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":[[7.5485353],[0.842432],[0.47768155],[0.04491059],[0.8398388],[0.84115833],[0.841805],[0.82316613],[0.80845445],[0.7870207],[0.7709587],[0.044732787],[0.04478789],[0.044834975],[0.044941053],[0.04496564],[0.04483491],[0.04457904]],"model_test_loss":0.006399661768227816,"input_size":18,"current_date_and_time":"2023-08-10_14-01-50","input_mean":[[18.00953],[0.099562876],[0.011085797],[0.0136965355],[0.093436636],[0.09476455],[0.09581153],[0.100991],[0.10254183],[0.103215754],[0.09966734],[0.013582862],[0.013622751],[0.013662026],[0.013673613],[0.013685121],[0.013669784],[0.013470834]],"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":[[0.15596858],[0.4892694],[-2.485747],[-0.9076746],[-2.5210748],[0.62608117],[-0.12859546]],"dense_1_W":[[0.06842267,-0.8856152,-6.732937,0.19605958,0.741428,0.17544515,0.8053877,-0.35061014,-0.9764092,0.036799543,0.6009394,-0.6558462,0.35444188,-0.045649398,-0.06968357,0.21508473,0.2215049,-0.29990086],[-0.05740703,2.9165752,-0.005158554,0.15602402,0.39699048,0.5971187,-0.41904238,1.342937,1.2498165,0.20092702,-0.7303743,0.651644,0.032748777,0.0769538,-0.3169141,-0.06470094,-0.28091532,0.12019054],[-1.1610528,-0.90291053,-0.31168118,0.055444643,0.44807604,-0.53198224,0.92507297,-0.8764255,-0.11257939,-0.023954267,0.044729616,-0.0076007335,-0.1563039,0.1664793,0.21945952,-0.2034357,0.105529465,-0.06975108],[0.7200636,0.8466922,-0.007632461,0.033045746,0.05856158,1.3452346,-1.1502894,-0.12675957,-0.031347644,0.048609737,0.10773478,-0.09310796,-0.0042046523,0.009717507,-0.48196545,0.12704822,-0.033978984,-0.037001982],[-1.2062674,0.9051149,0.32335874,-0.1533066,-0.51617926,1.020792,-1.4042579,0.9042442,0.25317815,-0.05583252,-0.03010343,0.20175298,0.094550155,-0.16070417,-0.47876874,0.32050544,0.077573724,-0.015020535],[-0.7045055,0.2921713,0.0013640912,0.19007114,0.12720339,1.0896366,-0.5078957,-0.07863772,-0.027926547,0.21197884,0.007679035,0.08988427,-0.16537076,0.047214698,-0.45457175,-0.35825354,0.05781769,0.10457059],[-0.00158783,-0.2575547,1.3867532,-0.40103778,0.7387132,0.89181244,-0.06297082,0.24265654,0.16146004,-0.4570955,-0.37828583,0.21716939,-0.32538953,0.059181254,-0.2786397,0.0642267,-0.0045156525,0.13521087]],"activation":"σ"},{"dense_2_W":[[-0.054360803,-0.93450505,1.1069156,-0.25341234,-0.6672028,-0.56871617,0.46180332],[0.66834545,0.311226,0.92539716,-0.7637285,-1.0001141,-0.04506302,-0.79037106],[-0.336666,0.43282512,0.5231884,-0.33170068,-0.5402114,-0.67988545,-0.52936053],[-0.32985738,0.09310308,0.2807457,0.7175757,0.3434783,-0.054528777,0.14698726],[-0.9319756,0.55159384,-0.94562346,1.0089458,1.0009207,0.78610414,-0.39165795],[-0.24430718,-0.17523226,-0.21583228,-0.25136957,0.7013932,-0.1965411,0.6438836],[-0.7124287,-1.5932802,0.37554362,-0.114048585,0.643049,-0.22720207,-0.061459664],[0.72168005,-0.4816915,0.06136277,-0.7875475,0.35240883,-0.42538184,-0.2659062],[0.26363212,-0.8677782,0.10591171,0.32766673,-0.31068003,-0.60304576,-0.44430232],[-0.5729361,0.18546028,-0.095558025,-0.46766767,-0.7543451,-0.78625745,0.0124949105],[-1.4273218,0.6574617,-1.3855623,0.2680664,-0.93055564,-1.384056,0.09248577],[-0.146575,0.10351455,0.07099619,0.09571776,-0.004123669,0.1455809,-0.22726196],[-0.46773708,0.4945239,-1.1005019,0.59550714,-0.406852,0.60328615,0.46037948]],"activation":"σ","dense_2_b":[[0.15551081],[0.063135676],[0.21190381],[-0.12186496],[-0.32130012],[-0.10350768],[-0.1497363],[0.13513808],[-0.3129862],[-0.019406611],[0.081084184],[-0.107219465],[-0.31931284]]},{"dense_3_W":[[0.038192756,0.90545493,0.22436228,-0.08363581,-0.95819527,-0.48104054,0.14439842,0.49872485,-0.52165586,0.4655063,0.96369386,0.08209213,-0.043807942],[0.24979138,0.046216443,-0.24985886,0.46128502,-0.14784333,0.29726094,-0.09796824,-0.37513828,-0.13519555,-0.10046912,-0.019793414,0.26303867,-0.32336316],[0.6733837,0.65772706,0.5991573,-0.2601565,-0.8885243,-0.5688783,0.6620791,0.56542003,0.17227326,0.053705327,0.33648482,-0.17200494,-0.6597408]],"activation":"identity","dense_3_b":[[0.020342646],[0.01258384],[-0.08370784]]},{"dense_4_W":[[-0.4212374,0.007912168,-0.6052606]],"dense_4_b":[[0.07501488]],"activation":"identity"}]} |