
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":[[8.222069],[1.4015005],[0.5433659],[0.046245173],[1.3907557],[1.3952589],[1.3979354],[1.3851876],[1.3639251],[1.3265828],[1.2794514],[0.04593869],[0.04602148],[0.04609722],[0.046142124],[0.04606174],[0.04579012],[0.045302678]],"model_test_loss":0.009272297844290733,"input_size":18,"current_date_and_time":"2023-08-07_07-41-26","input_mean":[[21.305267],[0.004457678],[0.0094668595],[-0.012420628],[0.004529341],[0.005278159],[0.005986334],[0.00870795],[0.010163208],[0.009530685],[0.008663278],[-0.012377954],[-0.01237566],[-0.012378746],[-0.012456359],[-0.012550046],[-0.012720126],[-0.012910544]],"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":[[-2.047097],[1.9158853],[0.17434227],[-0.97165537],[-0.10269022],[-0.9169131],[0.0008914754]],"dense_1_W":[[-0.88408405,1.235049,0.0426836,0.013424199,-0.08920125,-0.013397676,0.586178,-0.04885077,0.3810674,0.36573988,-0.3742023,-0.11406285,0.04956962,0.03306387,-0.10079546,-0.18288964,-0.018636217,0.16385865],[0.88075936,1.297032,0.032537315,-0.17033583,-0.09099818,0.4118023,0.12728553,0.14429076,0.1508224,0.15520132,-0.16594887,0.11192377,0.23395588,-0.301161,-0.2021957,-0.0027576552,0.08704741,0.086546],[0.7485217,0.44026893,-1.9140397,-0.17217009,0.059100352,-0.047859672,-0.5856153,0.44894385,0.22710915,-0.21913743,-0.29625463,0.322819,0.07943353,-0.022421572,-0.090653695,-0.444467,0.1394176,0.18164952],[0.4358342,-0.32757956,2.063401,0.20161365,-0.24610913,-0.3428621,0.6505693,0.016287383,-0.07427287,0.03351724,0.22633989,-0.3643204,-0.26658386,0.20206529,0.12288221,0.2783347,0.19327204,-0.36068434],[-0.0035009065,-0.72611684,-0.0082449615,-0.22654101,0.46806103,-0.34762052,-0.40569013,0.40099728,0.11805809,-0.16216965,-0.042650726,-0.89064217,0.21002078,0.642215,0.20523302,0.31924605,0.101329714,-0.13541093],[-0.41431567,0.11045769,2.0121331,-0.2800082,-0.054261006,0.11609053,-0.5194348,0.0039073634,0.18652305,-0.21063456,0.3278946,0.18608095,-0.043919813,0.063306555,-0.30901843,0.42117286,0.14100657,-0.16917707],[0.1144374,0.0647928,1.4224553,-0.33906898,-0.090644486,-0.5943667,-0.7509755,0.8212074,0.73758525,0.21148895,-0.4533185,0.18891388,0.058078196,-0.32458195,0.36525872,0.30673453,-0.21418211,-0.02886248]],"activation":"σ"},{"dense_2_W":[[-0.09611834,0.018518968,0.3276854,-0.29474196,0.07749839,-0.18393336,-0.108452864],[0.8463591,0.2765366,0.26273692,-0.542793,-1.3948811,0.38413918,0.13216402],[0.6448755,-0.9121937,-0.4041889,-0.44714126,-0.6450281,0.62885827,0.6442234],[-0.6492855,-0.59167993,-0.2413325,0.6629408,0.8960554,-0.16874227,-0.23902991],[0.25179657,-0.0052280165,-0.787087,-0.52129155,-0.7962139,0.5745307,0.5154668],[0.1658994,-0.14782484,-0.34189487,-0.24388146,0.26166263,-0.10471854,-0.98238224],[0.3014624,-0.11165519,0.1926479,-0.0071346364,0.12017147,-0.5179131,-0.42826292],[-1.3958447,1.0750867,0.51260227,0.5384232,-0.34655526,1.0435345,1.5503204],[0.40272388,0.12323784,0.24391593,-0.66794497,-0.92917013,0.24938683,0.35117647],[-0.37655634,-0.79549915,-0.7874939,0.049076214,0.16099943,-0.46943882,-0.46139815],[0.101291455,0.14885388,-0.42190292,0.31973553,0.7213091,-0.43006414,-0.27885658],[-0.32128662,-0.3569677,-0.5827871,-0.44924423,0.16653252,-0.70502335,-0.009819985],[-0.1346414,0.065946266,0.22599967,-0.71018034,-0.8050497,0.21156272,0.017037582]],"activation":"σ","dense_2_b":[[-0.15589215],[-0.28170976],[-0.38979664],[0.083457045],[-0.43890372],[-0.010706772],[-0.07441867],[-0.20225793],[-0.14819947],[-0.0007909137],[-0.0439504],[0.00047137964],[-0.0815142]]},{"dense_3_W":[[0.04960481,0.7185168,0.55996764,-1.1893424,0.63903844,-0.7087734,0.2795772,0.5947179,-0.12752935,-0.9978769,-0.25698617,-0.06704499,-0.04695985],[0.301456,-0.21193206,0.22014925,0.07238018,-0.24935168,-0.38614914,-0.53463185,0.41344443,0.122541234,0.4214228,0.2293029,0.506032,-0.25195587],[0.30665806,0.26296693,0.6493592,-0.4486736,-0.020275978,-0.3785944,-0.39404252,0.43909723,0.5369053,-0.4844059,-0.36188412,-0.6198387,0.2678705]],"activation":"identity","dense_3_b":[[-0.104795374],[-0.0101343505],[-0.022516306]]},{"dense_4_W":[[0.6437274,-0.14137705,0.8526488]],"dense_4_b":[[-0.020337932]],"activation":"identity"}]} |