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":[[8.621243],[1.130312],[0.5516336],[0.041195676],[1.126876],[1.1290765],[1.1299986],[1.1140016],[1.0942802],[1.061783],[1.0278625],[0.041149452],[0.041160367],[0.041163765],[0.041012943],[0.04082218],[0.04049875],[0.040250767]],"model_test_loss":0.010191036388278008,"input_size":18,"current_date_and_time":"2023-08-12_10-54-52","input_mean":[[23.69867],[-0.09237417],[-0.024359873],[0.005003234],[-0.08491814],[-0.08716023],[-0.08930154],[-0.09497029],[-0.09355577],[-0.09201378],[-0.08880379],[0.005034295],[0.0050175954],[0.004999444],[0.0049864235],[0.004929149],[0.0046412693],[0.0043429676]],"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":[[-1.0368268],[-0.6035686],[-0.37980628],[-0.38712236],[-0.31054008],[-0.35742834],[-0.1745767]],"dense_1_W":[[-0.30988532,0.94676775,0.06835736,-0.20904909,-0.31267637,0.4459532,-0.75116515,0.18319201,-0.16871549,0.01450603,0.094541326,0.19128986,0.094970584,-0.10434261,-0.12030237,0.08215967,-0.0004368318,-0.008146429],[-0.33773926,-0.57431877,-0.082528114,0.034690164,0.29717553,-1.3232597,1.2727411,-0.00825284,0.058543384,0.08819038,-0.25790802,0.36763,-0.3964585,-0.25440165,0.26645663,0.1723957,-0.13807693,0.016459083],[-0.643219,-0.52567714,0.16125901,0.35280794,-0.27486697,1.1864855,-0.64119214,0.28674185,0.24847941,-0.064988114,0.18981163,0.030853774,0.2485369,-0.36588603,-0.2141448,-0.24320458,0.054182176,0.08016488],[1.8329483,0.19176741,0.3630878,0.8177945,1.0301634,-0.8391618,0.029882386,0.28434104,-0.2605399,0.032751296,0.7037072,0.12650606,-0.5634059,-0.14148597,-0.14909759,-0.23083402,0.19594365,-0.15800387],[1.6136711,-0.023185488,-0.330168,-0.64757305,-0.7903925,0.3184771,-0.125178,0.5074217,-0.091587566,-0.15822329,-0.59075946,0.099624775,0.28776196,0.25979534,-0.31621882,0.2251791,0.16301762,0.015307925],[-0.012423788,1.3620756,3.723387,-0.09946844,-2.2505002,-0.6505167,-0.3025472,1.0916159,1.1659752,0.5379025,-0.8302681,0.2763101,0.3852661,0.03025497,-0.38073367,-0.20023987,-0.20818618,0.33501345],[0.035275426,0.13343032,-0.01315199,-0.16700771,-0.012076806,1.0922886,-0.46189055,0.04980423,0.22884117,0.08929184,-0.13899224,0.27415225,0.107125394,-0.21544056,-0.15122053,0.015403071,-0.16977242,0.05957028]],"activation":"σ"},{"dense_2_W":[[-0.32195273,-0.80007017,-0.047992315,0.00076893583,0.086762525,-0.2853599,-0.46519622],[-0.8466131,0.8392215,-0.625954,0.53587455,-0.05725867,0.48061028,-1.0681951],[0.6704792,-0.88257265,0.048325025,-0.11247827,-0.5555944,0.48655844,0.15341099],[-0.73055834,0.18692662,-0.0051072617,-0.28417185,-0.79494137,-1.1081446,0.3546513],[0.6564168,-0.9941641,-0.012599699,0.055534486,0.1949257,0.11912132,0.67601776],[-0.92568284,0.19816734,0.006052384,0.5773367,-0.58242613,-0.10242073,-0.62971866],[0.026353309,-0.101803504,-0.13243441,0.11023436,-0.18115512,-0.31580073,0.35157788],[0.024816064,0.74383426,-0.6058626,0.1693422,0.13700868,-0.34494787,-0.2539183],[-0.6846791,0.70265,-0.30746013,-0.5157588,-0.22700436,-0.56013364,-0.05191689],[-0.044140954,0.0018182937,0.14246152,-0.66603386,-0.27544877,-0.9813431,0.020237492],[-0.25419834,1.060303,-0.05096676,-0.4194434,-0.34662414,-0.66279954,-0.45178506],[0.35331485,-0.35900408,0.12481251,-0.69748133,-0.11242132,0.0421719,0.95737815],[-0.18702975,-0.19013745,-0.59367853,0.335176,0.036005035,0.045245975,-0.4265972]],"activation":"σ","dense_2_b":[[-0.30476797],[-0.195294],[-0.25333008],[-0.10860839],[-0.2226989],[-0.032822598],[-0.011119534],[-0.055506833],[-0.029588649],[-0.3181418],[0.07300559],[-0.06738982],[-0.15821727]]},{"dense_3_W":[[0.034150075,0.57094276,-0.48878017,0.5112273,-0.18092011,0.5353878,-0.11806307,0.3421746,0.47612357,0.52546614,0.15649377,0.1728523,0.4344787],[0.121647194,0.3492057,0.17216049,0.41008264,-0.7363858,0.18355447,-0.514776,-0.17685267,-0.14863887,-0.03910745,0.48813453,-0.7858287,-0.2943318],[0.33316976,0.06313858,0.2317506,0.47803766,-0.19028156,-0.13142887,-0.5406721,-0.3424372,-0.3295334,0.5573225,-0.1931224,0.24481794,-0.14382799]],"activation":"identity","dense_3_b":[[-0.10088669],[-0.08613214],[0.09071597]]},{"dense_4_W":[[-1.2123189,-1.2992013,0.67285275]],"dense_4_b":[[0.09299899]],"activation":"identity"}]} |