
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":[[7.513149],[0.9541818],[0.39656356],[0.046623718],[0.95074844],[0.950698],[0.95102835],[0.93498194],[0.92150253],[0.903537],[0.8869439],[0.046458315],[0.04645999],[0.046444196],[0.046160106],[0.04587233],[0.045259684],[0.044569284]],"model_test_loss":0.01733686961233616,"input_size":18,"current_date_and_time":"2023-08-09_12-49-35","input_mean":[[26.078451],[0.027438534],[0.0011958503],[-0.009430026],[0.024858253],[0.025092505],[0.025384951],[0.025721082],[0.027182773],[0.029522264],[0.029206349],[-0.009677318],[-0.009641802],[-0.009610473],[-0.009555977],[-0.009597703],[-0.00965417],[-0.009817797]],"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":[[0.1336756],[0.10344256],[0.30574226],[-1.0487646],[-0.14843734],[-0.028830774],[-0.43900487]],"dense_1_W":[[0.43604448,-0.5605264,0.012901217,0.022648716,-0.05411717,-0.52825683,0.976321,0.11842187,-0.5259775,-0.37925148,0.42006952,-0.84167475,-0.055660117,0.1304136,0.6104034,0.28378442,0.6410333,-0.76094],[0.4276094,0.15709533,-0.0169772,0.3044572,0.3100376,1.003849,-1.018638,0.02647807,0.1272281,-0.00826707,0.0850446,0.4799849,0.019232752,-0.39135626,-0.3757945,-0.61405283,-0.018439129,0.32969815],[0.007824015,-0.058601394,-0.105257824,-0.1341512,0.3888203,-0.28831708,0.48457155,-0.3913913,-0.40673906,-0.28273785,0.5328434,-0.33710465,0.0991382,0.6627208,-0.25941357,-0.16797468,0.1989,-0.016353317],[-0.21427123,0.86771905,6.534022,-0.6548552,-1.5710703,-1.0742532,-1.4654069,0.8514165,1.9961716,1.223437,-0.7285998,1.2758242,0.9320656,0.30135366,-0.34027484,-0.70199484,-0.7621133,-0.16112399],[0.085645236,0.7888055,0.00027891068,-0.39420474,-0.06814435,0.8111238,-0.8712305,-0.176747,0.01755771,-0.16584563,0.15874274,0.7242339,0.42814922,-0.7291331,-0.23838085,-0.005654039,0.31353015,-0.056190874],[0.695166,0.49490714,3.372351,-0.13590972,-0.9212608,-0.3051697,-0.50663286,0.20426105,0.7320531,0.55699635,-0.14507566,0.92698795,0.23466231,0.1211082,-0.4500127,-0.08752919,-0.47848958,-0.068858966],[-0.41407767,0.60256696,-0.012946635,-0.32264197,0.19446182,0.36647174,-0.5412527,0.036333155,-0.060324162,0.0108162025,0.08161502,0.40417644,-0.037009377,-0.21295482,-0.41150248,0.4401551,-0.18975988,0.027621428]],"activation":"σ"},{"dense_2_W":[[0.19137855,-0.59557676,0.28804228,0.32442906,-0.5375224,-0.20337382,-0.6008916],[-0.11394542,-2.0737066,-0.5354913,-1.3426789,-0.6801209,-0.27107587,-0.15083465],[0.29361624,0.1699438,0.7419668,-0.36620173,-0.8206793,0.00073572167,-0.4464687],[0.6434301,-0.4445039,-0.14719622,0.23853825,-0.286252,-0.24195918,-0.83651835],[-0.012359924,0.43869573,0.06229189,0.60834336,0.32198146,-0.24622436,-0.06080808],[-0.6786453,-0.13937657,-0.19309613,0.013606689,0.5540887,0.5298669,-0.05196762],[-0.013185264,0.5033074,0.31203073,0.047127012,-0.2498416,0.50795144,0.5977538],[0.8437041,-0.44398957,0.7342129,-0.45426455,-0.2659502,-0.31482774,-0.16570877],[0.34602955,-0.7132226,0.38534385,0.6092949,-1.3994591,1.1248631,-1.353814],[-0.08515577,0.5915542,-0.25632793,0.4754705,0.7452592,-0.18179281,0.12182859],[-0.049042016,-0.110786006,0.64409393,0.14546494,-0.9643141,0.29006732,-0.72953105],[-0.59469205,0.6471949,-0.26527888,0.23997271,-0.09655182,0.0051637134,0.52177334],[-1.4906286,-1.1227882,0.56706303,-2.809029,-0.85157853,-1.0621608,0.9694465]],"activation":"σ","dense_2_b":[[0.008693504],[0.15823685],[0.0637331],[-0.013258514],[0.0015104315],[-0.018139329],[-0.027512403],[0.10828464],[0.017622454],[-0.06617764],[-0.046749223],[-0.070872046],[0.3779424]]},{"dense_3_W":[[0.65443593,0.3343104,0.012527355,0.36417776,-0.28863862,-0.5988752,0.23106381,0.004670684,-0.122015595,0.28513318,0.60385746,-0.5160076,0.67743444],[0.627146,0.32316205,0.38000792,-0.027986798,0.116916984,-0.61325556,-0.4528739,0.25507253,-0.13200486,-0.60309863,0.20832081,0.25238237,0.15479685],[0.28230017,0.1581272,0.5597084,0.41742852,-0.5948192,-0.03049473,-0.3455425,0.30141747,0.7191692,-0.5980131,0.36263385,-0.5719517,0.45230243]],"activation":"identity","dense_3_b":[[-0.047069583],[-0.02659484],[-0.031588677]]},{"dense_4_W":[[-0.54359066,-0.6082866,-1.0533628]],"dense_4_b":[[0.03228879]],"activation":"identity"}]} |