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":[[7.765739],[0.94667494],[0.3616158],[0.03295844],[0.94349825],[0.94473606],[0.9459934],[0.93809646],[0.9294505],[0.9191347],[0.909892],[0.032861285],[0.032873545],[0.032887414],[0.03284168],[0.03278519],[0.032662667],[0.032455098]],"model_test_loss":0.00579620897769928,"input_size":18,"current_date_and_time":"2023-08-09_09-50-03","input_mean":[[26.929195],[0.025196731],[-0.012881554],[-0.010710338],[0.026543096],[0.026043745],[0.024963912],[0.020803003],[0.02182621],[0.021567121],[0.021462854],[-0.01068755],[-0.010679269],[-0.010679149],[-0.010794701],[-0.010869973],[-0.011037343],[-0.0112071205]],"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":[[-0.44354764],[-0.7657953],[0.018021787],[-1.0539906],[-0.009620201],[0.6071759],[-1.4219347]],"dense_1_W":[[-0.14379139,-0.30779734,-0.011025622,0.052611172,0.557827,-0.4541853,0.054443758,-0.43811756,0.04116236,-0.065442,0.17522809,0.28900382,-0.30594754,0.03927426,0.10508941,-0.28021297,0.257097,-0.036213793],[0.9893257,-0.5675847,-0.014914029,-0.17742264,0.32900116,-0.73124397,0.13309838,0.13541694,0.116568185,0.20272915,-0.20234105,-0.17204566,-0.38287598,0.6434185,0.0064828196,0.1567134,-0.17254141,0.04431351],[0.17694262,0.110742696,-0.0072636493,-0.30341333,0.75194615,-0.3262881,-0.03383622,-0.6425869,-0.3143724,-0.1566403,0.4531637,-0.5161109,0.3051894,0.06773472,0.57514226,0.38881442,-0.24892426,-0.15087128],[0.6424904,0.08595462,0.017552882,-0.11244444,-0.0012405494,0.7457563,-0.16368888,-0.036026936,0.0022191536,0.013409932,0.04517947,0.5781084,-0.040897,-0.3180909,-0.26591027,0.22652127,-0.15628065,0.10445975],[-0.0072668577,0.8202856,2.617024,-0.2824348,-0.97013533,0.60666716,-0.6603529,0.07703543,0.7071423,0.31937075,-0.6525571,0.18346174,0.41531911,-0.38626656,-0.22641395,-0.33223557,-0.057725884,0.37739605],[-1.0272679,-0.3728853,-0.010129326,-0.12533276,-0.037398476,-0.42292497,0.38740557,0.026151482,0.066494055,-0.20116358,0.08494257,-0.56133485,-0.23647791,0.46512464,0.4194588,0.00095449237,0.40787858,-0.43964177],[0.47435406,-0.3580759,-0.016430117,0.4333006,-0.03563075,-0.3228895,0.2759132,-0.2764072,-0.08593015,0.08139821,0.03733085,-0.49198797,-0.3483896,0.08270213,0.55244505,0.034020998,-0.19379029,-0.08319991]],"activation":"σ"},{"dense_2_W":[[0.62931764,0.5971392,-0.27920744,-0.09625446,-0.2520517,0.15220097,0.4757284],[-0.06810498,-0.16192971,-0.67571473,0.77427846,0.7111675,-0.5092023,-0.5899211],[-0.12662062,-0.43264922,-0.42270333,1.0279697,0.9585099,-0.2272264,-0.8349456],[0.6851959,0.3806427,0.23734182,-0.32216796,-0.031175314,-0.31848902,0.7827528],[0.7574823,-0.016572893,0.13931036,-0.058099292,-0.27628875,0.32055375,0.8826999],[-0.44577265,-0.51336366,-0.17647457,-0.29222834,-0.403649,-0.5358206,-0.22588949],[0.8276441,0.69618565,0.28485808,-0.66541606,-0.55220205,-0.09244421,0.22509284],[-0.017253404,-0.61689866,-0.43271235,0.9186229,-0.06328271,-0.62504864,-0.02206981],[-0.24327579,-0.2601557,-0.7008787,0.5407824,-0.07432113,-0.6142975,-0.14885205],[0.2805065,0.4750363,-0.51714677,-0.8662437,-0.5432591,0.17315364,0.2283728],[0.07518284,-0.06419793,-0.058394507,0.0030758125,-0.45961043,0.096795864,-0.88641495],[0.40107206,0.83659804,0.60401416,-0.17886135,-0.18380448,0.026554653,0.42531914],[-0.5561093,-0.81054825,0.02538599,0.37181157,0.11950624,-0.48669273,-0.1697464]],"activation":"σ","dense_2_b":[[-0.15892611],[0.25231406],[0.21843024],[-0.11113979],[-0.32132435],[-0.13616537],[-0.033621266],[0.121211156],[0.11654428],[-0.2573873],[-0.17534298],[-0.35013044],[-0.10002702]]},{"dense_3_W":[[0.38975736,0.95184344,0.46049997,-0.036776196,-0.59762466,0.77046573,-0.6417351,0.2455277,0.38605514,-0.22826484,0.4754016,-0.20180263,0.72369117],[-0.34123415,0.52516204,-0.39218587,-0.2495947,-0.49277434,-0.24826856,0.08814419,0.57656366,-0.027706323,0.70304173,-0.46806642,-0.3219581,0.3978641],[0.6244901,-0.03226933,-0.593904,0.34863296,-0.08907449,-0.01563905,0.0118533475,-0.57811826,-0.56102645,0.41259542,0.020354345,0.6811666,0.4265405]],"activation":"identity","dense_3_b":[[-0.07089868],[-0.011698629],[0.01570641]]},{"dense_4_W":[[0.491706,0.3488659,-0.4674428]],"dense_4_b":[[-0.02980553]],"activation":"identity"}]} |