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":[[8.000243],[1.0529355],[0.44031963],[0.04554594],[1.0481081],[1.0505339],[1.0517689],[1.0306543],[1.0114516],[0.9864613],[0.96286005],[0.045486752],[0.04548187],[0.04546514],[0.045314565],[0.045162555],[0.04484083],[0.044451322]],"model_test_loss":0.016144780442118645,"input_size":18,"current_date_and_time":"2023-08-12_12-48-27","input_mean":[[23.703514],[0.034525022],[0.0037587206],[-0.0066846693],[0.036115173],[0.035502695],[0.035573922],[0.038456824],[0.03878846],[0.037492014],[0.035617996],[-0.0066404915],[-0.0066419644],[-0.0066401316],[-0.006694763],[-0.0067848936],[-0.006970607],[-0.0071066907]],"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":[[-0.018687818],[0.016889395],[-2.2628572],[-2.078596],[0.22971022],[-0.1767829],[-0.5167562]],"dense_1_W":[[0.011015955,1.0643084,-0.08839964,0.61551523,0.802623,1.5406702,-1.6393329,-0.07330995,0.22098303,0.5496796,-0.07165077,0.57465875,-0.49430174,-0.72913355,-0.028702782,0.2533353,-0.15451618,-0.014682099],[-0.0044485596,0.68300956,2.34839,-0.49447054,-2.7115552,-2.5957623,-3.4036458,1.1568989,5.159137,2.5940776,-0.9615852,1.2597148,0.4663126,-0.4115597,-0.54910094,-0.018557174,-0.6093785,0.19555537],[-0.38033494,0.6095696,0.27524653,-0.24040353,0.23970546,0.72473454,-0.19985196,0.05170179,0.37927815,0.008114709,-0.30030593,0.5968865,0.072596125,-0.31858274,-0.41960534,0.26154235,-0.09866176,0.15294196],[-0.3583878,-0.7227564,-0.2559942,-0.047408156,-0.23193003,-0.7996542,0.557878,-0.10742698,-0.4394683,0.09005993,0.26495668,-0.7439191,-0.013596186,0.88895196,0.092311434,-0.022404915,-0.17483388,0.011742477],[-1.1386592,0.20961168,-0.0043176794,-0.14611427,-0.13120638,1.3944597,-1.0419998,-0.39789963,-0.08476762,-0.36311617,0.42571318,1.3092103,-0.26345864,-0.98487866,-0.0447565,-0.3767902,-0.10429795,0.14397188],[1.1815095,0.06911906,-0.0023387522,0.08115236,-0.12113374,1.487969,-1.2359906,0.11289565,-0.58799416,0.07841065,0.22937942,1.0972705,-0.07823999,-0.92822057,-0.4054966,-0.18756558,-0.33272704,0.2668549],[-0.19750582,1.2739553,7.0663867,-0.5248582,-0.4676437,-0.08646342,-0.91660845,1.0469422,1.1008883,0.3525522,-1.6761202,0.9796133,0.77493626,-0.44570097,-0.3790537,-0.24817844,-0.04224263,-0.08521787]],"activation":"σ"},{"dense_2_W":[[0.56187254,-0.42941013,0.01137766,-0.5091996,-0.021960784,-1.0853531,-0.55602425],[-0.7135164,-0.39620182,-0.35796282,-0.24564448,-0.08940037,0.018869234,0.21817489],[0.5262834,0.37286675,0.54738665,-1.4483702,0.74003285,0.36226225,-0.4840184],[0.66549075,-0.45087525,0.5316808,-0.80598843,0.5375895,0.44839606,0.19927433],[-0.05242752,-0.47517085,-0.07394551,0.23638195,0.76435024,-0.7201021,-1.2908622],[0.20445137,0.27786765,0.6353812,-1.2159988,0.7916566,-0.03361323,0.14942108],[-0.29910564,-0.13706577,-0.66971123,0.5954099,-0.5241532,0.08504403,0.31102544],[0.2186948,0.13250604,0.14607616,-0.009396174,-0.4860835,-0.08648418,-0.5939958],[-0.18379676,0.37188196,-0.5983929,0.008835486,-0.5554737,-0.39572975,-0.17633566],[0.40148303,-0.3301877,-0.32109272,0.8163982,-0.18761033,-0.55294204,-0.4394005],[-0.18555163,-0.30746877,-0.8649402,0.3212118,0.37567982,-0.35336125,-0.40009186],[0.42191646,0.2480143,0.5938211,-0.47291356,0.24606346,0.3526983,-0.31585172],[0.30375394,-0.4357636,-0.67720544,0.18926817,-0.2186749,0.19559121,-0.15258849]],"activation":"σ","dense_2_b":[[0.0456926],[0.1021674],[-0.525961],[-0.2781079],[-0.179685],[-0.9191505],[0.018642724],[0.07845247],[0.06336037],[0.21135324],[-0.09867381],[-0.25866526],[0.27727693]]},{"dense_3_W":[[0.005986166,0.5403741,-0.5950544,-0.668431,0.3410047,-0.4509835,0.41055346,0.56165504,0.47017696,0.04962426,0.30859372,-0.4631947,0.19735102],[-0.548777,-0.34207267,0.29769439,-0.07678766,-0.18337654,0.3864849,0.09935212,0.41492525,0.2651904,-0.4132142,-0.055492,0.6352499,-0.0036086126],[-0.1508172,0.13540027,-0.39238226,-0.6953886,0.57532775,0.2929234,0.51378953,0.33914775,0.5232986,-0.16648121,0.079042025,-0.44329265,0.72198534]],"activation":"identity","dense_3_b":[[0.04064909],[-0.056400906],[0.02708405]]},{"dense_4_W":[[-0.9928628,0.7695461,-0.40275335]],"dense_4_b":[[-0.04485986]],"activation":"identity"}]} |