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
4.4 KiB
JSON
1 line
4.4 KiB
JSON
{"input_std":[[8.209062],[1.0191541],[0.56490785],[0.03716055],[1.0188767],[1.0189412],[1.0184771],[1.020577],[1.0258486],[1.0280116],[1.0317844],[0.037011214],[0.037051532],[0.03710102],[0.03726322],[0.03710542],[0.036862206],[0.036776513]],"model_test_loss":0.002482755808159709,"input_size":18,"current_date_and_time":"2023-08-07_20-41-25","input_mean":[[26.846655],[-0.005333997],[-0.006017142],[-0.010085426],[-0.0068516037],[-0.006621865],[-0.007106698],[-0.0063117202],[-0.001445884],[0.0037559327],[0.00702609],[-0.010317291],[-0.010258594],[-0.010206334],[-0.010051272],[-0.009953821],[-0.01002816],[-0.010258082]],"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":[[0.04493686],[1.2359415],[-0.16813134],[0.30498078],[-0.004396829],[-0.11936104],[-0.10290137]],"dense_1_W":[[0.028586365,0.6713196,0.037628382,0.4525395,-0.4088543,-0.52644724,0.25289974,-0.106175065,-0.05286671,-0.105505764,-0.06060507,-0.066001944,-0.16948535,-0.14447865,0.15240416,-0.12086707,-0.22067334,0.29359263],[-0.25259453,0.72662085,-0.019954639,-0.37567586,-0.14041515,-0.110880576,0.028293425,-0.111130856,0.09566052,-0.21661228,0.100265615,-0.12622023,0.32393003,0.1720742,0.23493229,-0.2314176,-0.29668775,0.054298155],[0.0075020846,-1.0379118,0.058415513,-0.6336649,0.1777533,0.3996224,-0.14824356,0.53841037,0.20370372,0.06709238,-0.20242065,0.16530342,0.005269978,0.07914464,0.18396617,0.3359595,0.11940208,0.41780698],[-0.26971325,-0.29349837,0.016340017,-0.28127313,0.19968756,-0.35273314,-0.12725332,0.16223203,0.31847185,-0.08272004,-0.13002057,-0.23478554,-0.21000664,0.18946603,0.4066612,0.3821535,0.22385387,-0.25274214],[-0.011883075,0.35591817,1.8070056,-0.06357242,-0.49122602,-0.32094464,-0.035770092,0.23602432,0.17338297,0.42658088,-0.5602121,0.20542847,0.16731963,-0.7897803,0.1867783,0.29209885,0.06069555,-0.044831645],[-0.1184021,0.49316457,-0.011386314,0.28487483,-0.52669007,0.39699084,-0.15737064,0.023462037,0.13752255,0.11296199,-0.18964504,0.13462819,0.020783164,-0.37708953,-0.05232704,-0.2913591,0.2881553,-0.29922846],[-0.00057304814,-0.1185001,-0.13426046,-0.5729028,-0.01707388,-0.430987,0.17981416,0.108656205,-0.09637776,0.20971496,-0.047136426,0.10920909,0.16905956,0.19190785,0.0035438074,-0.025583372,0.28871274,-0.07032088]],"activation":"σ"},{"dense_2_W":[[-0.49437255,-0.3074483,0.12577564,-0.80536854,0.3818203,-0.2508327,-0.77941257],[-0.590948,0.057729438,0.5775266,-0.82149684,-0.16385625,0.26468316,-0.1986721],[-0.8693337,0.20204362,0.1808782,-0.6436834,0.3982201,0.04757887,-0.7291577],[0.48308417,-0.22587106,-0.62049073,0.30455,0.25944746,-0.08833746,0.29077286],[-0.050321363,0.29200885,0.25033513,-0.55846786,0.1142234,0.7839083,-0.91171724],[0.52267236,0.182393,-0.44948658,0.33957008,-0.57718825,-0.3744284,0.7962124],[-0.5793259,-0.39043754,0.56887144,-0.95162636,-0.04339133,0.38223684,-0.22251375],[0.29715785,-0.73829925,-0.6508201,0.26157615,-0.04009715,-0.3925987,0.42690706],[-0.5547783,-0.23581004,-0.20441227,-0.7084414,-0.7474019,0.15549515,-0.3855206],[0.74185896,-0.4140863,-0.5546949,0.042983074,0.33081874,-0.43315694,0.48314857],[-0.94190675,-0.1646355,-0.072953984,0.065710135,0.06073757,0.06576593,-0.103899956],[0.016691964,-0.77896374,-0.30583504,0.5844499,-0.4492795,-0.8628446,0.3806826],[-0.8750809,0.30358797,0.28483135,-0.42145577,0.469206,0.36288846,-0.21708845]],"activation":"σ","dense_2_b":[[-0.16136013],[-0.147815],[-0.048753243],[-0.020298453],[-0.06278913],[-0.051829122],[-0.26132149],[0.015052996],[-0.2423293],[-0.06199252],[-0.122265354],[0.0028793006],[-0.06900899]]},{"dense_3_W":[[0.35378894,0.46196505,0.25659692,0.03284285,0.061739363,-0.08112019,0.21352358,-0.7698974,0.073869765,-0.54001474,0.1673904,-0.12502979,0.46009788],[-0.058786314,0.07694819,0.7003563,-0.64618176,0.6994461,-0.4292753,-0.09363771,-0.04728599,0.1309421,0.060272142,0.29588172,-0.62102175,0.56741786],[0.3380847,0.40602964,0.22502236,0.46803278,-0.7782516,0.16471472,-0.37719798,0.038931362,0.22495954,0.6876152,0.021589195,0.5572496,-0.62703234]],"activation":"identity","dense_3_b":[[-0.045253523],[-0.04910254],[-0.007204871]]},{"dense_4_W":[[1.0239853,0.8379715,-0.19809574]],"dense_4_b":[[-0.042378113]],"activation":"identity"}]} |