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":[[7.415863],[0.8583176],[0.3856797],[0.031867158],[0.84238064],[0.8479653],[0.85318357],[0.8488065],[0.84401506],[0.83682716],[0.8221359],[0.03176191],[0.031782564],[0.03180224],[0.031836487],[0.03187497],[0.03179108],[0.031642724]],"model_test_loss":0.006253075320273638,"input_size":18,"current_date_and_time":"2023-08-13_13-54-43","input_mean":[[27.552174],[-0.011369959],[0.0032041054],[-0.005240609],[-0.0099758925],[-0.009811709],[-0.010034873],[-0.008717237],[-0.008171778],[-0.009641522],[-0.009617026],[-0.005033958],[-0.005085749],[-0.00514212],[-0.0053138044],[-0.005393524],[-0.005487565],[-0.0055648554]],"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":[[-2.9255316],[-1.3106222],[-0.28385758],[-0.005533128],[0.8718399],[0.13129508],[0.65529805]],"dense_1_W":[[-1.3177696,0.19991967,-2.7236588,0.47501546,-0.20533472,-1.0557586,0.17047773,0.009924321,0.06776284,0.115778096,-0.17705421,0.32459033,-0.0209746,0.12562141,-1.2017485,-0.427539,0.047930263,0.45157415],[0.14440672,-0.63587517,0.04897055,-0.22241928,0.012585529,-0.9856927,0.060655825,0.10771243,-0.11834612,-0.2647466,0.041776862,-0.005160143,0.4143384,-0.08409255,0.38516775,-0.06466858,0.4800853,0.116947636],[-0.048163578,-0.15507038,0.10709546,0.05433569,-0.78400093,-0.10471941,-0.687971,0.24902299,-0.28871644,-0.15858674,-0.15051886,-0.07557398,-0.21722956,0.19256075,0.9204932,-0.025876911,0.377379,0.11786139],[-0.0023113806,-1.1656983,-0.016276661,0.3712625,0.26083446,-0.8202079,0.7635671,0.12174111,-0.3810017,-0.4706684,0.476022,-0.1495595,-0.17617117,-0.0334313,0.34056324,-0.12129183,-0.18112142,0.0017632246],[0.36963087,-0.08762645,-1.6472614,0.58248544,0.099876635,-0.68770367,0.1060096,0.01555146,0.21880303,-0.07295039,-0.04888322,0.11901441,-0.3384761,0.6579154,-1.1264246,-0.25798565,-0.2051824,0.49036825],[-0.001395127,0.31909215,0.038826507,-0.16812363,-0.41808403,0.78146785,-0.12594081,-0.050199978,-0.0973126,-0.31068856,0.23852174,0.42455164,-0.08920052,0.24407244,-0.54622006,-0.2538641,0.038934287,0.26070222],[-0.1450647,-0.5672448,0.046273015,-0.3383503,-0.18226248,-0.75000846,0.22487456,-0.1403406,-0.19991998,0.040012,-0.07465593,-0.30669475,0.20688607,0.35658067,0.7150998,-0.056518137,0.2800083,0.09291142]],"activation":"σ"},{"dense_2_W":[[-0.26085964,0.3516763,-0.17330408,0.661693,0.17870913,-0.16493158,0.19355819],[-0.13368994,0.024639409,-0.57033145,0.5646507,0.3874018,-0.6424429,0.5143024],[0.36197537,-0.4894154,0.86991316,-1.0450212,-0.8808762,1.005693,-0.50344414],[0.037066706,-0.30221042,0.07532641,0.059567153,0.41288042,-0.6703966,0.5937009],[-0.3279511,-0.5896927,0.04172026,-0.25627023,0.311046,0.46807423,-0.7380045],[-0.17663476,-0.15280105,0.25481316,0.22980238,0.32853058,0.026288528,0.4474023],[-0.6216895,-0.43472454,0.16474614,0.24401735,-0.009333907,-0.55698293,-0.4658436],[0.64419144,-0.21330142,0.9627268,-1.1507334,-1.3168378,0.21035595,-0.22476402],[-0.22558647,-0.076528445,0.7357744,-0.89835054,-0.7661023,0.90134853,-0.07517657],[0.35094383,0.18648076,0.03390864,0.4248296,0.04366893,-0.26929817,-0.26258168],[-0.62187046,-0.59535176,0.72753495,-0.94289756,0.049893454,1.2905704,-0.16296726],[-0.39337137,-0.90796244,0.8290803,-0.22699821,0.17312697,0.98712176,-0.73924625],[-0.27244756,-0.37847507,0.122294754,-0.34000623,-0.034100182,0.08922609,-0.2426594]],"activation":"σ","dense_2_b":[[0.101125225],[0.10885535],[0.20420383],[0.009535166],[0.31587136],[0.07603302],[-0.357305],[-0.0620017],[0.11676147],[-0.21882989],[0.2917003],[0.07597336],[0.053113062]]},{"dense_3_W":[[0.6511969,0.195776,-0.49096948,0.4126447,-0.74414754,0.26202098,0.05113331,0.17945053,-0.2824012,0.28811157,-0.43237004,-0.7557984,-0.2802274],[-0.087479815,-0.5842241,-0.22641535,0.16699481,0.14202616,-0.02455116,0.32574484,0.81653625,0.4594011,0.2965805,0.22684464,-0.10494171,-0.37137553],[0.40364054,-0.2642197,-0.114815384,-0.49680176,0.411435,-0.15565751,-0.42915186,0.5777007,-0.27192292,0.27795404,-0.49125576,-0.23119576,0.09542205]],"activation":"identity","dense_3_b":[[0.16922124],[-0.16786872],[-0.1235053]]},{"dense_4_W":[[-1.0848238,0.43780962,0.121263236]],"dense_4_b":[[-0.16589022]],"activation":"identity"}]} |