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":[[9.080224],[1.5475338],[0.6496774],[0.04879169],[1.5158907],[1.5278002],[1.5390717],[1.5098101],[1.4782969],[1.4340739],[1.3853667],[0.04868462],[0.048710395],[0.048738956],[0.048690505],[0.048625976],[0.048370127],[0.047957957]],"model_test_loss":0.008909840136766434,"input_size":18,"current_date_and_time":"2023-08-13_03-33-40","input_mean":[[23.622572],[0.010716067],[0.014080395],[-0.00545363],[0.00681623],[0.008023216],[0.008976955],[0.015593329],[0.018596267],[0.022246595],[0.02417008],[-0.0054850946],[-0.0054803547],[-0.0054753944],[-0.0054708053],[-0.005519239],[-0.005560871],[-0.005648205]],"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":[[-0.5925863],[0.6910273],[0.0029014468],[0.043235566],[-0.055107236],[3.6387718],[3.6793168]],"dense_1_W":[[0.24347192,0.0785397,-0.030702522,0.19405046,-0.09431407,1.6046176,-1.1419742,0.19336075,-0.062058806,0.14076506,-0.0068204296,0.27706286,0.0753339,-0.4532859,-0.35606033,0.21351701,-0.18941605,0.044432733],[-0.45700783,-0.062406845,-0.031097766,-0.5659944,0.024210662,1.39045,-0.9837826,0.11537844,0.2825425,0.046704102,-0.061710272,0.50674444,0.19582161,-0.10567522,-0.08106667,-0.1992534,-0.21138985,0.24457377],[0.007203359,-1.2377197,-4.586871,-0.11203177,0.5719472,0.0427435,0.5389759,0.26149252,-0.57496494,-0.524192,0.57842165,-0.22961466,-0.37423873,0.35315713,-0.10196228,0.2160896,0.4271714,0.017925069],[-0.0054053566,1.579078,-0.06120463,-0.20971349,0.046022303,0.93902045,-0.78088397,0.02447776,-0.07060164,-0.06981518,0.1699867,0.10647593,-0.24200302,0.018979385,-0.0083929775,0.18985271,0.13718374,-0.088825986],[0.095188886,0.6861187,0.10568597,-0.1301086,-0.7698879,0.83482885,-0.5525881,0.38867232,0.224815,-0.09360383,-0.16623642,0.5329297,-0.023406014,0.19236702,-0.75461245,-0.46940014,0.32178688,0.16902733],[1.5707638,0.61578625,0.23603536,-0.10848588,-0.02725563,0.6388082,-0.88916034,0.20878781,0.15096506,-0.07481069,0.050539907,0.08200025,0.027791992,-0.33376747,0.32451573,0.21383548,-0.019029131,-0.1541287],[1.5059847,-0.55344844,-0.24463375,0.061645243,0.0208355,-0.6283204,1.0164922,-0.39539093,-0.3376693,0.14381117,0.014864233,0.15729472,-0.36920083,0.09105627,0.22073188,-0.3185754,0.1361389,0.0030957134]],"activation":"σ"},{"dense_2_W":[[0.8278061,0.00944368,-0.47221076,0.5170837,0.5817161,-0.28623572,-1.3400604],[-1.1041138,-0.63026905,0.07870919,-0.08548198,-0.400506,-0.27927935,0.3597091],[0.27548513,0.17060155,-0.43422616,0.46099278,0.14646465,0.4412418,0.29597026],[-0.19179592,0.59959507,-0.45964202,-0.03809237,0.574291,0.57724786,-0.9947663],[0.9136712,0.04980523,-0.6333211,0.30888626,0.3298961,-0.24825113,-0.99664354],[0.3825098,0.8290921,0.63622355,0.5099953,-0.3108262,0.32984248,-0.41125965],[0.2868915,0.2814047,-0.35160798,0.19865306,0.22140126,0.53437257,-0.19641446],[-1.1109287,0.3453166,0.32968,-1.0854727,-0.5026547,-0.061587382,1.7998439],[0.098573364,0.6721182,-0.35533735,-0.09068599,0.18878801,1.0343286,0.09213373],[-0.23218085,-0.16048461,0.6798084,-0.64267206,-0.8845718,-1.8911213,0.5121272],[-0.54387015,-0.23149288,-0.30668664,-0.20229974,-0.30891183,-0.5950911,-0.1115899],[-0.25720352,-0.55898094,-1.0450321,-0.4148398,-0.31979793,-0.07070874,-0.10942721],[0.34567067,0.8965103,0.050285354,-0.1771556,0.119312696,0.3056499,-0.6886853]],"activation":"σ","dense_2_b":[[-0.39942527],[0.30935934],[-0.16508539],[-0.13897029],[-0.5619027],[-0.24792555],[-0.107184075],[0.5673597],[-0.21446894],[0.51320654],[0.042424392],[-0.15152127],[-0.24059872]]},{"dense_3_W":[[0.4104882,-0.23413022,0.5933587,0.5129894,-0.017641984,0.35903862,0.13990471,-0.6462935,0.53985685,0.037760712,-0.46011966,-0.48272845,-0.33265826],[-0.56515414,0.7211797,0.3708711,0.09521525,-0.016219772,-0.7927581,0.04320575,0.08196957,-0.177058,0.63587785,-0.34107837,0.37444627,-0.13801615],[0.5979246,-0.8661764,0.29252937,0.59611315,0.30349368,-0.11060929,0.22178161,-0.45007005,0.12280302,-1.1837198,-0.28847334,0.091526695,0.4002503]],"activation":"identity","dense_3_b":[[-0.1171355],[0.0760098],[-0.07621718]]},{"dense_4_W":[[0.17640126,-0.5432617,0.8457692]],"dense_4_b":[[-0.072637506]],"activation":"identity"}]} |