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":[[8.89405],[1.3264774],[0.49399376],[0.04498591],[1.3162512],[1.3196412],[1.3221577],[1.2921615],[1.262814],[1.2265766],[1.1900893],[0.044859875],[0.044887066],[0.04489899],[0.044722132],[0.044534575],[0.044196904],[0.043708563]],"model_test_loss":0.013147538527846336,"input_size":18,"current_date_and_time":"2023-08-12_21-45-51","input_mean":[[22.843279],[-0.12455614],[-0.0014007707],[-0.0064704656],[-0.1233025],[-0.12350357],[-0.12400504],[-0.1251842],[-0.12609619],[-0.12369014],[-0.12037224],[-0.006532242],[-0.006518202],[-0.006506443],[-0.006487807],[-0.006539525],[-0.0065615526],[-0.0066139703]],"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":[[0.8076376],[-0.12330158],[0.8896142],[-0.13590556],[-4.1826344],[-0.77730286],[4.5746274]],"dense_1_W":[[-0.97973573,0.15226786,0.02845066,0.04827065,-0.025662262,1.7772363,-1.5355376,0.0989295,0.30149132,0.029098786,-0.074183464,0.39862457,-0.10540373,-0.14476654,-0.36632246,-0.3054467,0.15272646,0.07390829],[0.015743697,0.78862613,-0.019669378,-0.12546545,0.009684494,1.3956969,-1.2900923,0.19209127,0.14444686,-0.21074831,0.16892369,0.61990404,0.23663369,-0.8836119,-0.42096013,0.119372375,-0.07889601,0.09642731],[-1.1188109,-0.42021284,-0.027942661,0.14205936,-0.07868929,-0.7710287,0.73801935,0.014988501,-0.069595,-0.35983253,0.24104616,-0.45208368,0.057623267,0.5596988,-0.21029097,-0.045526307,0.32178107,-0.12184607],[-0.013647176,1.3307436,4.6095624,-0.34334475,-0.8587218,-0.12885869,-0.8174357,-0.11078273,1.2218881,0.6008918,-0.6915159,1.311084,0.16892083,-0.3056882,0.08437484,-0.63590443,-0.4589061,-0.0745741],[-1.9673253,-1.4414742,-0.2586987,0.2226021,0.5694981,-1.5805218,0.5769138,-0.00886291,-0.060155656,-0.100935824,-0.13228646,-0.39160243,-0.40697894,0.7586441,0.09374963,0.055745218,-0.22303872,-0.037225552],[0.010619068,2.72878,-0.1893567,-0.27490807,0.50076294,1.516001,0.3651039,0.7132457,0.22416064,0.38899446,0.33117044,0.3081755,0.3069668,-0.8289943,-0.08180179,0.6579218,0.3046304,-0.066973075],[1.9517641,-1.27614,-0.25992838,0.26618478,0.082289934,-0.697544,0.0861543,-0.04430833,-0.1666379,-0.06128522,-0.12283561,-0.34772325,0.10666418,-0.18634178,0.41480446,0.21883197,-0.314464,-0.09010557]],"activation":"σ"},{"dense_2_W":[[-0.6846211,-1.4150484,0.62999135,0.3430101,1.278193,-0.7957307,1.0221282],[0.16265254,-0.2179754,-0.03812709,-0.97449124,-0.69266665,-0.13029383,-0.6855177],[0.67744255,0.7218722,-0.15119076,-0.36107507,-0.6168378,0.3564611,-0.14333059],[0.44798878,0.054440223,-0.12721358,0.11809645,-0.061688833,0.04752611,0.13841292],[0.22670254,0.36689356,-0.44299468,0.53176785,0.3255846,-0.5087834,-0.24648738],[-1.1769708,-1.0265867,1.0046444,0.3265467,1.2754724,-0.6967977,1.0338258],[-0.07486774,-0.5789648,0.18375583,0.08036335,0.17746748,0.4459745,-0.28357828],[-0.98316115,-0.82948774,1.1131235,-0.30703646,0.70785904,-0.18001986,0.71042156],[0.10901459,0.64697224,-0.36924043,0.8418233,-0.18619084,-0.3438453,-0.58111745],[-0.13789596,-0.28369164,-0.24692981,-0.6745289,-0.83434075,0.4034985,-0.2338089],[0.5772887,-0.30526567,-0.8162497,0.44525668,0.23674823,0.12436892,-0.7137595],[-0.59163356,-0.21955788,0.26342097,-1.3260666,1.5348077,-0.15188397,-0.24587795],[-0.864029,-0.23358338,-0.21427485,-0.45828933,-0.8476076,0.7652582,0.07033687]],"activation":"σ","dense_2_b":[[-0.2084633],[-0.3401461],[0.03563889],[-0.019227123],[0.033816546],[-0.21475661],[-0.108693056],[0.0054793637],[-0.055306572],[-0.3065528],[-0.067040265],[-0.22550777],[-0.33363193]]},{"dense_3_W":[[-0.27252012,0.28291574,0.104386985,-0.27400178,0.03230503,-0.36361536,0.03550164,-0.098785385,0.5028087,0.15802625,0.25782102,-0.3110525,0.3512787],[-0.35834575,-0.20253947,0.08262887,0.49909568,0.40528995,-0.21334086,0.27457196,-0.6656153,-0.24731882,0.07225506,0.18140426,0.56584823,-0.53368413],[0.44071397,0.39182287,-0.45943233,-0.42492127,-0.5459261,0.56124943,0.37052932,0.3689143,-0.69441694,0.41806287,-0.031108733,0.5795106,0.5095399]],"activation":"identity","dense_3_b":[[0.044206124],[0.04141924],[-0.087050036]]},{"dense_4_W":[[0.7859495,0.4201428,-0.711207]],"dense_4_b":[[0.048112456]],"activation":"identity"}]} |