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
4.4 KiB
JSON
1 line
4.4 KiB
JSON
{"input_std":[[8.799702],[1.4022106],[0.64107347],[0.048644897],[1.3754585],[1.384525],[1.3930372],[1.3637297],[1.3325337],[1.3025023],[1.2634097],[0.048490796],[0.04852734],[0.048555136],[0.04845293],[0.04838427],[0.048089206],[0.047663692]],"model_test_loss":0.007386927027255297,"input_size":18,"current_date_and_time":"2023-08-10_17-31-57","input_mean":[[23.816095],[-0.049997237],[-0.007897631],[-0.0071165124],[-0.04356241],[-0.044834737],[-0.046383783],[-0.045705367],[-0.044091124],[-0.04704344],[-0.044948243],[-0.0070246058],[-0.007036013],[-0.007050358],[-0.0070076296],[-0.0069411667],[-0.006977052],[-0.007046174]],"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":[[-0.11336769],[-0.1558763],[-1.490285],[-1.5598854],[0.012304846],[-0.022315644],[0.041771296]],"dense_1_W":[[-0.01977819,1.1443615,6.4567647,0.22709283,-0.07258762,0.1256894,-0.9979844,-0.84394026,0.93974406,0.6906267,-0.6703605,-0.016698701,-0.12463053,0.4582139,-0.46097878,-0.1382326,-0.07665762,0.016058486],[0.01751075,-0.39227998,-0.042306893,-0.06479078,0.2590678,-0.7885349,0.8643044,-0.05622104,-0.5792078,0.49931744,-0.1498453,-0.091571845,0.068086684,-0.16460074,0.20773992,0.28189114,0.20789368,-0.30530888],[-0.84948033,1.009252,0.011256742,0.33373848,-0.42635688,-0.50016934,1.3120202,-0.9743089,-0.8169875,0.0070605767,0.07339234,-0.13629174,0.34325087,0.7454428,-1.020692,-0.6009766,-0.16322955,0.5690257],[-0.859371,0.6779426,-0.011156044,0.24427465,0.21054544,0.41095948,-1.243871,0.14078836,-0.18485905,-0.18274853,0.53857833,-0.17150062,0.010126415,-0.39408815,0.18594584,0.07860817,0.14298649,-0.1758404],[0.0010954959,0.5071819,-0.020262098,-0.2741187,0.15675487,0.48042226,-1.1560334,0.25577885,0.18734348,0.319839,-0.3276146,0.15339972,0.06763019,0.24912529,0.19296181,-0.35772792,-0.030918041,-0.056021962],[-0.001659214,-0.41259018,0.10546883,-0.04128334,-0.57788277,-1.2264594,0.9491901,0.31587604,0.42403442,-0.46528783,0.21479684,0.2612383,-0.07516154,0.10787102,0.12550128,0.20215736,0.010438747,-0.26799598],[0.0069037564,0.071458444,-0.17135356,-0.15143572,-0.42506117,-0.14927572,1.4475372,-0.7957649,-0.09695476,0.09732733,0.068755925,-0.447942,-0.39005634,-0.47970626,1.3778332,0.15125123,-0.061111715,-0.27014065]],"activation":"σ"},{"dense_2_W":[[-0.5476857,-0.34267196,-1.1804522,0.9826078,1.2559764,-0.06669344,-0.59067243],[-0.19235519,-0.73507553,-0.07926594,0.89560527,0.74729407,-0.61155975,-0.7242012],[-0.48663774,0.7720404,0.10374275,-0.6260227,-0.17417191,0.4686119,0.6312232],[0.36561587,-0.15491518,-0.44031703,0.06942568,0.64594734,-0.4462405,-0.6349547],[0.7081136,-0.29506996,-0.83266884,0.122376084,0.75587255,-0.3350482,-0.2778585],[-0.6224533,-0.5645358,-1.0115622,0.89887905,1.4065654,-0.32766277,-0.39135978],[-0.4492619,0.03162113,0.52745104,-0.41767576,-0.13911435,-0.020886017,-0.009816406],[-0.5448073,0.91549146,0.68613285,-0.013575926,-0.29431057,-0.06598866,-0.16217463],[-0.3627731,0.41454732,0.17659637,-0.039793443,-0.50492966,0.6114329,-0.2755667],[0.0074237594,0.78070295,0.22676738,-0.37978444,-0.3925154,0.5993168,0.31498003],[-0.34473616,0.4788029,-0.111885466,-0.2417559,-0.39796054,0.3986806,0.7663913],[-0.5048224,-0.041392315,-0.69820964,0.1713349,0.7381618,-0.29876855,-0.30547982],[0.028930116,0.4292938,-0.051137988,0.08411418,-0.11514599,-0.39944056,-0.04911791]],"activation":"σ","dense_2_b":[[0.20303766],[0.14015818],[-0.08520703],[0.09250628],[0.23017566],[0.48661518],[-0.00044188643],[-0.06016225],[-0.007325745],[-0.18048085],[-0.02599478],[0.0058664232],[-0.022089954]]},{"dense_3_W":[[0.13350116,0.4653472,0.35548818,-0.19969355,-0.19666392,-0.36159652,-0.4205869,0.4367674,-0.4891205,-0.15468554,0.156333,-0.36591503,-0.24838057],[-0.0064647943,-0.10470988,-0.5210429,-0.100936055,-0.54979503,0.6029704,-0.3322796,-0.58332735,0.060819454,-0.060762953,0.5044272,0.4439412,0.33067426],[0.26523876,0.8024418,-0.5483982,0.41635954,0.6793265,0.5232535,-0.3263415,-0.4702453,-0.20712556,-0.50518614,-0.36013588,0.21646436,-0.09427801]],"activation":"identity","dense_3_b":[[0.0074690827],[0.029551204],[-0.025025982]]},{"dense_4_W":[[0.06027109,0.044870634,1.0522106]],"dense_4_b":[[-0.022553917]],"activation":"identity"}]} |