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":[[7.8251824],[0.97374165],[0.39678615],[0.039650038],[0.9675714],[0.96974653],[0.971445],[0.96010584],[0.9482498],[0.93838036],[0.9262751],[0.039522577],[0.039549936],[0.039577607],[0.03943945],[0.039266065],[0.03906478],[0.038730167]],"model_test_loss":0.005850189831107855,"input_size":18,"current_date_and_time":"2023-08-07_22-51-04","input_mean":[[23.948711],[-0.11042184],[0.0008513909],[-0.004719362],[-0.10913178],[-0.109804966],[-0.11005321],[-0.10579765],[-0.10312579],[-0.10175711],[-0.098089136],[-0.0047842367],[-0.004759096],[-0.0047326833],[-0.0044965143],[-0.0043862625],[-0.0043439874],[-0.004256917]],"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":[[-0.19536564],[-0.0041716034],[-1.7697656],[0.034405522],[-0.9804138],[1.5592381],[-4.038623]],"dense_1_W":[[-0.96289176,-0.16844435,-0.33135042,0.04781623,-0.0905433,0.31838787,-0.7973821,-0.6977461,-0.22462271,-0.15944098,0.05584555,0.032361288,-0.017556911,-0.4097252,0.08451744,0.47493675,0.24613103,-0.13016479],[0.0025252467,0.36295822,0.0051952563,-0.061572302,-0.35887212,0.22229104,-0.22204724,0.034594852,0.14076412,-0.17208177,0.011452716,0.090597436,0.29632482,-0.23263389,-0.075431645,0.027754778,-0.26631972,0.22669151],[0.98580307,0.1460111,-0.006533776,0.25585753,-0.2031787,0.75645447,-0.19832224,0.22909965,-0.22415143,0.056795266,0.034398753,0.4630238,-0.19674145,-0.13854524,-0.4064176,-0.12922981,-0.060546197,0.065589026],[0.045029007,0.50269336,2.7796633,-0.0076377117,-0.63786316,-0.06653349,-0.55045384,0.08327676,0.27944806,0.5322522,-0.36390388,0.3737667,-0.20071353,-0.21758012,-0.16247746,0.31800562,-0.12797713,0.037218444],[-0.55134237,-0.18539825,-0.19819416,0.27468693,-0.15253156,-0.55906934,0.24991404,-0.03944831,-0.2475911,-0.038619418,-0.102022864,-0.13440825,-0.39271066,0.31743523,-0.016324805,0.19443971,-0.21604395,0.17059657],[-1.036423,-0.37088332,-0.0090809995,0.4914565,-0.09154215,0.25218782,0.24309473,0.30631322,0.35170037,0.23679022,-0.34137195,0.12669902,0.0069693094,0.13518511,-0.4373841,-0.6247206,-0.14910895,0.30531472],[-1.0771234,0.76018256,0.35249147,-0.31738096,0.097953156,0.07492969,-0.1556959,0.533758,0.14374508,0.8647132,-0.44715706,0.62586576,0.11443575,-0.3779071,-0.2320536,0.10263231,-0.2999651,0.04361549]],"activation":"σ"},{"dense_2_W":[[-0.10324592,0.11039738,0.51771843,0.09347721,-0.87196016,0.6635172,0.24947388],[0.024585094,0.59421515,0.068763964,0.5486269,-1.4608854,0.88192827,-0.39993966],[0.4413766,0.7881249,0.39034104,0.18230437,-0.9140034,0.05566271,0.09512442],[-0.47279245,-0.3493564,0.14005436,-0.5340587,0.5966407,-0.46430302,0.22444999],[-0.45392346,-0.04614412,-0.35355964,-0.18547632,0.3873904,-0.7008455,0.12206877],[-0.36739802,0.20268749,-0.12268851,-0.106193095,0.5999196,-0.37765756,-0.44922847],[-0.54880965,-0.7290866,-0.28915912,0.17727232,0.38667715,-0.6511501,-0.1383285],[0.52068883,0.50054383,0.6252861,-0.23605038,-1.4634428,0.41514036,0.9438054],[-0.648459,0.2471083,-0.65482795,-0.119111195,-0.30439776,-0.04859132,-0.6602194],[-0.5173293,0.11870849,-0.33469254,-0.796215,-0.45731404,-0.4510818,-0.40196368],[-0.45839694,-0.41415405,-0.6876088,0.11170082,-0.13311273,-0.35558105,-0.49632224],[0.39769867,-0.35987017,-0.20037495,-0.5226243,0.72143537,-0.20635548,-0.46655688],[-0.37865394,0.016113892,-0.520626,-0.25705534,0.94881725,0.11235735,-0.83941835]],"activation":"σ","dense_2_b":[[-0.4009523],[-0.35328817],[-0.17279775],[0.024035925],[-0.0030043991],[-0.0042769755],[0.08547396],[-0.49828207],[0.03243174],[-0.38892063],[0.16030122],[0.15409443],[0.15423937]]},{"dense_3_W":[[-0.35692686,0.11431418,-0.20940931,-0.16842283,0.5645013,-0.037901483,-0.5341042,0.054549012,0.54704887,0.54749495,-0.27935258,-0.17022972,-0.36970934],[-0.4523077,-0.20165743,-0.606432,-0.17038603,-0.01184516,0.4348867,0.696362,-0.133869,0.5862017,0.3475741,0.57729375,0.45561698,0.055455644],[0.17490287,-0.49273917,-0.6702675,0.52635163,0.24822022,-0.15901737,0.50198627,-0.7415996,-0.32407025,-0.50210077,0.2912399,-0.02596676,0.75527865]],"activation":"identity","dense_3_b":[[-0.030630419],[0.020200811],[0.036532093]]},{"dense_4_W":[[-0.01753921,-1.0593574,-0.9545534]],"dense_4_b":[[-0.026306424]],"activation":"identity"}]} |