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":[[9.931373],[1.1206362],[0.9991675],[0.024061743],[1.1697582],[1.1580986],[1.1422458],[1.0375243],[0.9834529],[0.9249375],[0.85758066],[0.023972368],[0.02400628],[0.024034869],[0.024160828],[0.02427914],[0.024540808],[0.024678664]],"model_test_loss":0.09404599666595459,"input_size":18,"current_date_and_time":"2024-01-03_02-53-12","input_mean":[[17.718075],[0.05150647],[0.023511883],[-0.03427045],[0.047288034],[0.048428815],[0.049416885],[0.051951464],[0.048834283],[0.049767267],[0.046410006],[-0.034425538],[-0.034350324],[-0.034291986],[-0.034147937],[-0.034154013],[-0.034180056],[-0.034352347]],"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":[[-2.1196446],[-1.2720883],[-1.1758908],[-0.04824384],[-0.47256407],[0.46832788],[1.4562647]],"dense_1_W":[[-2.5033574,0.18810956,-0.0024526222,0.34692132,0.18699192,0.17544864,-0.09306832,-0.057030138,0.16925156,-0.8504538,0.5141302,-0.31491518,0.2369812,-0.077932395,-0.28402525,-0.16709812,0.3128152,-0.117892586],[-2.4928334,-0.9213668,0.0077877026,-0.34850904,1.912096,-0.053052742,-2.0318615,0.15657486,1.1225946,-0.5824753,0.1280081,-0.32953557,0.050968293,0.58429784,0.18566638,-0.00827823,-0.03833128,-0.037080143],[-0.97198117,5.876018,0.01440076,0.73010546,-4.658116,-1.7872446,2.4634595,-1.7659967,-1.1590679,-0.06878851,-1.4003242,-0.14907087,0.10715972,-0.1987023,-0.8714058,-0.04452976,0.019406833,0.37143776],[-0.0936788,-0.8480531,0.02059378,-0.15881754,0.8869291,-0.41884285,0.069720365,-2.5746193,0.9972344,-0.54852086,0.3516557,-0.23987152,0.3107971,0.031442195,0.43081087,-0.23360866,0.026767122,-0.0050796927],[-0.35440832,-8.220626,-0.35346392,-0.07112359,2.724631,1.5353261,-3.0679862,6.865944,1.4274042,0.49528036,-0.32617262,-0.23567598,0.39318565,0.1583409,-0.06614061,0.0063986154,-0.34219068,0.14217031],[0.38738993,2.3859935,0.3324189,-0.20708586,0.0699277,0.35222742,-1.0518023,-2.5156047,0.76059246,-1.444134,-0.13740875,-0.16490066,-0.0557376,0.20611529,0.4324221,-0.36571336,0.0537171,0.10871297],[0.807864,3.7153761,-0.07482268,0.89888203,-4.2845335,-0.45487303,5.9621778,-1.1543796,-1.9692757,-1.3111167,0.49606788,-0.027547399,-0.38876876,0.085513115,-0.5746597,-0.5833619,0.3839209,0.13811897]],"activation":"σ"},{"dense_2_W":[[1.2853115,-0.6584895,-1.1760007,-0.68328875,0.5535984,0.056408484,-0.89982784],[-1.5303401,-1.5870128,-0.85600984,1.0436742,1.0874407,0.8751708,-1.7691215],[1.3134524,-1.1692723,-0.49476033,-0.1380895,0.43492645,0.5543782,-1.022101],[1.0191356,-0.91986346,-0.04616138,-0.45416474,0.73652166,0.25816378,-1.3086401],[-2.049601,0.7800747,1.196064,1.3789839,-1.6904895,0.23395349,1.0339934],[-0.77259964,-2.6971922,-1.4677391,1.6566553,1.6660229,2.7246504,0.54265773],[-0.35628012,1.0494679,-0.5587205,0.12437894,-0.4544263,-1.1944124,0.9670452],[-0.62498593,0.6417898,0.41045046,0.22562127,-0.90817094,-0.37507388,0.9927055],[-1.2607465,1.220551,1.0950253,0.91219354,-1.8994594,-0.7705141,-0.17183438],[-0.38617626,0.74403095,0.2281265,0.14278094,-0.74163437,-0.31793734,0.36540765],[-0.6384266,1.5179324,1.3674833,1.2052594,-2.563608,-1.2258631,-0.122923695],[0.5828053,-0.4913119,0.5982537,-0.35696775,-0.80280083,0.6164195,-0.87252206],[0.94025815,-0.6685435,0.73382735,-0.014585685,-0.84758925,0.9380732,-1.1207129]],"activation":"σ","dense_2_b":[[-0.18327923],[-0.83823276],[-0.18255652],[0.0019435445],[-0.29954228],[1.240036],[-0.19858825],[0.05067125],[-0.5546643],[-0.29505712],[-0.79379183],[-0.37149572],[-0.2647378]]},{"dense_3_W":[[-0.24297775,0.8677329,0.30479777,-0.7123103,0.071145825,-0.40388954,-0.0415987,0.118238226,0.60656816,0.49685374,0.91473573,-0.5092808,-0.7922473],[0.7487901,0.3085918,0.8061462,0.8076668,-0.19653253,-0.047244668,-0.40932468,-0.17380346,0.1351503,-0.45992517,-0.28100234,-0.3366081,-0.26367655],[-0.08493702,-1.5571384,0.4114047,0.64280224,-0.5140141,1.1684504,-0.5294557,-0.33303997,-0.28566048,-0.31590307,-0.7761576,0.06786873,0.74446166]],"activation":"identity","dense_3_b":[[0.07074603],[0.07449611],[-0.10622222]]},{"dense_4_W":[[-0.650273,-0.13684583,1.9486732]],"dense_4_b":[[-0.09179217]],"activation":"identity"}]} |