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":[[5.5967526],[1.0102762],[0.43027443],[0.05251798],[0.999985],[1.0024607],[1.0053881],[1.0012413],[0.98920035],[0.97731537],[0.96259564],[0.052146535],[0.052252885],[0.05235032],[0.05248029],[0.052331988],[0.05202955],[0.05168756]],"model_test_loss":0.009552407078444958,"input_size":18,"current_date_and_time":"2023-08-08_07-40-22","input_mean":[[27.414038],[-0.0075059575],[-0.004310022],[-0.012558367],[-0.005643982],[-0.006085868],[-0.0062815067],[-0.006680969],[-0.006342892],[-0.005391843],[-0.004076586],[-0.012551318],[-0.012558776],[-0.0125591215],[-0.0125386985],[-0.012456482],[-0.012317335],[-0.012218792]],"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":[[-0.010202121],[-0.20869955],[-1.2660872],[-0.054420657],[0.055866957],[-1.3448147],[-0.8834831]],"dense_1_W":[[0.0012557846,-0.6672937,0.0010295995,0.32252085,-0.048310652,-0.5376883,0.7697637,0.0823376,-0.30575013,-0.26277706,0.24928996,-0.8753449,-0.5025692,-0.077491626,0.5145067,0.079226255,0.5474699,0.06658418],[0.0039056255,0.9247404,-0.009912007,-0.25928807,0.99379,0.96465033,0.08479168,0.010440816,0.27576396,0.073882826,0.17389007,0.53772444,0.30138925,-0.32761773,0.63664806,0.24958122,-0.05548543,-0.2774185],[-1.1338029,0.7972837,2.7477882,-0.2877902,-1.754552,-0.2689002,-0.63449675,0.42324004,1.8994156,0.73137105,-1.1024318,1.0254707,0.08409975,-0.529214,-0.502221,-0.14801149,-0.4222293,0.6621312],[0.00042969367,-0.8577691,-0.0021418685,0.35081863,0.65922713,-0.6490291,0.2931224,-0.60029286,-0.014103398,0.47114435,-0.123872444,-0.43758586,-0.47995508,0.6163008,0.4267091,0.38276717,-0.47198132,-0.14263928],[0.00044543247,0.36023495,0.0021837356,-0.2779762,0.05987485,0.64892846,-0.517532,0.32271734,-0.18660611,0.28274518,-0.1146797,0.13610251,0.5230807,-0.19606018,-0.39453036,-0.046586644,-0.046734218,0.08382657],[-1.2255402,-0.22072525,-2.8729386,-0.25934264,1.7529143,0.06705062,0.02021511,0.045151696,-1.9299484,-0.7893005,0.9692529,-0.14630248,-0.14744897,0.118275866,0.6106455,0.28660807,-0.06394074,-0.28017327],[0.005199153,-1.1621727,0.00077480485,0.17639922,0.46977073,-0.020649184,0.18502355,0.5452717,-0.090024605,0.017219655,0.016716335,0.6221494,1.1390406,1.5075128,0.48781365,0.17463161,0.10828733,-0.43913674]],"activation":"σ"},{"dense_2_W":[[-0.58769137,0.05236564,0.35124663,0.04817339,0.2898144,0.28079572,-0.00064369116],[0.005263831,0.19137648,-0.48806444,-0.23123759,0.6268823,-0.16993119,0.34425706],[-0.5901436,-0.23695424,0.098380215,-0.17219543,0.48076913,-0.4071234,0.28624105],[0.14382643,0.13441655,0.45674977,-0.027003672,0.56117404,-0.45108694,0.33755574],[-0.2538037,0.45569667,0.27736127,-0.23255807,0.07589655,-0.2602569,-0.5057338],[-0.46332666,-0.13729805,-0.12543498,-0.39890754,0.0796631,0.31270605,-0.31902856],[0.49847755,-0.2749227,0.0026628354,0.55073225,-0.50455254,-0.07015729,0.18485697],[0.16384278,0.4331959,-0.2250921,0.16277151,0.5106723,0.31678322,-0.18506958],[0.2638649,0.3195002,-0.43078262,0.13981557,-0.004984484,-0.5785593,-0.18042926],[0.19678845,0.00667378,-0.30015993,0.36041152,-0.8781901,0.11745428,0.40608066],[0.15176365,-0.2606354,-0.27513868,0.46041733,-0.14977318,0.29587746,0.034236424],[0.5043066,0.046352975,-0.06961968,0.10950722,-1.003576,0.024827112,0.36801037],[-0.18985961,-0.4802785,0.3937008,-0.663785,0.06894842,0.10332041,0.35070738]],"activation":"σ","dense_2_b":[[-0.030413345],[-0.018623633],[0.037994068],[-0.039921794],[0.06337368],[-0.0037913572],[-0.11922998],[-0.01326628],[-0.015669143],[-0.30007255],[-0.0722405],[-0.16496572],[0.00060786883]]},{"dense_3_W":[[0.32435206,0.028846495,-0.13252908,-0.1982058,-0.36715662,-0.30138585,0.46504492,-0.31018558,-0.24452554,-0.29342332,0.51592284,-0.40441313,-0.0497606],[-0.08831045,-0.06720264,-0.1351913,-0.31066024,0.31655452,-0.31953314,-0.49679926,0.38395572,-0.3895881,-0.047352865,0.13741386,-0.31013528,0.3948293],[0.45862782,0.2571993,0.62897617,0.37644735,0.40071562,0.31087562,-0.5142998,-0.41985396,0.27594817,-0.54097104,-0.5071787,-0.6661379,-0.014177239]],"activation":"identity","dense_3_b":[[-0.006262847],[0.010518014],[0.007370069]]},{"dense_4_W":[[-0.95558,0.989042,1.2003003]],"dense_4_b":[[0.007831933]],"activation":"identity"}]} |