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":[[9.186229],[1.629634],[0.35169226],[0.031130435],[1.726952],[1.6992451],[1.6662492],[1.4807829],[1.3597577],[1.2304934],[1.1301934],[0.031069413],[0.031103944],[0.031129193],[0.031189809],[0.031324726],[0.031544957],[0.031403687]],"model_test_loss":0.044550467282533646,"input_size":18,"current_date_and_time":"2024-01-03_04-21-29","input_mean":[[16.41767],[-0.050538633],[-0.009652588],[-0.030562801],[-0.052321155],[-0.05235556],[-0.05158522],[-0.04921759],[-0.053813417],[-0.047147486],[-0.039790597],[-0.030418048],[-0.030458014],[-0.030516686],[-0.030767376],[-0.030957373],[-0.031067861],[-0.031078363]],"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":[[2.8124099],[0.35959658],[-0.36584485],[-2.1856525],[-0.2495192],[0.54979295],[0.0017912858]],"dense_1_W":[[3.327856,-0.28993106,0.013535091,0.15479507,-0.23908634,0.122802034,0.33736265,1.1786941,1.8140925,0.63268614,-0.6094704,-0.14773706,0.039931353,0.19894348,0.012126122,-0.19699657,-0.1344427,0.016522251],[1.8744825,-1.3676994,-0.0072453325,-0.18038501,0.80984545,0.60229665,0.08843393,-1.3575945,-1.5809845,-0.9870659,0.8424321,0.29088372,-0.21911627,0.14782292,-0.23310418,-0.04295784,0.105215795,0.17455025],[-0.09659181,-2.3131669,-0.003143432,-0.17205934,0.40220672,0.7725975,0.44101918,-0.4972118,0.16432272,-0.23428732,0.06346121,-0.24259485,-0.047587633,0.24494568,0.1787729,0.17195511,0.11973055,-0.16331011],[-1.4140755,-0.5174734,0.0051949336,-0.36357316,0.45973852,0.7713254,-0.5618267,-1.4377894,-1.3852358,-0.489032,0.44853085,0.28049517,0.4814365,-0.029157568,-0.58266723,-0.3393038,0.10376275,0.4353517],[0.011104099,1.708533,-0.040263936,0.022279711,-2.628526,-3.0470653,-2.452717,3.955685,0.9832414,-0.34722212,0.84245116,0.27942988,0.12331483,-0.17634797,-0.33489114,0.14368033,0.2139577,-0.22894855],[0.7605313,-0.16275968,-0.0058338842,0.06630944,-0.27362135,-0.43007874,0.15384577,-0.21265279,-0.6165471,-0.0496162,-0.0504775,0.12988852,-0.10680762,-0.09464595,0.08786262,-0.2406527,0.10374539,0.086890325],[0.094520204,-0.10907396,0.021990076,-0.420317,1.923457,0.5076083,0.222276,-0.8573738,-0.66433513,0.11677112,-0.703303,0.22629139,0.050269105,-0.13119644,-0.00085551315,0.058151178,0.0880977,0.051033948]],"activation":"σ"},{"dense_2_W":[[-1.1523819,-0.101538904,-1.2374637,-0.3066805,-0.12566341,-0.47576678,-0.4638],[0.32689357,-0.68372977,0.36716896,-0.10628002,-0.41969982,0.5316942,-0.9461865],[0.21800862,0.48283046,-1.0135838,-0.5229917,0.8072884,-0.86083364,0.85976845],[-1.3727558,-0.5133437,-1.386813,-0.6648,0.52358174,-0.7052941,0.19043356],[-0.23329912,-0.6576712,0.23740889,0.38004747,-0.6429588,-0.09725677,-0.5201565],[-0.30460066,0.06059081,0.6898245,0.35303092,-0.37283677,0.7423963,-0.8088855],[-0.22800107,0.14633326,-0.9954342,-0.086826526,0.14293182,-0.54284656,0.79604053],[-0.05607243,0.41687882,-0.6694023,0.38365737,-0.15214063,-0.4798568,-0.3676445],[1.0146055,0.652041,1.124408,0.3705467,-0.13917872,1.0868064,0.22149561],[-0.93962073,-2.5921805,0.87899405,2.2444813,-2.2313151,-0.8723347,0.42358622],[-0.10345861,0.13709973,0.47732028,-0.29907426,-0.57239586,-0.439838,-0.20299983],[-0.060313478,0.20775597,0.34012368,-0.284159,-0.3378139,0.5774055,0.048764415],[-0.25275028,-0.26882166,0.7477456,0.9008566,-0.95769936,-0.09332603,-0.6149119]],"activation":"σ","dense_2_b":[[0.06168067],[-0.18131949],[0.15427254],[-0.01629501],[-0.32255885],[-0.2657266],[0.12756206],[0.059207372],[-0.08813662],[-0.6317704],[-0.30146396],[-0.091902405],[-0.24618305]]},{"dense_3_W":[[-0.37756926,0.22102962,0.093114264,0.8592766,0.038396083,-0.37794617,0.780792,0.081369616,-0.5134542,-0.0003587245,0.29460377,0.0631179,-0.33495206],[0.18067573,0.2489336,-0.53884697,-0.88067573,-0.62186086,-0.15276475,-0.5124535,-0.23548132,0.32988423,0.96336234,-0.59059125,0.5395565,-0.2843271],[-0.67450166,0.63968265,-0.8077182,-0.6393898,0.22161178,0.13197476,-0.39606833,-0.48056424,0.6203519,0.7539049,0.3628339,0.19020098,0.1679241]],"activation":"identity","dense_3_b":[[0.06422252],[-0.054388657],[-0.07462031]]},{"dense_4_W":[[0.65906686,-0.44357046,-1.5018914]],"dense_4_b":[[0.069326945]],"activation":"identity"}]} |