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":[[5.4780097],[1.2577926],[0.43811297],[0.051083397],[1.2457128],[1.2499636],[1.2529455],[1.2401595],[1.223894],[1.1997709],[1.1767297],[0.050826065],[0.0508941],[0.050945964],[0.050895486],[0.050689384],[0.05035568],[0.049934413]],"model_test_loss":0.011547946371138096,"input_size":18,"current_date_and_time":"2023-08-08_05-36-40","input_mean":[[27.111942],[-0.03980634],[-0.0022899704],[-0.006063226],[-0.03720769],[-0.03763983],[-0.038365092],[-0.03697022],[-0.03660629],[-0.03213649],[-0.029237831],[-0.0060009984],[-0.0060217986],[-0.0060452693],[-0.0060623847],[-0.0061068335],[-0.0060221725],[-0.006052836]],"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":[[-0.12641694],[-0.33899814],[-0.25064033],[0.20345357],[-0.22338079],[-0.8124178],[0.16103578]],"dense_1_W":[[1.3942753,-0.3584407,-0.154166,0.022718882,0.5902439,-0.22766683,0.2832875,-0.22318293,-0.25568873,0.28416058,0.12970877,-0.500204,-0.5363517,0.45337692,-0.13542888,0.054177634,0.13246426,-0.022701526],[-0.005614037,-0.74243695,-0.024937803,-0.016466122,0.16694336,-0.79974186,1.0153489,-0.21336944,-0.3901125,0.23960757,0.0332596,-0.07577539,-0.42862704,0.4491737,0.17550863,0.31181923,-0.16353676,-0.07374046],[-0.0031423056,-0.57563585,0.017968522,0.3929503,-0.15378566,-0.63862056,0.15106781,-0.12307793,0.23466262,-0.24525358,-0.0012493497,-0.6446595,0.23389706,0.2918894,0.012215268,-0.17649019,0.35015333,-0.16645752],[0.04239965,0.5392046,4.068176,0.13729823,-0.68696815,-0.07966062,-0.088794686,-0.3782991,0.8575764,0.7636464,-0.54163724,0.9711964,-0.018747166,0.14241268,-0.38917318,-0.40814298,-0.3224793,-0.29323283],[0.8142449,-0.7080669,0.16443568,0.63644344,0.28831044,-0.24459267,0.6272347,0.22174281,0.1637401,-0.70512813,0.2843761,-0.16773595,-0.27920532,0.55365586,0.256064,0.11410076,-0.021043133,-0.39824295],[-1.6068854,-0.2603165,0.18158215,0.49356657,0.12779,0.17468308,0.25797316,0.08986019,-0.3094926,-0.6496034,0.49420497,0.34940144,-0.21054225,0.10816955,0.0055429307,0.37773353,-0.37752208,-0.09018268],[-0.7694553,-0.07489691,-0.16786428,-0.00053137547,0.4097508,-0.36562666,0.12501729,-0.19840546,-0.0126358615,0.039615765,0.18806833,-0.54327863,-0.51791424,0.0740618,0.22897214,-0.18245429,0.3604914,-0.09582553]],"activation":"σ"},{"dense_2_W":[[0.24724053,-0.8135549,-1.0432718,-0.47479427,0.23202157,-0.11595288,-0.8035583],[-0.3641042,-0.91288745,-0.17233254,0.062157948,0.012575541,-0.2614273,-0.5772882],[0.29817045,0.49287653,0.19307482,-0.8773637,0.06299248,0.41714546,0.44092533],[-0.22270527,-0.7510113,-0.320351,0.13680461,-0.70703113,-0.12383241,-0.13850203],[0.5840328,-1.1061023,-0.6563664,-0.8935429,-0.123855405,-0.70505697,-0.63111097],[0.99201673,0.9417266,0.9312267,-0.81133705,0.5478353,-0.04604467,0.02872271],[-0.26014936,-0.412083,-0.7116672,0.29321614,-0.5735676,0.29037717,-0.7531203],[-0.38308242,1.0270671,0.65335995,0.19699557,0.48486,0.23515755,-0.14074802],[-0.7378848,0.32173055,0.28095686,-1.3347943,-0.10628233,0.2015702,0.62443095],[0.47323346,-0.77164555,-1.1039329,0.018455347,-0.5227511,0.69003034,-0.2582299],[-0.7601159,-0.2633271,-1.0450773,0.6082064,-0.675639,-0.23727775,-0.028281933],[-0.72581375,-0.90512085,-0.6048286,0.46046877,-0.6226022,-0.07060259,-0.21025342],[0.216426,-1.0285689,-0.4780186,-0.22132304,-0.5840384,-0.53020334,0.15992962]],"activation":"σ","dense_2_b":[[0.15380488],[0.10775849],[-0.19009462],[0.13743988],[-0.026639858],[-0.07323958],[0.1744765],[-0.21176378],[-0.6805215],[0.025015425],[-0.07340503],[0.20637435],[-0.27417326]]},{"dense_3_W":[[-0.400137,-0.17929879,0.37570322,-0.41039902,-0.78768486,0.45827937,-0.33256137,0.5615223,0.31010586,-0.35362414,-0.12100718,-0.41779718,-0.6763564],[-0.029315872,0.38450587,0.65436715,0.5139883,0.5027268,-0.20125258,-0.6333471,-0.34089682,0.29030252,-0.47958472,-0.50353307,0.046102453,-0.1736601],[0.7619456,0.69776905,-0.5650997,0.6306316,0.2189477,-0.5332646,0.4607702,-0.63797,-0.0884034,0.2954164,0.25978985,0.40438277,-0.020070346]],"activation":"identity","dense_3_b":[[-0.039152775],[0.10458916],[0.05406968]]},{"dense_4_W":[[-0.4555721,0.005902641,1.1475917]],"dense_4_b":[[0.05754332]],"activation":"identity"}]} |