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":[[8.303951],[1.1061448],[0.45519033],[0.03890334],[1.081259],[1.0887367],[1.0969497],[1.092481],[1.0865434],[1.0689224],[1.0470375],[0.038625997],[0.038678918],[0.038709994],[0.038684364],[0.03853108],[0.03823509],[0.037891388]],"model_test_loss":0.0091054392978549,"input_size":18,"current_date_and_time":"2023-08-13_11-14-36","input_mean":[[24.991106],[-0.052309062],[0.0040966566],[-0.011176246],[-0.052617952],[-0.052739866],[-0.053076603],[-0.053221803],[-0.052702937],[-0.052821293],[-0.04823078],[-0.01125922],[-0.0112718595],[-0.011276353],[-0.011362061],[-0.011423353],[-0.011574674],[-0.011701717]],"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":[[1.2000623],[-1.0601752],[0.02134417],[0.34618574],[-0.41577217],[-0.1728919],[-0.61339724]],"dense_1_W":[[0.6945757,-0.32359305,1.5179125,0.061160147,0.2037475,0.6379559,-0.12414423,0.0059865746,0.13593642,0.34044787,-0.6639205,0.08353744,-0.077323966,-0.28454944,0.04639403,0.20414786,0.3709197,-0.3463716],[0.05652898,4.1764426,-0.006069666,-0.7129519,1.8937668,1.5178504,0.3519152,1.7854784,0.39515916,0.91557574,0.47060627,0.37094897,0.3413073,0.2681898,-0.31728673,0.20122348,-0.028086334,0.15455683],[0.14809841,-0.17917761,-0.00034424284,-0.124425046,-0.1850857,-0.74427736,0.15511078,-0.120926015,-0.012820842,-0.117898285,-0.016289195,0.27818105,-0.09533491,-0.03304152,-0.04132924,0.0033757824,0.35598698,-0.11256063],[1.1169398,0.49344513,-1.6779064,0.31510845,-0.165833,-0.52853584,-1.2107238,0.38685435,0.2492109,0.36423388,-0.026242055,-0.092144534,0.22960894,-0.3682959,-0.17427671,-0.15931715,0.31591633,-0.12631632],[-0.09261426,-0.44354674,0.0025963027,0.11725519,0.5170039,-1.6007098,0.409791,-0.18131912,0.0033203233,0.25904283,-0.21513839,-0.4170825,-0.15698108,0.47902456,0.53502494,-0.31782442,-0.03569762,0.051992897],[0.0042456975,-0.47560015,-0.0026210295,0.031245418,-0.012764861,-0.92874646,0.6509197,0.33344513,-0.012610092,0.18168646,-0.2557554,-0.44327387,-0.13764408,0.42211333,0.23698005,0.37390047,-0.073409125,-0.17985323],[-0.8177616,0.6893316,1.3907503,-0.0023526286,-0.5415417,0.801563,-0.40723026,0.18662976,0.07481949,0.11865076,-0.6322875,0.23950732,-0.17827813,-0.16382805,-0.084146835,0.39538124,-0.09231756,-0.06298284]],"activation":"σ"},{"dense_2_W":[[0.30893767,-0.21597238,0.34375098,-0.25055024,0.3330617,0.38276237,-0.71425796],[-0.31416908,0.19624454,0.84980524,-0.6247502,1.137116,0.7904554,-0.74953896],[0.10519312,0.14832982,-0.26275882,0.2762413,-0.35890564,-1.246903,0.25022545],[-0.3228544,-0.06965771,0.24511589,-0.09088025,0.87480575,0.8223658,-1.0762371],[-0.6225081,-0.79335475,-0.77840954,-0.5098249,0.62632555,0.2364035,-0.94132584],[-0.26544946,0.19669403,0.33992356,-0.021165801,0.5467231,0.35932502,-0.86759907],[-1.9278108,-3.4194539,-1.5747315,-1.8566562,1.757728,0.4785611,0.38245028],[0.00854604,0.22411391,-0.98446316,0.5888375,-1.1318563,-0.63558984,0.21114045],[-0.042795878,-0.25286025,0.9120754,-0.47074848,0.21183152,0.8286851,-0.5500911],[-0.048500616,-0.39560843,0.108169064,0.030019483,-0.2797118,-0.8024904,1.1825333],[0.24435245,0.30188617,-0.8876096,0.32955825,-1.0187839,-0.70859,0.41195366],[0.2961078,0.036369283,-0.173866,0.25641084,-0.7356608,-0.51908946,0.9349239],[-0.8808378,-0.3808547,-0.36999512,-0.77035606,0.5030658,0.36325094,0.39363125]],"activation":"σ","dense_2_b":[[-0.07842559],[-0.09987076],[0.010018767],[-0.2822568],[-0.35917684],[-0.44091773],[0.33568865],[0.07248511],[0.07309797],[0.10989416],[-0.003620754],[0.0024933761],[-0.2047217]]},{"dense_3_W":[[0.26641047,0.5025841,-0.5746309,0.72528905,0.4545447,0.14570309,0.58782375,-0.8174622,0.7011326,-0.37532592,-0.8499182,-0.5160384,-0.10076714],[0.42193347,-0.2640134,-0.09260018,-0.47143674,-0.31873474,-0.070022374,0.0072793798,0.21706063,0.47843012,-0.12351305,0.057239983,-0.37678227,0.3790527],[0.31047106,0.072491184,-0.26496214,0.28195223,0.43037447,-0.17418887,0.37405774,0.15594256,-0.030484399,-0.10081656,-0.36806333,0.17099544,-0.57947606]],"activation":"identity","dense_3_b":[[-0.035134505],[0.035389643],[-0.0024598911]]},{"dense_4_W":[[-0.88231134,0.03782195,-0.036473993]],"dense_4_b":[[0.026110955]],"activation":"identity"}]} |