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":[[11.043713],[0.70319986],[0.5343478],[0.026934588],[0.6932889],[0.6982947],[0.70214796],[0.6804861],[0.6649965],[0.6459059],[0.6288712],[0.02683069],[0.026860924],[0.026891591],[0.026939137],[0.026965177],[0.027052335],[0.027131638]],"model_test_loss":0.007857225835323334,"input_size":18,"current_date_and_time":"2023-08-10_12-47-08","input_mean":[[22.51676],[0.0007204448],[0.013955519],[-0.007230524],[-0.0025695318],[-0.0022219676],[-0.0015167582],[0.006477074],[0.012144769],[0.0140706785],[0.014874495],[-0.0073296432],[-0.007318436],[-0.007308196],[-0.0074638575],[-0.007604219],[-0.007796417],[-0.007880043]],"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":[[-0.15176187],[1.7611258],[0.08499729],[1.2638843],[-1.0145266],[1.1479009],[0.019360576]],"dense_1_W":[[0.002253989,-3.1604483,2.767584,-0.8068704,2.3291543,2.6853511,-1.0791886,0.007758601,-0.49927247,0.57279307,-0.27753213,0.6716626,-0.06696021,-0.76052266,0.6966655,0.7008176,-0.40914094,-0.1446268],[0.7218885,1.6974216,0.0065495796,0.4848664,-0.38044524,0.9584917,-0.35017136,0.2935823,0.013307751,0.07913103,-0.08967284,0.17916568,-0.022755025,-0.45461747,-0.017031884,-0.22419493,-0.029785138,0.11329553],[-0.021195402,0.41831255,-0.006486072,-0.20005222,-0.044353534,1.5854481,-0.4566311,-0.5508707,0.0053089573,-0.73440605,0.7127015,0.0178563,0.105017535,-0.10557691,-0.08303766,-0.3148053,0.1120448,0.08851348],[1.0059944,-1.3769217,0.0028758708,-0.17301795,0.38417014,-0.8320218,-0.0021920572,0.05236675,-0.11604148,-0.010877651,0.017621847,-0.31199968,0.26072103,0.14645621,-0.060435038,0.23222387,-0.07030094,-0.048769366],[-0.59738463,-1.4774386,4.2301564,-0.6372516,0.28283474,0.29814866,-1.5950772,-0.37465736,-0.046396185,-0.23227905,0.2788923,0.43851766,-0.13952476,-0.1730685,0.5122576,0.09155205,0.22722334,-0.23425691],[1.9368905,-0.55235744,-0.030420046,0.088646464,-0.8423889,0.40580097,-1.086312,-0.1729247,0.11532571,-0.07618555,-0.12122231,0.14744973,0.014324671,-0.49680474,0.14322798,0.3056609,-0.1648101,-0.03914734],[-0.017226573,0.9975025,0.028348321,0.26694727,-1.7435403,0.6003638,-0.015127457,0.33234358,0.77899,0.36002707,-0.7812798,-0.110702105,0.4372163,0.062443327,-1.0144533,0.07515875,0.14223565,0.11260919]],"activation":"σ"},{"dense_2_W":[[-0.3708766,-0.09346849,-0.4860665,-0.28673357,-0.20471741,-0.3887301,-0.53816146],[-0.2870411,0.077891976,-0.7692872,0.46041366,-0.08263284,0.18123056,-0.50797004],[0.8342386,-0.045646798,0.4450974,-0.23703974,-0.12750176,0.7012232,-0.08630407],[0.08431561,-0.07679201,-0.581064,0.011516861,-0.7343563,-0.6116229,-0.34984374],[0.25569338,-0.5237751,-0.48068842,-0.102060966,0.28852814,0.32561827,-0.7739834],[0.17638424,-0.30714586,-0.8407769,0.7255838,0.32686406,0.014714416,-0.67529327],[0.15759718,-0.1990726,0.6290832,-0.42295182,-0.64416325,0.053911954,0.57387424],[-1.3421621,-1.2502698,0.12817562,-0.2831332,-0.016792206,-0.8235658,0.19831528],[-0.8367818,-1.409201,0.18254657,0.4927183,-0.25860602,-1.0264908,-0.50290155],[0.47554544,0.058592763,-0.0097552,-1.9191943,1.0258328,-0.8242871,0.45348266],[-1.2065568,-1.4047163,0.113010526,0.4773201,-0.4767762,-1.2966703,0.2312964],[-0.18884628,-0.058959916,-0.041673712,-0.5327593,0.11240756,0.10169141,-0.23927355],[0.22284397,-0.29184937,0.9790536,-1.3780024,-0.2994004,0.49964294,0.48355368]],"activation":"σ","dense_2_b":[[-0.22963583],[0.032741938],[-0.04570257],[-0.08706406],[-0.14223282],[0.05371619],[-0.34291068],[-0.20564795],[-0.061394084],[-0.5258954],[-0.060946673],[-0.1682708],[-0.30500868]]},{"dense_3_W":[[-0.109130874,0.1274272,0.13656163,-0.4027122,-0.4333919,-0.6936401,0.502236,-0.3675514,-0.7237411,0.4035158,-0.47524786,0.09295235,0.14962798],[-0.16585311,0.47740844,-0.37112427,0.06724968,-0.37363434,0.06406272,0.47516382,0.118478574,-0.022609822,0.2940244,-0.0018366133,-0.40694827,-0.63223433],[0.009586715,0.5517231,-0.34838903,0.078904286,-0.039595366,0.116432205,0.003195687,-0.17880835,0.5144741,-0.46928853,0.36233348,0.4112465,-0.08295281]],"activation":"identity","dense_3_b":[[0.073130004],[-0.049100634],[-0.073537566]]},{"dense_4_W":[[1.1643018,-0.47747687,-0.8026266]],"dense_4_b":[[0.068460904]],"activation":"identity"}]} |