
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":[[10.179209],[1.946755],[1.2311121],[0.043124877],[1.9137082],[1.928251],[1.9405652],[1.8979429],[1.8290157],[1.7288281],[1.6117326],[0.04305833],[0.04309175],[0.043120217],[0.04305351],[0.042979725],[0.042736527],[0.042220153]],"model_test_loss":0.04046741873025894,"input_size":18,"current_date_and_time":"2024-01-01_12-54-05","input_mean":[[19.886843],[-0.08453091],[-0.027817471],[-0.009687375],[-0.08224605],[-0.08218754],[-0.08316727],[-0.0864319],[-0.08584609],[-0.08902702],[-0.09127687],[-0.00971248],[-0.009704781],[-0.009690606],[-0.009737841],[-0.009819663],[-0.01003853],[-0.010292858]],"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":[[2.0063746],[-0.014421833],[-0.016980432],[0.24719183],[-0.2554401],[1.1714092],[0.2850007]],"dense_1_W":[[3.8164415,0.42496008,0.0058311317,-0.5922161,-0.018660143,-0.059873663,-0.4823166,-0.69956803,0.18870714,0.32371354,-0.18217827,0.070182934,0.22793168,-0.19898231,0.6709609,0.11052021,-0.2935191,0.06287767],[0.06559675,-2.158665,0.20155539,0.6850947,0.54615927,-0.48593122,-0.60131466,-1.17838,-0.33193496,-0.16769268,0.2666203,-0.55760574,0.049435433,0.49748158,0.018846018,0.18296228,-0.38131532,0.02129112],[-0.0030146597,2.1633716,0.12751175,-0.036839847,0.43803918,-0.5837984,-0.78320104,0.23687837,-0.5135213,0.06987473,0.016828135,0.47628784,-0.04306734,-0.6340777,0.0015580052,0.27265942,-0.08013059,-0.033857524],[0.023950748,-0.12864938,-0.053110614,0.20072663,0.32194218,-0.06671472,-0.2536231,-0.17841686,0.244528,0.4127862,-0.2285674,-0.21846877,-0.27231506,0.216127,-0.04363914,-0.25538096,-0.4984106,-0.5711411],[-0.03280221,-0.024265194,2.865387,0.09079561,-2.2140841,-0.59061164,-0.16878977,1.4938412,2.113397,0.5557984,0.0389358,0.30482763,-0.37715888,0.17503102,-0.43447202,-0.10841977,-0.4095798,0.5421721],[0.023621826,0.77697575,-0.030652141,-0.7288615,-1.1850437,-0.40638977,0.4510979,-0.39652273,1.1020068,0.87866455,-1.0631015,-0.48492792,-0.413914,0.28923646,0.83899385,-0.94170743,-1.7722465,-2.5887892],[-0.31077093,-2.7929823,-0.8968884,0.60590976,-1.8221651,-1.8421693,-2.8268344,-5.0699267,-3.861935,-2.195412,0.43242824,0.17736872,-0.5388808,0.05460842,0.057116155,0.6001639,0.08118524,-0.40913072]],"activation":"σ"},{"dense_2_W":[[0.4771666,-0.23746054,-0.4048347,0.014955291,0.14911593,-0.19584467,-0.797248],[0.23042329,0.14679217,-0.32766268,-0.6171318,-0.0672876,-0.13340482,-0.47415775],[0.11035835,0.43063846,0.06606008,-0.30708927,-0.01215416,0.112187326,0.5444335],[-2.419014,-1.0069153,-0.09827441,0.94713056,-0.9128982,-0.8111134,0.5030507],[0.68391746,-0.62757623,0.8659143,0.23217726,0.58252317,-0.17705579,-0.002253008],[-0.42620403,-0.3425769,-0.5479693,0.15080416,-0.14316201,0.26373947,0.031954814],[-2.8413165,1.2708689,0.068694726,-1.0437667,0.16927363,0.47112408,-1.9732379],[-0.27190375,-0.23765026,-0.40908343,-0.043026593,0.5843062,-0.58261985,-0.65477777],[0.21871985,1.3109024,-0.9343726,-1.0999799,-0.44865835,1.0594641,0.47757736],[-1.6176411,0.54705536,-0.66899157,-1.0202032,0.15654495,0.12648164,-0.73654455],[-0.52365,-0.76586264,-0.11418876,0.22776829,0.21490413,-0.07532198,-0.8553965],[1.007911,-0.89002436,0.6946688,0.5599218,-0.9961366,-0.78246945,0.19647849],[-0.2415204,0.38803875,-0.53033787,-0.45830578,-0.18832135,-0.047508143,-0.20871232]],"activation":"σ","dense_2_b":[[-0.16529368],[0.013510863],[0.030097254],[-0.4442853],[-0.07398873],[-0.043130837],[0.5443403],[0.016168233],[5.1814714e-5],[-0.24243923],[-0.23565504],[-0.24253431],[0.09609073]]},{"dense_3_W":[[-0.29800695,0.112412535,0.35139373,-0.07460943,-0.5925171,0.1842439,-0.41947332,-0.09365775,0.6416182,-0.5758165,-0.24497612,0.052114397,-0.11485515],[-0.64549637,-0.47829625,0.2400875,-0.4934709,0.61060953,0.29558077,0.288438,-0.026924657,-0.08058336,0.3027799,0.46107742,0.51308835,-0.078738034],[-0.033074643,0.4692864,-0.09480165,0.71939796,-0.6026536,0.24559408,-0.19725133,0.6418043,0.76608104,-0.17160867,-0.18423195,-0.39703175,0.6709258]],"activation":"identity","dense_3_b":[[0.02990227],[-0.032973792],[0.025321845]]},{"dense_4_W":[[-0.84175843,0.81004345,-1.0306299]],"dense_4_b":[[-0.02981127]],"activation":"identity"}]} |