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":[[3.987233],[0.8537959],[0.3147956],[0.046582546],[0.84401494],[0.84688294],[0.84943753],[0.8459254],[0.8367666],[0.8265147],[0.81790316],[0.046407577],[0.046432234],[0.046448592],[0.046412252],[0.046326056],[0.046176534],[0.045897327]],"model_test_loss":0.015449066646397114,"input_size":18,"current_date_and_time":"2023-08-05_10-23-38","input_mean":[[25.967857],[0.06622085],[-0.0020416742],[0.015556498],[0.066534],[0.067036055],[0.06743562],[0.06573888],[0.06696677],[0.06556534],[0.06443423],[0.015573572],[0.015597905],[0.015617301],[0.015684133],[0.015687725],[0.01558393],[0.015239334]],"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":[[0.0808946],[0.037367117],[-0.038749795],[0.9390711],[-0.32065046],[-1.1784762],[-0.88848305]],"dense_1_W":[[-0.00011032098,0.9780359,-0.0014145505,-0.4366488,-0.013176787,0.33611873,-0.29262367,-0.3578369,0.11645427,0.42088133,-0.2598451,0.6237576,-0.13795596,-0.09887536,-0.12733373,-0.08417586,0.4013575,-0.07988855],[-0.0009259077,-0.062645964,-0.0018059709,-0.12713021,-0.055080768,-0.22723031,-0.026899165,0.200585,-0.42516625,0.22538531,-0.08643315,-0.6855331,0.5384225,0.5383578,-0.28057948,0.35908887,0.18033692,-0.29071817],[0.00023606251,-0.2708152,-3.7008457,-0.18686758,0.7081413,0.5238141,0.29570386,-0.37760863,-0.7263605,-0.6313755,0.52763283,-0.7201515,-0.24693261,-0.0033690718,0.19305243,0.28949165,0.15849951,0.32188925],[-0.0030307523,0.9266019,-0.00071122346,0.2938597,-0.7209375,-0.25652483,-0.833887,-0.41061628,-0.6894746,-0.44843826,-0.023134246,0.7723488,-0.032426476,-0.21999909,1.0757654,0.2777427,0.4482543,0.7690393],[0.005163568,0.3910777,0.0008774753,-0.1327848,0.038467746,0.2735437,-0.44077805,0.32235864,0.39658654,0.20570071,-0.13710664,0.1422694,-0.52818966,-0.07204501,-0.05014466,0.01687801,-0.32406497,-0.30950892],[0.22730923,0.26141903,-0.000953725,-0.37078547,0.3688389,0.28006992,-0.35340187,0.032271273,-0.079801165,0.38975418,-0.13068317,0.51164424,-0.14360848,-0.15369992,0.077170156,-0.22220115,-0.43598184,0.27546084],[0.2213501,-0.15664451,0.00094546424,0.3464266,-0.53368324,-0.1391294,0.38088232,-0.02687833,-0.24897413,0.004964223,-0.012853597,-0.73865753,0.11176492,0.6087426,-0.2588389,0.3292955,0.21136026,-0.15702726]],"activation":"σ"},{"dense_2_W":[[0.8372817,-0.25008437,-0.12787572,0.2646305,0.31623498,0.13657083,-1.0080503],[0.046799798,0.00918828,0.40113875,0.2216699,-0.27304304,-0.38028294,0.39347392],[-0.23938853,-0.34641623,-0.62152797,-0.46418,-0.7241759,-0.5278883,0.25341335],[-0.09937506,0.8862087,-0.24579188,-0.27517456,-0.660784,-0.34946993,-0.0786754],[0.7788807,-0.035170402,-0.38853168,0.22640607,0.14605336,0.8359692,-0.7039278],[-0.16715685,0.30906233,0.4299202,-0.15657364,-0.75562745,-0.5894536,0.67901284],[0.011040685,0.72528595,-0.3475271,0.20744416,0.0671484,-0.801704,-0.032896496],[-0.10695809,0.57284784,0.13369241,0.09459562,-0.75450206,-0.65015566,0.64747673],[0.41928726,-1.2618666,-0.31203488,0.500999,0.60130423,-0.015696425,-0.93787414],[-0.3277222,0.70236963,0.41655436,-0.5232463,-0.6613873,-0.7214429,0.6023961],[0.5236259,-0.8083846,-0.4727932,0.5152158,0.49668074,0.51633376,-0.30741963],[-0.29883748,-0.70302063,-0.06388201,-0.46135828,0.15648502,0.5698643,-0.37563467],[0.8581469,-0.22009362,-0.6310318,0.2918128,-0.03789091,0.3939349,-0.40259096]],"activation":"σ","dense_2_b":[[-0.11143744],[-0.044303834],[-0.28920218],[0.07294065],[-0.20649768],[-0.017393855],[0.033349346],[-0.0056764074],[-0.25138023],[0.08198082],[-0.17676844],[-0.29986814],[-0.16457124]]},{"dense_3_W":[[-0.49123013,-0.094490446,-0.23686716,0.6143184,-0.5806659,-0.10567876,0.564474,0.3225216,-0.16980709,0.15226522,-0.5543669,-0.2539091,-0.2111866],[-0.67487806,0.6078758,0.5300193,0.3342076,-0.46282768,0.7419035,-0.11941694,0.1968823,-0.3510679,0.7736118,-0.1578716,0.12241213,-0.426154],[-0.028797744,-0.23915093,0.5088453,-0.23264304,0.015492338,-0.5100102,-0.40799907,-0.34939715,-0.29578912,-0.24078988,0.72473073,-0.1903113,-0.08354421]],"activation":"identity","dense_3_b":[[0.04028917],[0.022620372],[0.00910732]]},{"dense_4_W":[[-0.95017105,-0.7261867,0.14058225]],"dense_4_b":[[-0.029187044]],"activation":"identity"}]} |