581953,-0.09462306,0.32200405,0.35138357,0.34233862],[0.36113074,0.34470147,0.3514661,-0.1840877,-0.60430205,-0.5084175,0.46643895,0.22513086,0.0215153,0.3386475,-0.63624674,0.8144711,-0.6122483]],"activation":"identity","dense_3_b":[[-0.04163783],[-0.030204112],[-0.03387362]]},{"dense_4_W":[[-1.3348242,-0.6602001,-1.3796971]],"dense_4_b":[[0.035635214]],"activation":"identity"}]}