
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":[[8.345774],[0.6516757],[0.2946899],[0.036000013],[0.6570742],[0.65476614],[0.65189326],[0.6298937],[0.61620677],[0.5998042],[0.585703],[0.035867088],[0.035853058],[0.03583253],[0.035650827],[0.035447672],[0.03509526],[0.034743294]],"model_test_loss":0.04811468347907066,"input_size":18,"current_date_and_time":"2023-08-06_04-58-52","input_mean":[[23.215597],[-0.0051006116],[-0.0055196565],[-0.01567796],[-0.005811626],[-0.006771491],[-0.0076306327],[-0.0097848335],[-0.012780408],[-0.015299056],[-0.014718147],[-0.0158138],[-0.01582171],[-0.015839318],[-0.01598839],[-0.016109424],[-0.016302101],[-0.016615149]],"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":[[-0.5351528],[-0.08217364],[0.7499818],[-0.9374063],[-2.8954298],[0.5392535],[-3.6015053]],"dense_1_W":[[-0.3087897,0.36021253,0.001141582,-0.5416911,-0.37556788,1.0140606,-0.10794389,0.041419383,0.09076369,0.22191924,-0.13948734,0.77267516,-0.42759845,0.05381029,0.18476713,-0.004047777,-0.30918673,0.26700374],[0.0053725103,2.3370762,2.1885164,-0.6068641,-1.8911628,-0.1114463,-1.1982107,1.506414,1.4532031,-1.4538794,-0.44084385,0.23688209,0.25542602,-0.57141525,-0.3206077,0.6730285,-0.21775477,0.139656],[1.3912241,0.5980732,0.007555601,-0.3157546,1.0649415,-1.0759517,0.38208148,0.39749306,0.4723742,0.079457946,-0.22618146,-0.52275753,0.36008105,0.15328345,0.31112024,0.47836456,-0.34323418,-0.06713888],[-0.5376176,-0.8203641,-0.0054783067,0.18999593,0.8493549,-1.6256207,0.5286132,0.17178455,-0.12867084,-0.57045287,0.380642,-0.21426243,0.012443455,0.08020425,0.04434846,-0.2713304,0.26582962,-0.11160915],[-1.6407828,1.6409405,2.1913364,0.022263499,0.09162234,0.83557415,-0.5309621,0.024207013,-0.07581847,-0.014490255,-0.81525505,-0.0492574,0.24616976,0.15028022,-0.59524703,-0.0825454,0.4095187,-0.094127044],[1.3961402,-0.08105169,-0.008954976,-0.07117163,-0.8383657,0.87360406,-0.6657976,-0.87985647,-0.5403045,0.18084845,0.17272979,0.52761483,-0.10129359,0.052255798,-0.6804288,-0.19871165,0.32997298,0.08579106],[-2.1104581,-0.24356179,-2.845604,0.654625,-0.96994275,-1.8767366,0.09136246,-0.1956461,0.53588957,1.3931365,-0.2444548,-0.15516165,0.21176384,0.14917651,-0.5694106,-0.70854956,0.0043206294,0.400021]],"activation":"σ"},{"dense_2_W":[[1.0278689,0.4348165,-0.7295973,-0.17747834,-0.10278106,0.8901122,0.17545664],[0.13757691,-0.1752453,0.14579734,-1.0508666,-0.22797246,0.38786298,0.19690785],[1.1957673,0.0039350316,-0.40309194,-0.2067109,-0.49688277,0.046528805,0.34363425],[0.9798856,0.49028137,-0.85653776,-1.1984895,-0.36523688,0.46900073,-0.32531098],[-1.2176576,-0.14628303,1.6475934,1.303342,-1.3007184,1.0287305,1.0352072],[-1.4576483,0.32830203,0.16497982,0.9603124,0.10295537,-0.26579857,0.044457998],[-1.0095707,-0.47438616,-0.8685609,1.2697761,-1.1946431,-1.4605931,1.2599539],[0.81197304,-0.09208761,0.40551397,-0.056155458,-0.58765817,-0.23485978,-0.2638987],[-1.5602592,0.087970994,0.52796125,0.39796272,0.12936676,-0.81510574,0.2554148],[-0.37163022,-1.1731296,-0.14651866,0.54896307,-0.6345117,-0.76398563,-0.594298],[0.55459255,-0.11434374,-0.7491592,-1.2193239,0.03146761,-0.27160767,0.13656238],[-0.41351238,-1.394458,0.32861343,-0.5550233,-0.06432965,-0.26546374,-1.3905721],[-0.07234112,0.12938619,-0.5258625,0.20187783,-0.11095027,-0.5983514,0.17259556]],"activation":"σ","dense_2_b":[[0.07223941],[-0.18307218],[-0.011371265],[-0.030353792],[0.399116],[-0.2056006],[-0.18057384],[-0.034727614],[-0.1045567],[-0.02377866],[-0.08901428],[-0.19908707],[-0.12886626]]},{"dense_3_W":[[0.6559019,0.16872415,0.47964025,0.6487196,-0.8777068,-0.23541385,-0.89913565,0.15309054,-0.58269215,-0.7279551,0.29873818,-0.32794726,0.08947766],[0.26739633,-0.18432048,0.59314704,-0.2931499,-0.4403377,-0.13366148,-0.7476601,0.040935304,0.4834687,-0.46328762,0.38387424,0.24528371,-0.11175901],[0.35347906,-0.0840438,0.3375809,0.18057397,-0.5231106,-0.3020804,0.014876371,0.24072316,-0.3709018,0.04671709,0.20817442,-0.017570972,-0.4402727]],"activation":"identity","dense_3_b":[[0.10084228],[0.0669727],[0.031454615]]},{"dense_4_W":[[1.4559509,0.20071371,0.08563809]],"dense_4_b":[[0.09271952]],"activation":"identity"}]} |