
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":[[7.92219],[1.0339159],[0.6051184],[0.040277395],[1.0160568],[1.0193809],[1.0235395],[0.9978284],[0.9780647],[0.953401],[0.92466515],[0.04011991],[0.040149756],[0.040181845],[0.040220965],[0.040193263],[0.039972864],[0.039762717]],"model_test_loss":0.010501861572265625,"input_size":18,"current_date_and_time":"2023-08-11_06-39-21","input_mean":[[22.015877],[0.016454747],[-0.0035791518],[-0.006060402],[0.017588632],[0.018613027],[0.01872038],[0.01622388],[0.013543572],[0.008158607],[0.0060163783],[-0.0061950283],[-0.006164029],[-0.006132473],[-0.0060454626],[-0.006085043],[-0.0062024957],[-0.006308306]],"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":[[0.08562436],[-0.13248813],[-0.6056908],[3.7711034],[-4.002061],[-1.0201851],[0.7905752]],"dense_1_W":[[0.008472031,1.9303364,5.75964,-1.236273,-1.9233848,-0.20769979,-0.50922215,0.77782845,0.93831205,1.015304,-1.6144773,0.83374774,0.7880719,-0.17530817,-0.22706063,-0.8191557,-0.19291312,0.83966184],[-0.007752059,-1.7240039,0.08638296,0.4374327,0.8499669,-0.58740795,0.44271347,-0.43893647,-0.79377645,-0.470287,0.6905167,-0.25326452,0.004325121,0.4151441,-0.20191722,-0.93765545,0.24482074,0.20686845],[-0.73755896,0.25490418,1.6415513,0.61049616,0.10450067,-0.005047854,0.26623517,-0.40121377,-0.57618237,-0.105919234,0.49663854,-0.18851577,0.003680681,0.07382204,-0.7838218,-1.418447,-0.8041371,0.06338623],[1.506414,-0.7172249,-0.26160046,-0.3195705,0.061357655,-1.2254318,1.7426652,-0.39996,-0.8630745,-0.0965681,0.1755039,-0.43433473,0.072750255,0.7390096,0.6420074,-0.6429821,-0.19715068,0.40123448],[-1.462788,-0.25966784,-0.25197747,-0.74088174,-0.39430162,-0.6678362,1.4408759,-0.8539805,-0.67458963,-0.0025512646,0.098765895,-1.3845773,0.84524035,1.4456284,0.8360301,-0.89562434,-0.39231324,0.55299884],[0.96476454,-0.5160151,-0.058161568,0.09431531,0.24567744,-1.7172141,0.87807894,0.32966504,0.13244158,0.0830991,-0.20607454,-0.7199951,-0.3938647,1.0462891,0.21604428,0.09326921,0.23194839,-0.21566468],[-1.0580249,-0.091983035,-0.06607944,-0.14238882,-0.032799177,-1.615105,0.88772935,-0.1148385,0.30407813,0.14823009,-0.25907746,-0.43574435,-0.119376965,0.4874739,0.5467528,0.2210292,-0.21703728,0.02701344]],"activation":"σ"},{"dense_2_W":[[-0.34801432,0.25854328,-0.10087859,0.91155136,0.47692245,0.386249,-0.07805484],[-0.114083804,0.08665275,-0.40829253,0.5105505,0.50143373,0.42545924,0.43460196],[-0.07745485,0.19914009,0.59899527,-0.86949354,-0.60257334,-0.27688003,-0.39490694],[-0.35776904,-0.09782943,-0.3387631,-0.6445889,-0.13637964,0.037489194,-0.4306386],[0.3664335,0.082265064,-0.3529968,-0.21454561,-0.690712,-0.40638104,-0.22740813],[-0.0052428595,0.06399636,-0.4362087,0.3643625,0.1340138,0.880946,0.51570714],[-0.42193365,-0.1661316,-0.4134133,0.069665395,-0.19969232,-0.49261189,-0.5509127],[0.429386,-0.04167956,0.069151536,0.054689564,-0.50504297,-0.5080177,-0.41438618],[0.61227196,-0.043998886,0.32082903,-0.45597827,-0.52242905,-0.10526631,-0.43464538],[-0.23791881,0.37427938,0.07763096,0.38759655,0.6870389,-0.2448108,0.22891921],[0.28850517,0.116395116,0.22972369,-0.40831333,0.26074657,-1.0264262,-0.5928814],[-0.8139447,-0.14806162,0.15462387,-0.42620218,-1.2090021,0.666371,-0.6178426],[-0.63677526,0.8647508,0.5548903,0.1261759,0.304771,0.28499243,-0.14660935]],"activation":"σ","dense_2_b":[[-0.21753441],[-0.5461314],[0.105829634],[0.15688233],[0.18240593],[-0.6977311],[0.17758703],[0.21791771],[0.110497065],[-0.45180324],[0.19605672],[-0.012792069],[-0.2483234]]},{"dense_3_W":[[-0.075603865,-0.4466055,0.2090132,0.44769254,0.5857853,-0.0886282,0.6599453,0.52339387,0.18296923,-0.4225845,0.26281965,-0.10703673,-0.6357655],[0.6664568,0.21380727,-0.21715312,-0.17340335,-0.029390512,0.43210483,-0.19127384,-0.4889734,-0.27069238,-0.16609475,-0.29695383,-0.6717075,0.570048],[-0.49318448,-0.535808,0.0617476,-0.29404658,0.3541034,-0.5322448,0.15549439,0.55970424,0.3449248,0.16689838,0.35094023,0.17978139,0.0012035011]],"activation":"identity","dense_3_b":[[0.009320866],[-0.014181249],[-0.008072699]]},{"dense_4_W":[[0.9121412,-0.99914575,0.15805192]],"dense_4_b":[[0.015280737]],"activation":"identity"}]} |