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":[[8.339975],[1.3256136],[0.593127],[0.04754541],[1.3010378],[1.3100988],[1.3191553],[1.2989383],[1.2751849],[1.242973],[1.2088765],[0.047443245],[0.04748061],[0.04751091],[0.047400266],[0.047291804],[0.0470829],[0.04672949]],"model_test_loss":0.007941454648971558,"input_size":18,"current_date_and_time":"2023-08-12_20-18-02","input_mean":[[22.804787],[-0.0012492489],[0.0049283556],[-0.0027200934],[-0.0009171635],[-0.0005450689],[-0.00045307644],[0.0014277239],[0.0042266008],[0.004571549],[0.007173938],[-0.002649595],[-0.0026737156],[-0.002687819],[-0.0027264915],[-0.0028076714],[-0.0028791525],[-0.0030240817]],"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":[[-0.05866234],[4.095448],[0.05124582],[-4.5607123],[-0.5631151],[0.019527452],[-0.044129238]],"dense_1_W":[[-0.030550428,-0.08043591,0.08307903,0.24843186,0.23929211,0.71641713,-0.8338393,0.16555603,0.2527681,-0.11340044,-0.034163836,0.21635275,0.48766017,-0.4958458,-0.12009069,-0.45047837,-0.40487534,0.5188204],[1.3933464,0.39291653,0.20624635,0.28392497,-0.20537527,0.33041698,-0.82583904,0.5374484,0.5927526,0.05136005,0.06089886,0.0043515163,-0.0073857335,-0.6039868,0.1363052,0.13789289,-0.076400414,-0.2556218],[0.00040147355,-1.2506115,-4.6456604,0.022542994,0.6865295,0.030435719,0.6394426,0.289509,-1.2726502,-0.48925576,1.074512,-1.0973631,-0.17780465,0.30962852,1.0192771,0.8037391,-0.07365006,-0.7483875],[-1.4990337,0.4968039,0.22349183,0.32746932,0.12910442,0.20665137,-1.306896,0.6917486,0.79503983,-0.16803351,0.15006495,0.06984487,-0.42613754,-0.23034474,0.035791446,0.18769096,-0.095758244,-0.27291724],[0.17470996,0.32795563,0.034444466,0.06723942,-0.6096647,0.8110515,-0.2520832,0.11456141,-0.15719128,0.21490517,-0.105078675,0.40423924,-0.10924174,-0.4147324,0.01310793,0.060144518,-0.13492018,0.059378713],[0.006133638,-0.3088513,0.04955513,0.17181134,-0.07184565,-1.4350437,1.1074777,-0.13354936,0.06834596,0.08551515,-0.19919638,-0.08143802,-0.55520076,0.52157044,0.25806877,-0.13898116,-0.09956009,0.13659504],[-0.508209,0.31000626,-0.037681013,-0.057895504,-0.75460684,1.1465745,-0.8317998,0.35057747,0.09632918,-0.20959972,-0.16074719,0.056147385,0.076875456,0.13462108,-0.33426112,-0.027258357,0.3241483,-0.0732327]],"activation":"σ"},{"dense_2_W":[[0.25001925,-0.5711229,-0.88617605,-0.18417396,0.33657238,-0.07999938,0.10933263],[-0.015448602,-0.8196552,-0.31138465,-0.77860475,-0.6738751,-0.08348504,-0.19269453],[-0.41236618,-0.9773098,0.30927274,-0.60864997,-0.016705617,0.75516015,-0.3620944],[0.51392204,-0.35382575,-0.71654284,0.69806784,0.35409018,-0.7125174,-0.3585419],[-0.34544718,-0.212541,-0.46838158,-0.348286,-0.4673545,0.73423237,-0.7466479],[-0.2571807,-0.87686163,-1.0323783,-0.3470508,-0.44749308,-0.8353898,-0.72766614],[-0.8385732,-0.82968605,0.104628935,0.20757905,-0.32339612,0.497941,-0.26445195],[-0.80247515,-0.6636023,-0.5110591,0.2453179,0.20732372,-0.01901174,-0.82556474],[-0.76035863,0.0074476735,0.33188587,-0.31674412,-0.50591946,0.853444,-0.20236208],[0.0013595351,1.0197767,-0.6925592,0.45688447,0.60580957,-0.26385808,-0.050980914],[0.06841057,0.7079414,-0.087536745,0.8707849,0.67308784,-1.2102008,-0.31384364],[-0.089014076,0.22765215,-0.22885361,1.1801783,0.64802265,-0.72977227,0.076044604],[-0.2654659,-0.74361503,0.40524837,-0.32977498,-0.7657364,0.167108,-0.52621794]],"activation":"σ","dense_2_b":[[-0.4408888],[0.090220116],[0.09630298],[-0.30440426],[0.0277946],[-0.4173861],[-0.08740925],[-0.4363536],[0.07060309],[0.0055395924],[-0.32225478],[-0.42043456],[0.027541628]]},{"dense_3_W":[[0.009158828,-0.64987886,-0.32672417,0.33792084,-0.6813809,-0.12942642,0.0065088505,0.36009103,-0.46551788,0.650782,0.3398156,0.33237734,-0.29790145],[0.17885834,0.018317161,-0.103069186,0.0333603,-0.009732622,0.43167624,-0.27477983,-0.29342014,-0.64711416,0.37721634,0.38430053,0.1257458,-0.2783452],[-0.06386373,-0.34565896,-0.5648887,-0.14779678,-0.1418012,-0.085997246,-0.26618838,-0.57671523,-0.24667156,-0.3074685,0.5998481,0.28325394,-0.39654872]],"activation":"identity","dense_3_b":[[0.06877291],[0.064048566],[0.089000046]]},{"dense_4_W":[[1.4214735,0.3623055,0.6621128]],"dense_4_b":[[0.07191435]],"activation":"identity"}]} |