
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":[[11.005025],[0.97968346],[0.50101554],[0.038736638],[0.9587485],[0.9655901],[0.971756],[0.95295596],[0.9315219],[0.90679765],[0.8827432],[0.038590446],[0.03862441],[0.03865234],[0.03871767],[0.038792223],[0.03873497],[0.03861525]],"model_test_loss":0.010799731127917767,"input_size":18,"current_date_and_time":"2023-08-10_12-21-52","input_mean":[[22.878464],[0.031642012],[0.0168804],[0.009622783],[0.030209461],[0.030093499],[0.03104034],[0.038059395],[0.040959135],[0.040258918],[0.040640317],[0.009454411],[0.009486841],[0.009516454],[0.009592338],[0.009573765],[0.009518463],[0.009365908]],"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":[[-2.1818612],[-0.09344887],[-1.8393922],[1.848314],[1.0065805],[-0.08666866],[0.7747504]],"dense_1_W":[[-0.8857707,1.5844063,-2.7639117,0.8296629,-1.5801734,-1.389664,0.6718809,0.21833602,-0.3579308,0.031948198,0.036747955,0.14046027,-0.10389215,0.24267684,-0.58785427,-0.29687718,-0.071204364,0.17921484],[-0.016061021,-0.8927914,0.0014837141,0.16529202,-0.31931162,-1.5972285,1.0674282,0.50527793,0.00036276158,0.6643216,-0.70242655,0.23176064,-0.23684219,0.020929113,0.18165103,0.2728483,-0.077427186,-0.028263727],[-1.1033577,-1.4215872,0.010086168,-0.17611827,0.2112764,-0.69066954,-0.083308466,0.15166493,-0.22307171,-0.075834244,0.035160135,-0.26813668,-0.31942832,0.5206709,0.05213391,0.1393356,0.24755146,-0.20669232],[0.83160627,-1.0528738,0.010402418,-0.8488269,-0.097700946,-0.8356935,-0.030544959,-0.045691635,-0.12981445,-0.22643599,0.08581046,-0.099290386,-0.0029221023,0.43224323,0.16066676,0.23335454,0.26151142,-0.19559892],[1.6938869,0.33258435,0.011718149,0.5278453,0.4084221,0.054189947,0.6158366,0.5923816,0.31159598,-0.19908112,0.0759474,0.18903963,-0.16102462,-0.31830838,0.122031696,-0.5454575,0.14843899,0.0009889763],[-0.18688406,-1.837496,-0.024467822,-0.18667667,1.5253651,-0.87217486,0.6304656,-0.3631879,-0.93472433,-0.4855514,0.8494961,-0.29013696,0.11480595,-0.046378586,0.04579505,0.6772069,0.030312326,-0.2840396],[0.5354849,-0.16436046,-2.2868845,0.9490928,-1.1401188,-1.6175885,2.1010857,-0.067001574,0.09170741,0.23366773,-0.13356704,-0.38347217,-0.17166469,0.5771494,-0.16453075,-0.5179118,-0.2526112,0.2366501]],"activation":"σ"},{"dense_2_W":[[0.33937505,-0.3745738,-0.9080001,-0.67459136,-0.22434857,-0.68243057,0.15986687],[-0.4707506,0.3539919,0.7182431,0.32069924,0.52431095,0.47054338,0.32751095],[-1.0941919,-0.02285758,-0.6026077,-0.6543617,-1.1643189,-0.40606982,-0.530394],[0.4252591,0.47353566,-0.49499482,0.49766955,0.9336523,0.4235022,0.91593933],[0.5621498,0.24484019,0.066795506,-0.39081028,-0.2126147,-0.17618422,0.08806277],[-0.21437049,-0.086400345,-0.70952827,0.24951175,0.2172522,-0.935455,0.3494222],[-0.027205786,-0.3861311,-0.329584,0.3939693,0.21568625,-0.037430923,-0.44425386],[-0.8316691,-0.6763449,0.074327685,-0.473199,-0.55408454,-0.17554076,0.10902519],[0.24072582,-0.45537603,-0.5833832,0.25576162,0.19144523,-0.66718787,-0.2368218],[0.9988664,-0.3536028,-0.28179932,0.7269398,1.1277015,0.6262987,0.9872559],[-0.081231736,0.76173663,0.36381385,-0.087001294,0.15438923,-0.6396298,0.33097985],[0.37046397,0.6737554,-0.0037287436,0.1967084,0.20252821,0.25889185,-0.26074913],[-0.50508755,0.007956352,-0.56175256,0.4734349,0.11897713,-0.8310094,0.056679618]],"activation":"σ","dense_2_b":[[0.40672347],[-0.15762824],[0.54028726],[-0.06825271],[-0.14409027],[-0.24412309],[0.13284369],[0.13380992],[0.3824313],[-0.10148208],[-0.16163772],[-0.21077214],[0.2533245]]},{"dense_3_W":[[-1.1355319,0.3370882,-1.0809343,0.49130934,0.20389263,-0.79736996,-0.023168638,-0.094694644,-0.6435565,-0.079334155,-0.31444725,-0.088145025,-0.46537364],[-0.7897674,0.58977884,-0.6444405,0.5475269,0.0090896,0.1407256,-0.40847594,-0.47964928,-0.5811728,0.7200515,0.37270215,0.26434785,-0.682192],[0.07739398,0.37235165,-0.6278828,-0.1572289,0.14061572,-0.46377057,-0.18825918,-0.50748676,-0.5449003,-0.11498902,-0.10287988,0.50479686,0.14272374]],"activation":"identity","dense_3_b":[[0.019560132],[-0.021147352],[0.01810392]]},{"dense_4_W":[[-0.44403714,-0.84635425,-0.24351013]],"dense_4_b":[[0.015087563]],"activation":"identity"}]} |