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
4.2 KiB
JSON
1 line
4.2 KiB
JSON
{"input_std":[[10.714078],[1.2757066],[1.0435296],[0.04316263],[1.2887176],[1.290671],[1.2885308],[1.2234638],[1.191146],[1.1441056],[1.0919957],[0.04311905],[0.04317312],[0.043194685],[0.043176882],[0.04313634],[0.042779997],[0.04232921]],"model_test_loss":0.1348678469657898,"input_size":18,"current_date_and_time":"2024-01-03_12-20-54","input_mean":[[18.468132],[-0.015969448],[0.047601905],[0.010141692],[-0.031329658],[-0.02765871],[-0.021843992],[0.0079055065],[0.02934471],[0.05223802],[0.074706264],[0.010021975],[0.010056209],[0.01008834],[0.010293816],[0.010401957],[0.010508588],[0.010246708]],"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":[[-0.32143807],[-2.6317363],[-0.50188965],[-1.6889527],[-0.2792748],[1.1714822],[-0.21759114]],"dense_1_W":[[-0.11802846,6.6736965,-1.675101,0.2674304,-4.181984,-1.924594,0.99608344,-0.5266265,-1.2775893,-1.3185753,-0.24484465,-0.06681641,-0.34500167,0.122271076,-0.105445035,0.7260425,-0.6582195,0.10846635],[-2.78706,-1.7421441,0.028579663,0.17248741,2.4554038,-0.44111204,-1.9361606,1.1692975,0.9395143,0.23795685,-0.34122598,0.44408056,-0.3478402,-0.42780763,0.6166378,-0.72524166,0.20925805,0.027843336],[-0.15296692,4.054321,-0.17535746,0.87665904,-0.14719091,1.5509254,2.788538,-9.130137,-4.2795033,-0.687907,-0.23625559,0.10417017,-0.34842396,-0.029353485,-0.8120683,-0.32823145,0.6566462,0.11563788],[-1.0661483,6.8413105,-0.03217445,0.31029683,-2.9492896,-1.6672055,1.8380759,-3.4120865,-1.6626523,-0.33617026,0.7196403,0.61835206,-0.26547456,-0.4726141,-0.40001032,0.14261572,0.2630822,-0.07037717],[0.13212031,2.786227,0.008604692,0.55640745,-1.1399517,-1.0723536,1.5236508,-4.053318,0.16317926,-0.17864364,0.053071745,0.24623887,-0.08643752,-0.8189274,0.44499743,0.13112725,-0.21662316,0.044963893],[2.5345073,1.4219471,0.00021388562,0.038371123,0.70528346,-0.25772318,-1.126768,-1.294946,0.06731572,0.20428051,0.03116301,0.05835939,0.04872577,-0.17790207,0.32563877,-0.5645737,0.4135569,-0.09577928],[-0.107662365,-2.9743395,-1.4517297,0.20832323,1.0927793,0.4161757,-0.12483218,1.376979,-0.9642845,-0.6919586,0.05016746,-0.3426029,0.5030375,-0.103947416,-0.20432374,-0.02069657,-0.03767179,0.055123273]],"activation":"σ"},{"dense_2_W":[[2.9955454,-1.3477246,1.2976874,3.444926,0.3455203,2.4463851,-3.2199798],[-1.2218388,0.58024627,-0.49717745,0.51446766,0.19183421,-2.2263691,0.11851705],[-2.1754339,-1.314932,-1.7370577,-3.0780683,-0.36783528,-0.3880331,2.0325165],[-0.871225,0.028717972,-0.50448203,-0.09765695,-0.4347826,-1.2707437,0.8922663],[0.27403697,0.213261,0.29593512,-1.1201515,-1.064858,0.016363325,0.6347367],[-1.0178635,2.033394,0.028047446,0.72897583,1.6059308,-0.3644574,0.7574946],[-0.9389756,0.5795488,-1.0549065,0.7723873,-0.46206844,-0.73716664,0.43854225],[1.027085,-2.2310393,0.45260733,-1.782624,-2.0277462,0.2503824,-1.2529943],[-0.43266273,-0.088130906,-0.18391953,0.34471095,-0.05486115,-0.6636405,-0.06052279],[-0.18443295,-0.6026449,0.19400355,0.675309,-0.19369736,-0.36393186,0.5453873],[0.061789434,-0.7500766,0.077210106,0.713556,0.35699007,-1.0838957,0.47661296],[-1.1282717,-0.5210008,-0.5509114,-0.5429988,2.2967284,1.3989795,1.3392124],[-0.25263962,-0.003535306,-0.9135554,-0.29543376,-0.11915777,-1.103345,0.22891204]],"activation":"σ","dense_2_b":[[-1.4073217],[-0.5679416],[-0.20547251],[0.025895234],[-0.2802714],[0.0064310944],[-0.26443264],[0.0048407144],[-0.21980856],[-0.06569566],[-0.26453233],[0.62054074],[-0.22290102]]},{"dense_3_W":[[-1.0327704,0.20891452,-1.1169076,-0.20450504,-0.33210343,-0.41685253,0.179973,0.91003,0.4380118,0.5369454,0.014830346,0.58133256,-0.45222336],[0.48828265,-0.560659,0.14202648,-0.19878557,0.011604348,0.80502635,0.016791066,-0.45491114,0.11250305,-0.46110582,-0.62309986,-0.498626,-0.27056524],[-0.7107141,0.67344064,-0.5281853,0.8218768,-0.4188663,-0.6686883,0.7932949,1.6984673,-0.34937346,0.12119446,0.051819973,1.0973359,0.42743507]],"activation":"identity","dense_3_b":[[-0.092074096],[0.11225031],[-0.09392168]]},{"dense_4_W":[[1.3995514,-1.1625968,1.062818]],"dense_4_b":[[-0.112958856]],"activation":"identity"}]} |