carrot/selfdrive/car/torque_data/lat_models/SKODA OCTAVIA 3RD GEN b'xf1x875Q0909144ABxf1x891082xf1x82x0521T00403A1'.json
FrogAi 5589bead02 Controls - Lateral Tuning - NNFF
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>
2024-06-01 02:34:40 -07:00

1 line
4.3 KiB
JSON
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

{"input_std":[[10.092253],[0.8257708],[0.45484608],[0.028356912],[0.8140217],[0.81918985],[0.82255614],[0.8102244],[0.7955667],[0.77078706],[0.7444314],[0.028424477],[0.028405886],[0.028365526],[0.02817091],[0.028066315],[0.02797186],[0.027903816]],"model_test_loss":0.008641937747597694,"input_size":18,"current_date_and_time":"2023-08-10_11-28-48","input_mean":[[22.111403],[-0.020468052],[0.00260176],[0.017814223],[-0.019568035],[-0.019937012],[-0.02050278],[-0.017664416],[-0.015589151],[-0.013915732],[-0.0077555873],[0.017904663],[0.01790113],[0.017888824],[0.018040547],[0.01814623],[0.0184057],[0.01856536]],"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":[[-0.8901903],[-0.7438429],[-0.6122344],[-0.2412558],[0.8543316],[-0.3185247],[1.8399776]],"dense_1_W":[[1.1625189,0.40039057,-0.0025008812,-0.41890216,0.16774665,1.3301513,-1.05835,-0.43560216,-0.29536605,-0.29428786,0.5059595,0.15214878,0.3311833,-0.1092579,-0.12995712,-0.2121695,-0.25328377,0.34366265],[-0.2108492,1.8213944,-0.0037650513,-0.4443187,-0.9336769,0.5478224,-0.17455208,-0.13268296,0.30928424,0.40694132,-0.46156526,0.110320315,0.2874757,0.1347806,0.08251065,-0.11447139,-0.15634517,0.11815532],[-0.39651474,0.2910717,-1.0581565,-0.39096954,-0.84142905,-0.6921981,1.3464824,-0.6867708,-0.22886333,0.3074725,-0.056309637,0.3235317,0.21882245,0.5208447,-0.23176116,-0.3196763,-0.3908853,0.4924444],[0.023868388,0.93133456,6.693503,0.1693899,-0.6633739,-0.0019848838,-0.81877935,0.98811,0.14710788,0.8430833,-0.9749285,-0.027155153,0.3262936,-0.36924264,-0.38995093,-0.27307773,0.2114907,0.10148348],[0.41686654,1.3670295,0.0021478476,0.057002787,-0.14275764,-0.056658525,0.024400754,-0.086303845,0.66810167,-0.03742678,-0.23496434,0.30531916,0.17594281,-0.22570042,-0.13516694,-0.38421035,0.20677494,0.019969082],[1.0289154,-0.64804214,-0.0014387759,0.42662656,0.14895122,-0.58820724,0.22127119,0.34592313,0.31323263,0.24369654,-0.36650044,0.03182343,0.10101775,-0.264594,0.10111715,-0.0765178,-0.1477554,0.11140398],[0.5695519,1.808156,-1.253366,0.49105036,-1.9823967,-1.4973999,2.9290652,-1.7067322,-0.6763123,0.7516668,-0.19734581,0.3499678,-0.111037284,-0.2012088,-0.07701846,-0.0106067145,-0.5977169,0.38696328]],"activation":"σ"},{"dense_2_W":[[0.012349895,-0.081942245,0.24179463,0.25615865,-0.3466578,0.20768717,0.20456062],[-0.34042543,-0.95279694,0.40695366,-0.15362829,-0.15595287,0.58774436,0.04863392],[1.3811588,1.5968466,-1.302473,0.5022756,1.007051,0.15855049,-0.41123948],[0.5894904,0.29552183,-0.088070914,-0.05923328,0.14361995,-0.48715538,-0.15394852],[0.6696779,0.8154732,0.08090532,-0.067599624,0.30964845,-0.4651497,-0.98328984],[1.048996,1.7286566,-0.8740424,0.68472356,0.6781938,-1.3097667,-0.841068],[-0.5152714,-0.8245123,0.51846474,-0.19924398,-0.9657816,-0.46467522,-0.2969826],[0.5162466,-1.3718777,-0.81976885,0.5777913,-1.1951425,0.52725565,-1.5065942],[-0.6157756,-0.64146185,0.28268078,0.11798595,-0.19853584,0.59471726,0.19424395],[-0.51709485,-0.27288422,0.44598293,-0.50114965,-0.4821885,0.1842942,-0.13447413],[0.30716494,0.5455412,0.2820038,0.42298153,-0.16316639,-0.67882645,-0.80919987],[0.20057538,-0.6075936,0.021517077,0.0058594905,-0.4455176,0.8283304,-0.04153079],[-0.5672435,-0.55653644,0.9335801,-1.064612,-0.98080814,-1.6662495,-0.7125999]],"activation":"σ","dense_2_b":[[-0.04758697],[0.103950314],[-0.21034029],[-0.1759661],[-0.14534564],[-0.4014301],[-0.07821672],[-0.34081164],[-0.09482991],[-0.00027300368],[-0.3289372],[0.22015864],[-0.12635086]]},{"dense_3_W":[[0.08841069,-0.7012008,-0.27067128,-0.22566004,0.42384112,0.537129,0.3303587,-0.202971,-0.10006057,0.25611818,0.3373171,-0.31684256,0.22898418],[-0.20768598,0.04598255,0.601375,0.29420632,0.33671921,0.5732239,-0.68677086,-0.5184719,-0.42104113,-0.5277463,0.5918677,-0.5941145,-0.60128295],[0.22220895,-0.21446738,-0.119648,-0.22185299,0.34326845,0.40759936,-0.04515529,-0.16942169,-0.40177232,0.38087803,0.14435387,-0.41597226,-0.17067248]],"activation":"identity","dense_3_b":[[-0.03592224],[-0.03948418],[0.031077854]]},{"dense_4_W":[[0.37178338,0.77815956,0.08979673]],"dense_4_b":[[-0.04114462]],"activation":"identity"}]}