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":[[8.38813],[1.0174526],[0.39554036],[0.046162203],[1.0090938],[1.0111505],[1.0117267],[1.0022837],[0.9907708],[0.9691922],[0.93781143],[0.045898493],[0.0458996],[0.045888968],[0.04573459],[0.045532204],[0.045233488],[0.044901755]],"model_test_loss":0.012157289311289787,"input_size":18,"current_date_and_time":"2023-08-05_16-43-40","input_mean":[[25.00623],[0.054802105],[0.011563125],[-0.012088739],[0.050388798],[0.05198936],[0.05343812],[0.056934483],[0.05857226],[0.05653321],[0.05339159],[-0.012127758],[-0.012105216],[-0.012089895],[-0.012095662],[-0.012160323],[-0.012418678],[-0.012670423]],"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":[[-0.23510607],[0.017906608],[-0.09428025],[2.0587661],[2.4378984],[-0.2166746],[0.17629944]],"dense_1_W":[[-0.008606778,0.34109786,0.6875069,0.0028993126,0.8000613,0.546632,-0.9264688,0.03937569,0.13737564,-0.2733249,-0.96302414,0.339788,0.60886014,0.26368546,-0.23521979,-0.1668846,0.3196768,-0.15900844],[-0.0011819584,0.729729,2.0695696,0.20169054,-1.0443937,-0.5805483,-1.2778925,-1.3182445,0.7515108,1.8376803,0.88894564,0.9433448,0.60453916,-0.5198952,-0.27219102,-0.18214135,-0.32308298,-0.5258672],[-0.0007019058,-0.45617288,-0.058651116,-0.1715701,-0.1380315,-0.021959623,0.026901057,0.082620144,0.1911437,0.00152804,-0.042670403,-0.3032745,0.45580253,0.032131206,-0.2713613,0.3809063,-0.021339726,-0.046729088],[0.9848692,-2.0930884,0.05227474,0.14134067,-0.5008443,-0.51911664,-0.10874144,-0.11555108,0.059225876,-0.20209119,-0.5084024,0.119557716,-0.17086504,0.5155482,-0.2892066,-0.723269,0.19560312,0.18627037],[0.9442295,1.9961289,-0.05074522,-0.043404724,0.6943,0.59966326,-0.045782663,0.08436519,-0.1630318,0.05319531,0.67571694,-0.3004089,-0.12995596,-0.41098842,0.36848706,0.87160724,0.39175102,-0.7181419],[-0.0074142898,-0.04797374,0.64808965,0.55981237,0.49558824,0.63315,1.5447174,-0.5666181,-1.9028187,-1.1591543,0.67295575,-0.3617059,-0.2785844,0.52386093,0.78436995,0.022645274,0.30185598,-0.6463948],[-0.002286195,0.25007936,-0.027766582,-0.2213954,0.28290057,0.71661454,0.073331274,-0.017547475,-0.64222115,-0.2412949,0.5705157,0.31924602,-0.050814595,-0.45005983,-0.31452417,0.30082983,-0.56895506,0.3093173]],"activation":"σ"},{"dense_2_W":[[0.49283543,1.4813224,-1.1632105,1.1330808,1.6111002,-0.79484963,0.521326],[-0.45535,-0.27000293,0.20228699,-0.021973267,-0.20624182,-0.20179789,-0.0924967],[-0.6126425,0.12641166,0.12921864,0.18841244,0.22053215,-0.0732061,-0.6845349],[-0.44073936,-0.26221433,0.71035826,0.8264845,0.27127275,0.1522136,-0.40632126],[1.1533407,0.74939775,-0.74686474,-0.15980572,1.3828646,-0.47532186,-0.49893177],[-0.010718742,-0.49425468,0.57077384,0.52116805,-0.1557675,-0.2101485,0.1713434],[0.123579755,-0.003964546,0.37106356,0.31162402,-0.1109699,-0.013212317,-0.050931312],[0.46784705,0.20873305,-0.51459223,-0.12245424,-0.35924026,-0.6009022,0.7039142],[0.6885935,0.4780248,-0.95869493,-1.1940409,-0.37541804,-1.0116334,0.3657836],[-0.084950574,0.20079572,-0.6036541,-0.5749908,-0.4149406,-0.06347254,0.3201109],[0.6054816,-0.26072496,-0.6472537,-0.10404058,0.28988326,-0.7315275,0.71709865],[-0.46448785,0.027026115,0.68479264,-0.25374988,-0.82326454,0.63361776,-0.95420885],[0.4081272,0.4028123,-0.54246926,0.45891264,0.535415,-1.0074925,0.021217577]],"activation":"σ","dense_2_b":[[-0.31526598],[-0.04387461],[-0.012186167],[0.16261126],[-0.48067328],[0.021213803],[-0.06306296],[-0.18538073],[-0.3133758],[-0.33385947],[-0.30100945],[-0.1241097],[-0.03466007]]},{"dense_3_W":[[0.21734363,0.043079853,0.18524005,-0.2568567,0.15158817,-0.36534816,-0.34965506,-0.36512575,-0.06888381,-0.31225628,-0.10772074,-0.67586124,-0.20552121],[-0.5188872,-0.5363552,0.6651099,0.42919686,0.35317427,0.5209541,0.4917763,-0.62617296,0.0038265921,0.033600807,-0.36337307,0.619507,-0.45799708],[-0.20623821,0.2606718,0.049107946,0.78371567,-0.46874192,-0.036460795,-0.09059373,-0.622457,-0.82094365,-0.10458149,-0.10322752,0.7906474,-0.24749829]],"activation":"identity","dense_3_b":[[0.030028654],[0.035442725],[0.060197428]]},{"dense_4_W":[[0.047837973,-0.35243145,-1.0255531]],"dense_4_b":[[-0.05134228]],"activation":"identity"}]} |