
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":[[8.853387],[1.1592323],[0.5035471],[0.04757312],[1.1533973],[1.1566302],[1.1592906],[1.124919],[1.097695],[1.0662291],[1.031133],[0.04736746],[0.04742848],[0.047484897],[0.047564015],[0.047558986],[0.047428854],[0.04712477]],"model_test_loss":0.01737847924232483,"input_size":18,"current_date_and_time":"2023-08-09_18-49-11","input_mean":[[23.514374],[0.01205051],[-0.007076305],[-0.010646906],[0.013812598],[0.013436532],[0.01327746],[0.010840775],[0.010276086],[0.008101413],[0.0081624],[-0.010648332],[-0.010639621],[-0.010631156],[-0.010660867],[-0.0107276775],[-0.01080371],[-0.010883885]],"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":[[0.44225207],[-0.08251625],[-0.09139792],[-0.17654161],[-1.2058073],[-0.18010782],[-1.0617452]],"dense_1_W":[[0.81515855,0.19847405,-0.16027977,0.2605701,0.5020647,0.6416506,-0.74194986,0.2395706,0.008035103,-0.54028624,-0.68319666,-0.11733088,0.30929378,-0.57654405,-0.11921764,-0.07856754,0.36212778,-0.21245824],[-0.003413831,-0.88659906,-1.5215017e-5,0.2659344,0.66569483,-1.4612998,0.502116,-0.023383126,0.27923653,0.22036943,-0.24609998,-0.16959597,0.047625005,-0.4744547,0.54592556,-0.07476282,-0.057982,-0.0049017775],[-0.0071781585,1.3938068,5.4535723,-0.42513278,-1.0321593,-0.9752934,-0.7584714,0.67374307,1.2021991,0.6324794,-0.48040524,0.6027366,0.034736745,0.218859,0.021496648,-0.23673749,-0.3517566,0.1679437],[-0.7695569,0.26124287,-0.15884998,-0.08147379,-0.10981094,0.6529741,-0.19342661,0.43262586,-0.26433924,-0.30309507,-0.86631536,0.13160278,-0.033320703,-0.14629383,-0.047781195,0.07316912,-0.17327231,0.101880364],[-0.5631856,-0.42516446,0.13529952,-0.18435624,-0.1343596,0.2858478,-1.1791672,0.07787927,0.9311218,0.68779874,0.080623545,0.085128896,-0.26469198,0.19951835,0.5323622,-0.09537051,-0.2584652,0.101225466],[0.0015933844,-0.159882,0.00029708236,-0.26148286,-0.43383598,-0.5543793,0.9337357,-0.36895335,0.39094746,0.05787086,-0.24165697,-0.2886184,0.3548747,-0.29055887,0.74826497,0.10615606,0.20682812,-0.32921875],[-0.5261344,0.52323943,-0.13088919,-0.008910816,-0.21776229,-0.46300754,1.8696176,-0.20582403,-1.1688477,-0.6119323,-0.04257218,0.013339775,-0.043501914,0.2700189,-0.39648747,-0.0074166763,-0.10004616,0.16081381]],"activation":"σ"},{"dense_2_W":[[-0.5157362,0.9631259,-0.6171437,-0.63063097,-0.4735463,0.3908077,1.1676315],[-0.17338198,-0.23641111,-0.47618997,-0.8813003,0.06709429,0.39402965,-0.4519197],[0.059771042,-0.5551666,-0.1077192,0.09842683,-0.42055693,-1.128195,-0.056298535],[0.54656047,-1.1881918,-0.06123479,0.3539518,0.86083883,-0.22125135,-0.7932267],[0.43361214,-0.8142263,0.23757508,0.094281524,0.57598335,-0.29057238,-0.61107886],[-0.41463575,1.0157188,0.028030625,-0.78584176,-0.49250048,0.8294643,0.7266427],[-0.9193553,0.7055807,-0.585519,-0.31935224,-0.3264894,0.4916916,1.2605145],[0.22281124,-0.9272137,0.3690255,0.1680717,0.87741905,-1.0792515,0.07280114],[-0.0030278699,-1.4448571,0.16294147,0.63729775,0.4577902,-0.3729355,-0.14417095],[-0.7692859,0.9571105,-0.05139316,-0.5226682,-0.9362267,0.6496911,1.0343727],[-0.17001544,-0.5700911,0.4439341,0.087172486,0.5646342,-1.0282485,-0.018494168],[0.41095787,-0.8497653,-0.5612039,0.3726814,0.65113074,-0.5311523,-0.5471418],[-0.45295602,0.33931798,0.095446564,-0.54154277,-1.0325888,0.38092053,1.145116]],"activation":"σ","dense_2_b":[[-0.3186452],[-0.288119],[-0.38380378],[0.12766144],[-0.10716348],[-0.14310987],[-0.34722012],[-0.018767025],[-0.2038077],[-0.18889567],[0.07034628],[0.012997789],[-0.1260928]]},{"dense_3_W":[[-0.6318957,0.48257327,0.1136089,0.51249325,-0.49085104,-0.46579233,-0.32575548,0.69841176,-0.13590871,-0.48699,0.39608002,0.74255526,-0.28925848],[0.0032501454,0.12569621,-0.004480495,-0.45128265,-0.2787252,0.55744016,0.7084973,-0.52268666,-0.20164965,0.6661134,-0.37891406,-0.20163451,0.32705396],[0.5388942,-0.22452125,-0.35520035,0.22645302,-0.40178102,0.70361614,-0.22213759,-0.8835455,-0.56852955,0.671603,-0.407134,-0.011616957,0.27316284]],"activation":"identity","dense_3_b":[[-0.002264159],[-0.1245649],[-0.077148765]]},{"dense_4_W":[[0.3225791,-0.9383285,-0.49840775]],"dense_4_b":[[0.11291003]],"activation":"identity"}]} |