carrot/selfdrive/car/torque_data/lat_models/HYUNDAI KONA HYBRID 2020 b'xf1x00OS MDPS C 1.00 1.00 56310CM030x00 4OHDC100'.json
FrogAi 5589bead02 Controls - Lateral Tuning - NNFF
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>
2024-06-01 02:34:40 -07:00

1 line
4.4 KiB
JSON
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

{"input_std":[[6.320636],[1.4672288],[0.555081],[0.033456076],[1.4485593],[1.454114],[1.4598106],[1.4775645],[1.4885659],[1.5030168],[1.5086156],[0.033279758],[0.033330515],[0.03337976],[0.03357182],[0.03373127],[0.033942096],[0.034174994]],"model_test_loss":0.0034313653595745564,"input_size":18,"current_date_and_time":"2023-08-07_09-47-01","input_mean":[[16.719969],[-0.34553456],[-0.025382733],[-0.0116697345],[-0.3357296],[-0.33838782],[-0.34124425],[-0.34988672],[-0.35434204],[-0.36063692],[-0.36771125],[-0.01169898],[-0.011674334],[-0.01165932],[-0.011694122],[-0.011704462],[-0.011737361],[-0.011825235]],"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":[[-0.12625436],[-0.030992975],[1.7781299],[0.1869105],[-1.89145],[0.008262398],[0.07576191]],"dense_1_W":[[0.009522326,-0.5508854,-0.03136063,0.029506687,-0.05980197,-0.63274986,0.97521657,-0.13758267,-0.011687601,0.08580122,-0.079591334,-0.6555507,0.22438921,0.28736886,-0.12301472,0.2645947,0.49559113,-0.4847965],[-0.018401735,0.37491256,0.0038027354,-0.07964615,0.38655296,0.3701792,-0.5896364,0.00059126964,0.04474745,0.26934335,-0.16293159,0.21059878,0.50954914,-0.18871093,-0.7607577,-0.2164596,0.43915057,-0.026766567],[0.9350977,-0.71919394,-0.3546374,0.20745265,-0.13460818,0.039738543,0.40334892,-0.07613035,0.030847827,0.008619683,0.08559006,0.15181334,0.12347329,-0.15474145,-0.24624701,-0.25018868,-0.195366,0.33170772],[-0.012065977,-0.27186581,0.051803753,0.2872634,0.20535347,-0.2876118,-0.20237778,0.08967258,-0.22776744,-0.11768601,0.09860908,-0.26557824,-0.34911528,0.6094111,0.072002344,-0.28330874,-0.15977615,0.20908129],[-0.94839776,-0.4837727,-0.37379816,-0.36139977,0.24034177,-0.30601895,0.071798995,-0.08959876,0.05900306,0.09905,0.025198964,0.03703683,0.15677285,0.38272214,-0.23764542,-0.28992912,0.1327766,0.1434804],[0.008056818,0.38128582,2.9280443,0.1751433,-0.3785394,-0.18362774,-0.77038676,0.3448695,0.30613825,0.60532063,-0.16727439,-0.08651086,-0.08615892,0.21958824,0.027262067,-0.003296754,-0.5401621,0.18965037],[1.0339775,0.45337832,-0.015582236,-0.0063054073,0.056368716,-0.30668864,-0.02802569,-0.19660905,0.43840367,-0.17627239,-0.030975454,-0.057090487,0.306885,-0.24460675,-0.060861766,0.19225666,-0.3149098,0.15006702]],"activation":"σ"},{"dense_2_W":[[0.6902859,-0.6393492,-0.44761193,-0.3838106,0.4084184,-0.509032,0.4051396],[-0.22254738,-0.08053956,-0.18914244,0.13284113,-0.6440283,-0.17699161,0.3351629],[-0.67853475,-0.18324746,-0.8725586,0.063068196,-0.50468117,0.4416853,-0.718201],[-0.21037722,0.026921168,-0.9217467,-0.5199083,-0.1263664,-0.42184907,0.10097415],[-0.4352312,0.13832696,-0.9440917,-0.61247665,0.11328457,0.5671792,-0.52296823],[0.39174297,-0.09831927,0.28159302,0.31369746,0.10481584,0.09035183,0.13667637],[-0.24003993,0.57464117,0.012518535,-0.31918442,-0.2873576,-0.105834864,0.13482167],[-0.1323263,-0.07528578,0.03620373,0.1001147,-0.34535193,0.2595585,-0.05328041],[-0.6540329,0.5568342,-0.3725302,-0.6058455,-0.09868532,-0.8560664,0.4088728],[-0.072663926,0.43851793,0.17612897,-0.22449215,-0.7815626,-0.23553626,0.42175516],[0.036100484,-0.17945322,0.7347332,0.62554735,-0.22215228,-0.49261123,-0.0353556],[0.4271888,-0.74014676,-0.46194273,0.3661966,0.7197653,-0.4986745,-0.6228453],[0.36488712,-0.13825116,-0.48768026,0.5608169,0.323051,-0.027168993,0.07831102]],"activation":"σ","dense_2_b":[[-0.027757965],[-0.016351482],[-0.024558742],[-0.085644595],[-0.046783354],[-0.07285203],[-0.0006671193],[-0.05067625],[-0.016443914],[-0.020814378],[0.03668154],[-0.20516597],[-0.048601683]]},{"dense_3_W":[[0.32911223,-0.26069397,-0.043751866,-0.48354477,-0.07570592,-0.33116663,-0.4901479,-0.13365264,-0.6457748,-0.36664736,0.58490235,0.1868273,-0.45664176],[-0.34076023,0.24871762,0.6651098,-0.2161779,0.12477483,0.10071758,0.59505385,-0.081202336,-0.16617194,0.083364025,-0.6090697,-0.2990762,0.18049675],[0.35747406,-0.3925092,-0.20388703,-0.22220151,-0.6932658,0.40903154,-0.59456044,0.10416559,-0.23720811,-0.17813742,0.5602839,0.33316627,0.6221551]],"activation":"identity","dense_3_b":[[0.03296679],[-0.010274947],[0.0053764265]]},{"dense_4_W":[[-0.38123104,0.6776871,-1.0605929]],"dense_4_b":[[-0.008991764]],"activation":"identity"}]}