carrot/selfdrive/car/torque_data/lat_models/TOYOTA RAV4 2022 b'x028965B0R01500x00x00x00x008965B0R02500x00x00x00x00'.json
FrogAi 5589bead02 Controls - Lateral Tuning - NNFF
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>
2024-06-01 02:34:40 -07:00

1 line
4.3 KiB
JSON
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

{"input_std":[[8.323066],[1.4018469],[0.567659],[0.04745886],[1.371474],[1.3818233],[1.3930135],[1.3780496],[1.353553],[1.3199772],[1.2810564],[0.047208063],[0.047284752],[0.047346227],[0.047340184],[0.04724789],[0.04699337],[0.046616953]],"model_test_loss":0.009241282939910889,"input_size":18,"current_date_and_time":"2023-08-12_21-15-20","input_mean":[[22.710884],[-0.02667767],[-1.9947951e-5],[-0.0022435884],[-0.024858162],[-0.025795942],[-0.027008465],[-0.025401326],[-0.024992129],[-0.02418946],[-0.022016376],[-0.0023103587],[-0.0022975747],[-0.0022888356],[-0.0022831862],[-0.002328815],[-0.0024200957],[-0.0025149914]],"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":[[-0.02660969],[1.042771],[-0.033824593],[1.3177401],[1.2243396],[-1.3144829],[-0.029618222]],"dense_1_W":[[-0.042961396,0.8769499,-0.0041193925,-0.28560525,-0.20101343,1.1051995,-1.3274776,0.1784311,0.15195456,-0.25092003,0.06740475,0.2186879,0.265752,-0.15826978,-0.30693996,-0.28658256,-0.040432233,0.227988],[1.1160629,-0.5995385,0.025996689,-0.15590227,0.013243591,0.6837929,-1.4657838,0.23292334,0.066290066,0.086385906,-0.117085874,0.44104484,0.1790555,-0.29690143,0.2645984,-0.15013884,-0.1352086,0.2450129],[-0.02550995,0.11425251,-0.048323117,-0.21157871,0.07942085,1.3628405,-0.7377691,0.13772115,0.07743978,0.10179341,0.021651335,0.009930128,0.03140351,0.24963082,-0.17956105,-0.049760547,-0.19708844,0.121905],[0.50287706,-0.59522426,-0.072128914,-0.17238382,0.056527812,-0.6922978,0.4801964,-0.17814112,0.054864608,-0.046747845,-0.015958516,0.41250488,0.111997865,-0.242329,0.1574411,-0.18989699,-0.24354196,0.31047294],[1.2728062,0.9029083,-0.02995525,-0.11530327,0.19549532,-0.72583985,0.97019637,-0.023350935,-0.13342142,-0.09830459,0.11504367,0.004033683,-0.5631423,0.33631292,0.20850284,-0.13248868,-0.19359264,0.02700284],[-0.5022331,-0.4029477,-0.07267978,-0.032978907,0.123317115,-0.6608719,0.2172116,-0.2220228,0.036327496,0.036248263,-0.05348906,0.4633486,-0.45709947,0.35074022,-0.29431617,-0.015300724,-0.047331363,0.17334145],[-0.005675072,-1.177238,-4.175773,-0.33227032,0.593491,0.33732134,1.1989933,-0.018660717,-1.6915731,-0.8134577,1.1082839,-0.6968372,0.13508995,0.6501428,0.17571086,0.43262443,0.23011513,-0.2609291]],"activation":"σ"},{"dense_2_W":[[0.51582694,0.3121973,-0.20595367,-0.63976544,-0.6190774,-0.11476523,-0.161778],[0.45226112,-0.5900978,0.6664454,-0.98015857,-0.76075673,0.20415324,-1.0172082],[-0.049352575,0.030535527,0.5126004,0.26862317,-0.54523516,-0.68212223,-0.4634505],[-0.83752614,-1.6723628,-0.9174441,0.15394925,-1.029886,0.93452585,1.3628161],[0.738823,0.61842084,0.71415186,-0.6888037,0.3717006,-0.7639032,-0.1672679],[-0.1399503,-0.10095283,-0.25007892,0.39840633,-0.08607292,-0.25998384,0.64788043],[-0.40224734,-0.39391443,-1.0630914,0.5171268,0.2898641,0.81633,0.23264134],[0.609244,0.6181232,-0.078675106,-0.6184327,-0.21231276,-0.59661895,0.102545284],[-0.1669277,-0.58635,-1.1015649,0.32143387,0.4936339,0.83028847,-0.030035142],[-0.77541274,0.023090886,-0.23716073,-0.05367684,0.49773395,0.6787877,-0.16148227],[0.47024024,0.56257,0.45200762,-0.5773873,-0.18297487,0.20356469,-0.52002436],[-0.8596537,-0.06697396,-0.8024254,1.0830293,0.670211,0.6720701,-0.12708642],[-0.9127519,-0.6879708,-1.4161041,0.90650314,0.4792091,0.8929421,-0.01189748]],"activation":"σ","dense_2_b":[[-0.0045747017],[-0.077190444],[-0.013206014],[-0.31438816],[-0.02210615],[-0.08498061],[-0.032835722],[0.025921185],[-0.028608063],[-0.055094685],[-0.04353595],[-0.02340338],[0.2846957]]},{"dense_3_W":[[-0.2833135,0.49971643,0.15789203,-0.111222304,0.68173003,-0.12306065,-0.61054754,0.4364152,-0.17824891,-0.3612262,-0.08212228,0.32567462,-0.21418424],[0.30719173,0.6395363,0.45663902,-0.17605212,-0.032707606,0.09329482,-0.21607205,0.60278416,-0.2559459,-0.30606645,0.6160812,-0.65490466,-0.6537213],[-0.6911255,-0.28356558,0.35187447,0.69251335,-0.65796524,0.4204575,0.1600814,-0.36455095,0.5097029,0.23778544,0.05235907,0.61762905,-0.26800236]],"activation":"identity","dense_3_b":[[0.018074159],[0.02200104],[-0.036768977]]},{"dense_4_W":[[0.5857301,0.756474,-0.43159783]],"dense_4_b":[[0.022468269]],"activation":"identity"}]}