
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":[[7.6509843],[1.0640727],[0.43305442],[0.042583644],[1.0586958],[1.0597517],[1.0615927],[1.0452577],[1.0264294],[1.0022012],[0.97949535],[0.04246772],[0.042485926],[0.04249534],[0.042220093],[0.041864526],[0.041366912],[0.04084527]],"model_test_loss":0.009465457871556282,"input_size":18,"current_date_and_time":"2023-08-09_06-52-11","input_mean":[[24.357443],[-0.034125097],[-0.0049536517],[-0.011872438],[-0.03119763],[-0.03166454],[-0.03223406],[-0.03186475],[-0.030950857],[-0.030095048],[-0.03235388],[-0.011925372],[-0.011901585],[-0.01188047],[-0.011727326],[-0.011680916],[-0.011658311],[-0.01185102]],"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":[[1.1033378],[-0.26196438],[0.64087105],[0.0723818],[-0.033235934],[0.4940777],[-0.6624133]],"dense_1_W":[[0.17036144,0.70846754,-0.01288402,-0.31765887,-0.055238843,1.4783168,-1.0382427,0.09412714,-0.042508673,0.088409066,0.06366592,0.51934177,-0.2507901,-0.029035429,-0.40638945,0.18454157,-0.10026727,0.011903059],[0.0059481994,-0.4173155,-0.025032401,-0.17385283,0.42768398,-0.86849064,0.4772952,-0.28207323,0.45553952,-0.16625436,0.024320044,-0.3186513,0.04276512,0.058902144,0.67383,-0.41462952,0.32956126,-0.20091176],[0.50393635,-0.34078136,-1.1108505,-0.15240273,-0.34397945,-0.1046281,0.93492657,-0.0046718954,-0.35346282,0.18444361,0.09232944,-0.04991994,-0.43069664,0.04396726,0.5247936,0.38054457,-0.15464556,-0.072698794],[0.06292795,-0.49206024,1.0766574,0.3604547,0.33866602,-0.6243087,1.1562465,-0.22390123,-0.5481248,-0.046518486,0.25936723,-0.6421865,-0.103222616,0.3717842,0.18865198,0.22381376,-0.36329344,-0.12459951],[-0.018098533,1.1626849,7.7763515,0.3133824,-0.5978771,-0.6280122,-0.19266517,0.024776168,0.88816226,0.1488128,-0.4072811,0.8084272,0.2971273,-0.16158436,-0.36504307,-0.34449837,-0.5314731,-0.119041726],[0.12846576,-0.35670948,0.013853135,-0.075688206,0.18726085,-1.3245617,0.4279662,0.061345413,-0.11054695,-0.14311172,-0.0014835523,0.022838874,-0.11576593,0.39926448,-0.14371544,0.15646,0.11126016,0.03145696],[-0.31940654,0.05947834,-1.0866358,0.5663338,0.448577,-0.43552175,0.23205471,-0.35897624,-0.33488578,0.52830327,-0.011136929,-0.5225207,-0.56818086,0.44197837,0.20225807,0.1941536,-0.29525572,0.063295834]],"activation":"σ"},{"dense_2_W":[[-0.086325355,0.8016826,0.24832225,0.47240105,-0.46999067,0.6068118,-0.14119844],[-0.5582966,0.27016947,0.4639829,0.59999377,-0.37201896,0.7842096,0.28597522],[-0.27619955,-0.5730724,0.12383269,-0.3039288,0.123326324,-0.649525,-0.17117126],[1.4408953,-0.55869764,0.48217335,-0.18616202,1.0840948,0.16935517,-1.398959],[-0.66845334,-0.04818159,-0.3074986,-0.14507903,-0.382395,-0.22019714,-0.91304696],[-0.26608887,-0.5060071,-0.97440034,-0.35025296,0.8698175,-1.1775255,-0.030318461],[0.10986321,-0.8288251,-0.44233164,-0.3325045,0.2556111,-0.43471605,-0.35890812],[-0.1694278,0.047042966,-0.050367933,0.055317376,0.088589475,0.6182619,0.57370675],[0.93917805,-0.7993694,-0.21087216,-0.54964507,-0.060357884,-0.63951623,-0.236041],[0.40430954,-0.37087506,0.17056553,-0.9355302,0.12229527,-0.18960477,-0.10435068],[-0.05200265,-0.4987538,-0.31892672,-0.6532706,-0.6485076,-0.49172983,-0.77469736],[0.03723317,-0.48895985,-1.6575545,-0.027954731,0.53395647,-0.40768418,-0.80457896],[0.83523464,-0.9624459,0.10569231,-0.15287304,-0.58598167,-0.73237014,-0.28460762]],"activation":"σ","dense_2_b":[[0.02828117],[-0.05488203],[-0.27607742],[0.3004205],[-0.25380412],[-0.24068235],[-0.21541698],[-0.01097173],[0.21617699],[-0.081049286],[-0.12033645],[0.026889555],[0.32255155]]},{"dense_3_W":[[0.61514294,0.52475756,-0.3778977,-0.5686912,-0.56705767,-0.29328373,-0.14644307,0.5718381,-0.41984692,-0.19014074,-0.59977704,-0.64661556,-0.06085831],[-0.004403978,0.6136505,0.26742232,-0.14778873,0.28366107,0.0020191541,-0.17208292,0.33170637,-0.48983493,-0.3504383,0.26020375,0.0004651127,-0.8777239],[-0.25540027,-0.14768086,0.0147348475,0.34739557,-0.5552034,0.33083212,-0.25017375,-0.46695128,0.2878471,0.41177458,0.16511062,-0.06707549,0.49898487]],"activation":"identity","dense_3_b":[[0.062096752],[0.050615054],[-0.043884374]]},{"dense_4_W":[[-0.82545334,-0.75625134,0.20575939]],"dense_4_b":[[-0.053638227]],"activation":"identity"}]} |