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":[[9.234872],[1.7387171],[0.6310113],[0.041324526],[1.7468101],[1.7485358],[1.7463628],[1.6813515],[1.6138928],[1.5166583],[1.4015313],[0.04133031],[0.0413337],[0.041333757],[0.04118004],[0.040935308],[0.040534236],[0.039815236]],"model_test_loss":0.0260967705398798,"input_size":18,"current_date_and_time":"2024-01-02_16-09-50","input_mean":[[18.407263],[-0.14015597],[0.3711817],[-0.013628443],[-0.14144012],[-0.14140508],[-0.14116342],[-0.14256226],[-0.14497863],[-0.14759411],[-0.146862],[-0.013650104],[-0.013649839],[-0.013640534],[-0.0136114],[-0.0136378575],[-0.01368059],[-0.013537186]],"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":[[-0.17934836],[-1.3827101],[-0.37230077],[1.6006012],[0.14016603],[-0.20824529],[-0.10853221]],"dense_1_W":[[1.0121843,-0.41438726,0.018851694,0.39435658,-0.38019177,-0.13651183,0.05734392,-0.329163,0.31040952,0.3208138,0.90920854,-0.36049893,0.24129337,0.025214536,-0.10973996,0.09583971,0.038722508,-0.16831684],[-0.49142304,0.41072696,0.0020853165,0.12117965,-0.6696023,-0.42860758,-0.04108,1.1968801,0.010861384,0.048719544,0.19994913,-0.066764034,-0.1951532,0.1262744,0.19845127,0.041957933,-0.27989352,0.046454493],[1.1237211,0.40124688,-0.016909909,-0.11250451,0.65295845,0.38211918,0.20709503,-0.5404119,-0.24228017,0.03947377,-1.294938,0.1903453,0.23733492,-0.5946097,-0.01872872,-0.045155186,-0.025030922,0.18303329],[1.1764259,0.8138672,-0.01118901,0.071147986,-1.5701293,-1.3529594,-1.0840468,3.6936324,0.36135346,-0.5056356,0.3698678,-0.1644612,0.13227202,-0.38018247,0.84039223,0.010386685,-0.37195277,-0.061381634],[0.12990479,0.4097804,0.03273628,0.3525548,1.0859947,1.3237953,0.8738102,-1.3253522,-1.1608642,-1.0293789,-0.19098304,-0.40932193,0.26909432,-0.44565707,0.2375462,-0.035650987,-0.45398784,0.310757],[-0.12225864,-0.551635,-0.008906661,-0.2271655,-0.30581346,-0.33596388,0.46635833,0.66506934,0.08972354,0.2807925,-0.81279844,-0.14673476,-0.16962144,0.47545815,0.22834559,-0.38133204,0.24558166,-0.041741673],[0.022213789,0.6287809,-0.0064610806,0.09862366,0.1761959,-0.3440169,0.058223005,0.682721,-0.15862645,0.13242835,-0.15448464,-0.10547318,-0.103922635,0.25163916,-0.21335022,-0.34997797,0.20732355,-0.009743146]],"activation":"σ"},{"dense_2_W":[[0.08699256,0.6902511,0.2066384,-0.3156591,-0.625288,-0.1707908,0.14764263],[-0.4001467,0.10132335,-0.36029655,-0.41341165,-0.59123576,-0.034901295,0.30722997],[0.06893428,-0.34930903,-0.22713053,-0.62787473,0.42324972,0.9055536,-0.25608197],[0.04342193,-0.18209793,-0.41296384,-0.07227176,0.19286302,0.30896696,-0.43172136],[0.78256327,-0.6830433,-0.020705933,-0.38846985,0.67035943,1.0564339,-0.21108052],[0.11729699,-0.4257971,0.30191022,-0.18604335,0.39270622,-0.1571592,-0.16679426],[0.40553784,-0.29526162,0.4604528,0.1409644,-0.6578338,0.20589858,0.45560157],[-0.2028051,0.6771152,0.55091906,-0.47059694,-0.4516794,-0.9311333,0.82675403],[0.11346342,-0.7305794,-0.25880533,-1.2710766,-0.05487392,1.4981297,-0.5816527],[0.3927885,-0.5256981,0.3838618,0.02516874,0.53047913,0.2610174,-0.5181967],[-0.4552078,0.13561602,0.33697566,-0.29674515,-0.38032082,-0.49368978,0.58303565],[0.7716613,-0.29265934,-0.5964404,-0.63786626,0.21410635,0.7526434,-1.0661837],[0.63522434,-0.16521439,-0.02713044,-0.76714796,-0.14366646,0.8336209,-1.1763474]],"activation":"σ","dense_2_b":[[0.06865006],[-0.006332786],[-0.17545837],[-0.30693683],[-0.13817635],[-0.06468915],[-0.036561314],[-0.031106854],[-0.06267163],[-0.08575025],[0.07822035],[0.062262263],[-0.048002303]]},{"dense_3_W":[[-0.20274007,0.43465793,-0.028675254,-0.23173213,0.33553955,0.3448423,0.16797331,0.10331982,0.52041435,-0.21991336,-0.6402242,0.49064067,0.45448175],[0.30831647,0.5030532,-0.3550857,-0.10393685,-0.26003754,0.3974058,0.41543168,0.7997786,-0.0870354,-0.12993649,0.57994235,-0.73507607,-0.22071357],[-0.64908713,-0.10197241,0.18374437,0.34394932,0.23216796,0.45937833,0.31966567,-0.89670104,0.8319737,0.1627907,-0.93550366,1.0424287,0.7427032]],"activation":"identity","dense_3_b":[[-0.0665959],[0.046768233],[-0.16647367]]},{"dense_4_W":[[-0.547104,1.0123757,-0.62613285]],"dense_4_b":[[0.051628742]],"activation":"identity"}]} |