
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":[[7.3547435],[0.9349845],[0.3416719],[0.03020802],[0.9287519],[0.93094236],[0.9321697],[0.9195053],[0.90565664],[0.88330543],[0.85894924],[0.03025142],[0.030234234],[0.030215727],[0.030088654],[0.030025238],[0.029914714],[0.029875476]],"model_test_loss":0.007811516057699919,"input_size":18,"current_date_and_time":"2023-08-11_01-12-12","input_mean":[[27.099766],[0.021257939],[-0.009488095],[-0.0040843748],[0.024692915],[0.023505691],[0.0221261],[0.019820152],[0.016889216],[0.016442697],[0.016379314],[-0.0040564938],[-0.004047964],[-0.004046166],[-0.0040283427],[-0.0039906264],[-0.0039846366],[-0.0040857326]],"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":[[1.2157677],[-2.3838754],[3.0455196],[0.8014893],[0.07945207],[3.106963],[2.1556125]],"dense_1_W":[[1.1125633,-0.56988466,-4.0888886,-0.15938745,0.6582105,-0.46116465,-0.41639355,0.04232433,-0.59602994,-0.32990792,1.0122606,-0.49626034,-0.13254666,0.37965775,0.3581549,0.51340127,-0.18809582,-0.113844536],[1.1409476,-0.52942747,0.0009779995,0.17279683,0.42025048,-1.0194471,0.19619784,0.018046845,-0.05372719,0.19695577,-0.14354223,-0.35454744,-0.4519569,0.3006548,0.89002454,-0.13396992,0.37972572,-0.4401214],[1.3309811,1.4823053,0.2582569,-0.032915797,-0.28236762,0.4846734,-0.15269001,0.3552266,0.30250248,0.14145501,-0.27240917,0.4871061,0.5173212,-0.7224162,-0.27998483,-0.41258854,0.20030643,0.14221442],[0.7907197,1.6901718,5.3816576,-0.27129257,-1.145268,0.31147382,0.019620774,0.17815213,0.4287783,0.04148877,-0.8830161,0.44120663,0.42428204,0.22440527,-0.92130196,-0.22413124,-0.33906758,0.54252696],[-0.012449405,1.7189058,-0.011069483,-0.08866588,0.0305128,0.9370316,-0.35130048,-0.024127513,0.24698113,0.31200036,-0.14631376,-0.17734727,0.21231978,-0.45571813,-0.14337474,0.32901996,0.2770767,-0.34568372],[1.3784999,-1.3435363,-0.2745729,0.25279233,0.07493813,-0.42336947,-0.063481055,-0.31757474,-0.12468922,-0.118494295,0.1393878,-0.64342916,-0.024168873,0.13941756,0.21592365,0.3690261,0.13736965,-0.3378454],[-1.1883208,-1.0948199,0.0016973034,0.36374646,0.6156439,-0.702277,0.4276083,-0.17839254,-0.15477405,-0.0038111163,0.15055132,-0.24193537,-0.24351074,-0.2785849,0.9893942,-0.10433792,0.28482616,-0.3947434]],"activation":"σ"},{"dense_2_W":[[-0.41992396,1.2538254,-1.3762401,0.18826605,-1.2015911,1.0849522,0.95279044],[-0.554603,-0.46099252,-0.21578617,0.045173306,0.6597546,-0.67514,-0.10196972],[-0.062698506,-0.5813329,-0.4847704,0.3779744,-0.18567432,-0.012139243,0.13781239],[0.54706806,0.63951415,-0.85959625,0.06293286,-0.7042504,0.8421599,0.5909391],[0.46164697,0.4020649,-0.33452457,-0.014348776,-0.62764764,0.124300346,0.9453233],[-0.3903317,0.6063093,-0.43484682,-0.2860064,-0.8296564,0.7835651,0.21584539],[0.175473,-0.5825516,-0.22237642,0.07386135,-0.3432968,-0.3868117,-0.21827103],[-0.5004876,0.97018445,-0.43547085,0.36776522,-0.27490538,0.48544273,0.9886506],[-0.6295581,-0.7262303,0.18957756,0.4320069,0.15381597,-0.37602007,-0.3400327],[-0.18816905,-0.27860478,0.91212904,0.38390306,0.2492882,0.12610404,-0.27094096],[0.037768684,0.45618993,-1.6272914,-1.0754924,-0.6273605,0.48672768,0.96011865],[-0.33102858,-0.027864542,0.42045346,0.14589894,0.015219363,-0.13589944,-0.77460396],[0.17902899,-0.50285494,-0.4366347,0.16011943,0.070149496,-0.4917402,0.015056903]],"activation":"σ","dense_2_b":[[-0.22400843],[-0.01302815],[-0.03749996],[-0.11806751],[-0.11926077],[-0.09058484],[0.06280237],[-0.2770851],[0.030630045],[0.07445694],[-0.22077157],[0.09475054],[-0.29818374]]},{"dense_3_W":[[-0.010462812,-0.24828628,0.041264076,0.5696833,0.15721063,-0.0060403845,0.0508466,-0.10241195,0.11243323,-0.5261026,0.49312815,-0.60535157,-0.22609983],[0.66831225,-0.3054378,-0.1565705,-0.031996824,0.26015618,0.4501768,-0.6939041,0.5919593,-0.69475293,-0.031049775,-0.053406052,0.018912103,0.13819246],[-0.50486624,-0.55928755,-0.53656745,0.48358017,0.5427902,0.50403154,0.46978712,-0.30256158,-0.14531422,-0.0904506,0.031830106,0.5406881,-0.063055396]],"activation":"identity","dense_3_b":[[-0.068349525],[-0.07652613],[-0.057301868]]},{"dense_4_W":[[-0.72008973,-0.7991561,-0.02538519]],"dense_4_b":[[0.07405978]],"activation":"identity"}]} |