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":[[6.563397],[0.8385782],[0.38159406],[0.0343706],[0.82969534],[0.8327079],[0.8353158],[0.8362094],[0.8282918],[0.8180939],[0.80514234],[0.0341284],[0.03419915],[0.034257572],[0.034370307],[0.034313396],[0.034115147],[0.03375072]],"model_test_loss":0.011564328335225582,"input_size":18,"current_date_and_time":"2023-08-13_15-45-22","input_mean":[[21.38968],[-0.041864436],[0.016576989],[-0.021341346],[-0.045225102],[-0.044813316],[-0.04361269],[-0.034834445],[-0.031572755],[-0.024205465],[-0.018740682],[-0.021514442],[-0.021450149],[-0.021384653],[-0.021149829],[-0.021141373],[-0.020979993],[-0.020896269]],"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":[[2.5755177],[0.03428629],[-0.71415836],[0.22175552],[-0.09201754],[-2.8689044],[-0.1045704]],"dense_1_W":[[0.9483997,0.9610236,0.20808627,-0.30212918,0.053525597,0.5834779,-0.93940276,0.65561306,0.36549884,0.3216295,-0.21082531,0.44739217,-0.29857454,-0.11884895,-0.15256537,0.60311323,0.081600666,-0.23139988],[-0.005265079,1.3001031,3.8029873,-0.32444727,-2.6160483,0.2214184,0.058062643,1.1854216,1.1538562,0.15885483,-1.0735705,0.3265351,0.5016962,-0.4941123,0.016058635,-0.25360242,0.15720944,0.08846265],[0.0012037685,-0.65408915,-1.5829769,0.33530995,0.7700829,0.047827095,0.5908282,-0.17494035,-0.26473024,0.51929754,1.1789833,0.0807209,-0.24442843,0.60358465,0.003373896,0.6164561,0.045661986,-0.14974658],[-0.0006085811,-0.6465432,0.0034944871,-0.15468381,0.67403156,-0.93398803,-0.13589555,-0.35583574,-0.57860667,-0.21501748,0.385936,-0.3407401,0.20494653,0.20552959,0.12731454,0.0399628,-0.2351022,0.091997944],[-0.0065293787,0.7746981,0.51969033,-0.5453975,-0.051220566,0.95546484,-0.24264541,-0.19263709,0.3042942,-0.4307904,-0.4401109,0.31372312,0.5982625,-0.32563445,-0.3293053,-0.076774836,0.30764472,0.03080843],[-0.9222714,0.65885305,0.20200571,0.0613283,-0.12522168,0.3155805,-0.17339218,0.62215847,0.3577474,0.3287558,-0.23576994,0.2977285,0.15171073,-0.54179823,-0.20839736,0.14107114,0.29692984,-0.17770605],[0.0037967945,0.9581507,-0.0014370086,-0.49775982,-0.13051113,1.0137179,-1.1507403,0.24028304,-0.79054755,0.17817192,0.17676984,0.99630857,-0.077027574,-0.20737489,-0.5133581,0.0631313,-0.34999797,0.48768488]],"activation":"σ"},{"dense_2_W":[[-0.48959735,-0.59383065,0.068969965,0.4048074,-0.09356656,-0.22178447,-0.008503189],[-0.47465578,0.046973683,-0.30203333,0.7319351,0.37943313,-0.7515599,-0.7609684],[-0.7812694,-0.1668936,0.34998512,0.6032413,0.2552332,-0.07198844,-0.9453271],[-0.1400433,0.56433755,-0.28285316,-0.5249183,-0.061916184,0.5938611,0.43950254],[-0.19838578,-0.120480634,-0.2613999,0.040656477,-0.57329947,0.035204634,-0.23756325],[-0.31026715,-0.91703445,0.5292604,-0.6104651,-0.35656053,0.19026318,-0.33533737],[0.362478,-0.6857054,-0.061543047,0.14211811,0.38036314,-0.5977386,-0.6514936],[0.28820255,0.014584735,-0.5350505,-0.664403,0.6750804,0.35808724,0.39167216],[-0.82168514,-1.1079371,-0.18080051,-0.79870147,0.12686022,0.18076727,0.08958418],[0.2513723,0.17902936,-0.30011544,-0.714674,0.51919776,-0.23153323,0.7435418],[0.30748522,0.12669975,0.081522584,-0.5034588,0.030012246,-0.017879713,0.6410725],[0.26371044,0.34655178,-0.59103256,-0.43619967,-0.687298,-0.7533559,-0.3246515],[-0.38202673,-0.58601105,-0.24320982,0.69089496,-0.5146493,0.17502482,0.060758125]],"activation":"σ","dense_2_b":[[-0.03921857],[0.20950015],[0.05701196],[-0.24196394],[-0.043847077],[-0.09972506],[0.084566765],[-0.11199834],[-0.23634689],[-0.19677764],[-0.08626865],[-0.08511737],[0.08237302]]},{"dense_3_W":[[0.2521058,0.05273895,0.14777374,0.2316707,-0.03372719,0.37708887,-0.22231328,-0.14752237,0.024881583,0.14600374,-0.36284056,-0.053377006,0.15762502],[0.17785782,0.65084356,0.653211,-0.65019035,0.20140639,0.38871175,0.24968603,-0.6089574,0.30058384,-0.08686883,-0.49139014,0.17155631,0.48726168],[-0.11656486,0.2625412,-0.3139385,0.10613407,0.4817832,0.19348018,0.08415106,-0.6385824,-0.2113412,-0.5868329,0.1681216,0.33424532,0.14378552]],"activation":"identity","dense_3_b":[[0.046604935],[-0.0675065],[-0.049730938]]},{"dense_4_W":[[0.40339613,-1.2102003,-0.3411253]],"dense_4_b":[[0.061254077]],"activation":"identity"}]} |