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":[[8.624078],[1.0587155],[0.30083516],[0.047404915],[1.0569501],[1.0572157],[1.0565227],[1.0357862],[1.0151423],[0.9855047],[0.9551931],[0.04727608],[0.047284212],[0.047292266],[0.047139347],[0.046923578],[0.046476692],[0.045933507]],"model_test_loss":0.03084651380777359,"input_size":18,"current_date_and_time":"2023-08-06_16-32-16","input_mean":[[24.835194],[0.0007982536],[-0.006176701],[-0.0052586584],[0.00027294309],[-0.0003220067],[-0.0009233009],[-0.0011664837],[-5.9159433e-6],[0.00031557973],[0.0022665297],[-0.005350762],[-0.005354779],[-0.005356321],[-0.0052974457],[-0.0052572815],[-0.0053089443],[-0.005361436]],"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":[[1.3534836],[-0.029432654],[1.8868316],[-0.09822117],[-2.4564312],[-0.062489524],[4.9500136]],"dense_1_W":[[1.3379444,-0.023224303,0.92547566,0.23139125,0.49582657,-0.19798304,0.17489886,0.19757572,0.4532939,0.05501206,0.44625548,-0.37186652,0.23857181,0.08223163,-0.40953666,-0.31662405,0.36565343,-0.02073929],[0.0018158369,-0.46781677,0.014307537,0.7127616,-0.183635,-0.75742817,0.6894066,0.24744697,-0.17661563,-0.27236703,0.15312704,-0.57848364,-0.5893935,0.2702419,0.44554567,0.22370823,-0.226104,-0.09203226],[1.799059,-0.198707,-1.016055,-0.011727806,-0.029179385,0.14295676,-0.29293978,0.17230937,-0.47932827,-0.69661826,-0.093703836,0.18523113,-0.10232647,0.03687105,0.44274545,-0.19036789,-0.29666153,0.107951805],[-0.003098032,-0.24532981,-0.017002787,-0.5023018,0.39906764,-1.200529,0.4519783,0.4683689,-0.14362553,0.06751771,-0.17091979,0.3470844,-0.1885182,0.16463032,-0.009498001,-0.10712965,0.6976556,-0.33137426],[-1.357193,0.119205914,0.77373636,0.08123809,-0.53554714,0.04073674,0.14673577,0.47008705,0.36763436,0.7785362,-0.2854519,0.033120852,-0.38505244,-0.0073482324,-0.027826203,-0.18191494,0.7202002,-0.36105922],[0.011540895,0.42653874,3.4537587,-0.14331447,0.17654268,-0.25341675,-0.9539831,0.67298365,0.9465182,0.5915356,-1.033552,0.40142527,0.23822671,-0.1597271,-0.6579629,-0.23393449,-0.18252316,0.27954388],[2.213533,1.03911,1.1523687,-0.7107895,-1.6353345,0.7368801,-0.029617624,0.59569466,-0.3488169,1.8759083,-0.59652627,-0.33486545,-0.16461614,0.23255706,0.38946012,0.0076609664,1.2241695,-0.82663125]],"activation":"σ"},{"dense_2_W":[[-0.38179168,-0.03762462,-0.16407442,0.22533777,0.21200526,-0.75755686,-0.70566297],[0.23745127,0.79392534,-0.13295732,0.2560252,-0.525396,-0.3199242,-0.37806568],[-0.07160659,-0.8020838,0.9527979,-0.8270174,0.4712437,0.30625376,0.11045921],[-0.760045,-0.27719706,-0.10346,-1.3937811,0.93653303,0.7137455,-0.27598134],[-0.47952121,-0.6838305,0.20842296,-0.347254,0.57235146,0.32606634,-0.29145405],[-0.75135994,0.47685748,-0.6925233,0.6067481,-0.47287223,-0.6708088,-0.5606238],[-0.1407047,-0.042412486,0.19884428,0.6875437,-0.051208068,0.089406244,-0.25268498],[0.15601759,-0.5533243,0.65179765,-0.9195583,0.54043883,-0.31588987,0.042402852],[0.016135221,0.43866783,0.14963633,0.45334944,-0.13526076,-0.47658014,-0.27877006],[-0.6760022,-0.99107736,-0.0065089352,-0.7310922,1.198063,0.26301616,0.15857588],[-0.53217345,0.08108589,-0.42232883,0.2585569,-0.6059891,-0.16030814,-0.38680902],[0.20514117,-0.7086649,0.30526543,-1.014871,0.70494556,-0.1754464,0.6393286],[-0.44732463,0.7236195,-0.20577241,0.6082023,0.08172972,-0.12622307,-0.26760522]],"activation":"σ","dense_2_b":[[-0.23157027],[0.10348182],[0.103248015],[-0.25145143],[-0.16215345],[0.05333198],[-0.007814407],[-0.12305106],[0.015793381],[-0.11626731],[-0.21887426],[-0.013616658],[-0.045431573]]},{"dense_3_W":[[0.11133691,-0.7149343,0.6122002,0.5992357,0.48934844,-0.8058861,-0.61579424,-0.20425087,0.0400084,0.7586056,0.21969084,0.73337686,-0.5684788],[-0.32940114,0.5844858,0.33521906,-0.1380717,-0.15706351,0.44334856,-0.03572488,-0.44520766,0.33684713,-0.0387427,0.3344798,0.22412832,-0.34584302],[0.41397762,0.5771128,-0.17538065,-0.2331263,0.2025833,0.167861,-0.30182636,-0.55495805,0.4524257,-0.08304705,0.5681975,-0.48104328,-0.034903586]],"activation":"identity","dense_3_b":[[-0.029943425],[-0.01140329],[0.025632406]]},{"dense_4_W":[[1.1838417,-0.092230946,-0.76815987]],"dense_4_b":[[-0.028896004]],"activation":"identity"}]} |