
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":[[7.541552],[0.9650358],[0.3616818],[0.0328642],[0.9578452],[0.96073836],[0.96248627],[0.9491477],[0.9337077],[0.908715],[0.8812584],[0.032887284],[0.03287074],[0.032852463],[0.03271584],[0.03264729],[0.032499015],[0.03240248]],"model_test_loss":0.008866102434694767,"input_size":18,"current_date_and_time":"2023-08-11_00-47-36","input_mean":[[27.210583],[0.020935686],[-0.008948258],[-0.0069724205],[0.023982191],[0.02277414],[0.021633722],[0.018200217],[0.016092353],[0.01634521],[0.017552482],[-0.0069776564],[-0.0069683734],[-0.0069624],[-0.006934479],[-0.006922422],[-0.0069089876],[-0.0069400943]],"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":[[-0.13328256],[-0.19930688],[1.0697682],[-0.5783517],[-1.5640957],[-0.92074555],[0.96863127]],"dense_1_W":[[-0.06047806,0.59424174,0.13268892,-0.21197622,-1.1050072,1.247896,-0.24135092,0.1444364,0.14218198,-0.2759823,-0.18579857,0.7423415,0.22738951,-0.2590543,-0.6573962,-0.107646905,-0.07558396,0.037075613],[-0.058194548,1.2433497,5.1614676,-0.020125298,-0.25091216,0.578058,-0.16740562,0.6148966,0.31894976,-0.42848128,-1.5423061,0.5142165,0.0080127595,-0.24593866,-0.23782809,-0.28146613,-0.10563642,0.2612805],[0.7431013,-0.52715963,-0.0064738155,-0.08120712,-0.10666046,-0.039603,-0.2889496,-0.27379817,-0.18491645,-0.2114326,-0.031808507,0.067143545,0.24152419,-0.46100402,0.12406786,0.5035436,0.19000971,-0.40269852],[-0.093319766,-3.5038989,0.026366359,-0.10428085,-1.5910784,-2.6836565,-1.729896,-1.2727953,-0.6854482,-1.3142506,-0.82473946,-0.24805659,0.30157104,0.10064682,-0.2649021,-0.45221263,-0.003649908,0.3906365],[-0.19653389,-1.1956127,-0.0013261554,0.20242849,0.5268085,-1.1662431,0.5995818,-0.21107472,0.035844564,-0.37587917,-0.010125557,-0.5800509,0.2748382,0.28321275,0.2552108,-0.22593613,0.1699103,-0.20041217],[-1.6779865,0.010922188,0.2911208,-0.18096207,0.6596778,-0.7872427,1.278464,0.4307826,-0.2584428,-0.3280948,-0.16272934,-0.3561698,0.31419376,0.30760053,0.45000735,-0.60065556,0.07380751,-0.7342767],[0.22576395,-1.2693808,0.00051059003,0.22724408,0.53528285,-1.052841,0.42936927,0.15097113,-0.21617922,-0.10659611,-0.13288835,-0.32452956,-0.29022405,0.43584242,0.565457,-0.4026171,0.10766105,-0.16005303]],"activation":"σ"},{"dense_2_W":[[0.40149835,0.36675823,-0.29831505,0.37289986,-0.6039201,-0.027274264,-1.1339715],[0.95495695,-1.3851566,0.358178,0.49656358,-1.2546502,-1.3234615,-0.39220563],[-0.84305114,0.33130413,-0.39270082,0.1366223,0.8356403,-0.71874714,0.6702931],[0.32502848,0.22423606,-0.3198426,0.69494843,-0.84058,-0.57765996,-1.1503054],[-0.55475,-1.0512786,-0.467161,0.23049785,1.171586,0.24218969,-0.14599386],[0.27919522,-0.6080323,0.83328724,0.4167502,-0.11279212,-0.19312277,1.0808055],[-0.98002326,-0.06683307,0.073704205,-0.7713237,0.36600292,0.32792312,-1.2809395],[-0.099299915,0.7157585,-0.69559073,-0.74590826,0.03745077,0.67139316,-1.3220712],[-1.1977009,-1.1743606,-0.8824673,0.82422435,1.4812046,0.54254943,-0.24748902],[-0.94787806,0.20738822,-0.0680158,-0.47344378,0.016936,-1.4717607,0.38640186],[-0.27705613,0.5600628,-1.2770342,-1.2288101,0.3837186,0.54160005,-1.0739172],[1.0531577,0.14682527,0.31090853,-0.22525707,-0.51124835,-0.16686235,-0.69970435],[0.54132354,-0.55377156,0.16552292,0.4777185,-0.91318285,-0.39976725,-0.8804106]],"activation":"σ","dense_2_b":[[-0.15207723],[-0.4524892],[-0.31112808],[-0.14511883],[-0.2907099],[0.035733145],[-0.59132564],[-0.091714524],[-0.3527001],[-0.18239608],[-0.123493806],[0.0051953667],[-0.010544346]]},{"dense_3_W":[[0.39324093,0.2485198,0.08692321,-0.18120968,-0.0657239,-0.034891907,0.5671789,0.31177345,-0.93040633,0.09452528,-0.25895926,-0.034117304,0.25137582],[0.25416353,0.0061438996,0.28148532,0.6699385,-0.74332523,-0.50077397,-0.46912852,0.711142,-0.830241,0.33939067,-0.19935456,0.069085754,0.578044],[-0.30625167,-0.4704901,0.5801462,-0.38525173,0.31889287,0.25167635,-0.11409451,-0.62698126,0.7056928,0.44565654,-0.42508173,-0.60673165,-0.41772822]],"activation":"identity","dense_3_b":[[-0.068453945],[-0.056202423],[0.09645773]]},{"dense_4_W":[[0.16098852,0.15347017,-0.7822183]],"dense_4_b":[[-0.068720676]],"activation":"identity"}]} |