
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":[[8.369346],[1.0345815],[0.48595738],[0.038879942],[1.0224149],[1.0270526],[1.0309867],[1.0154411],[0.9946685],[0.9673825],[0.9462645],[0.038886003],[0.03886903],[0.038842827],[0.038692325],[0.038516246],[0.03829045],[0.038023546]],"model_test_loss":0.011551334522664547,"input_size":18,"current_date_and_time":"2023-08-13_21-17-35","input_mean":[[24.614252],[-0.027011419],[0.0014726992],[0.008945528],[-0.02214811],[-0.023875551],[-0.025268542],[-0.021144817],[-0.020492183],[-0.01736523],[-0.01178769],[0.009003565],[0.009013808],[0.009026339],[0.009184481],[0.009248184],[0.009236562],[0.00922171]],"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":[[0.3147287],[-1.6872499],[-0.42541492],[-2.6292078],[0.028035024],[0.03459358],[0.07949542]],"dense_1_W":[[0.047803342,-1.4541457,-7.672288,1.0376374,0.90106887,-0.5459878,0.30515322,-0.08935539,-1.0962652,0.29930526,0.7711765,-0.47839776,-0.067261726,-0.31026986,0.096002005,-0.19196555,0.049338873,0.037196536],[-0.9811775,-0.78911555,-2.1510236,0.50958246,-0.4388312,-0.96856743,0.28030896,0.1779042,0.0768994,-0.13534106,0.16211012,-0.5117382,-0.4880125,0.4930607,0.42255047,-0.427145,-0.016792877,0.04354907],[0.24651746,1.9175419,-0.001038614,0.4657561,-0.7955447,0.28141394,-0.21989036,0.7032182,0.021002548,0.054642107,-0.25775212,-0.18840952,-0.19194557,-0.11614515,-0.2208172,-0.18785909,-0.100455984,0.11671375],[-1.110365,1.4617373,2.5632505,-0.6936042,0.18904822,1.2634845,-0.7143399,0.43131736,-0.6782005,-0.11955076,0.014935311,-0.053061865,0.60653067,0.2520773,-0.5539984,0.37587786,0.38024148,-0.29947954],[-0.049056992,3.2711048,-0.0012738818,-0.9280159,0.06959995,1.3438661,2.1296465,1.5839107,1.2994887,0.2974056,-0.4331058,0.5643816,0.17077604,0.46159738,0.13453983,0.32876533,0.29972157,-0.19157079],[-0.002617311,-0.26627848,0.00035574558,0.15850249,-0.51069593,-0.9413688,1.3242084,0.36154234,-0.037687466,-0.12007863,-0.103309914,-0.08942667,-0.49348807,0.24432492,0.19013445,0.090723045,0.09632228,-0.19452243],[-0.3788624,1.6411204,0.0010042163,-0.7426254,-0.9095712,0.5644892,0.10306167,0.37586528,0.35857487,-0.26580176,-0.07742835,0.38095754,0.35132152,-0.26794037,-0.5125942,0.26599923,-0.07368752,0.14955874]],"activation":"σ"},{"dense_2_W":[[-1.1191249,-0.44653374,0.3957576,0.20264097,0.8131554,-0.8871739,0.76233166],[0.24396768,-0.11242304,0.11703958,0.23683518,0.26508585,-0.8381617,-0.010156824],[0.95748633,-0.8170791,0.91270953,-2.2128932,-1.7108568,-0.3102869,-0.51243025],[-1.0560807,-0.18680175,1.0978043,-0.1330585,0.50391763,-0.61881065,0.40257195],[0.13224883,0.33161446,-1.2939858,-0.86368215,0.25465244,0.41896132,-0.4954958],[-0.9718114,-1.1362193,0.12704434,-0.7889261,0.67179495,-0.025664078,-1.2435114],[-1.0912126,-1.4135875,0.87950945,-0.07909115,0.74423045,0.08346314,-1.4557395],[-0.47076926,-0.09556143,-0.26575336,0.30210772,-0.032517277,-0.6874358,-0.28881064],[0.91966176,0.10665701,-0.91860026,-0.33751714,-0.06834981,0.93626994,-0.6571628],[0.5642148,0.49901268,-1.3865877,-0.5038256,-0.77347946,0.10353698,0.12781042],[-0.13634703,-0.63548046,-0.12139281,-0.35569352,-0.15445279,-0.60711306,0.38474676],[0.45710889,0.071052924,-0.6941922,-0.40552536,-0.2624531,0.30862984,-0.21026665],[-0.17136033,0.13013878,-0.56358737,0.017554766,-0.8674639,0.5193747,0.404817]],"activation":"σ","dense_2_b":[[-0.24010156],[-0.03701659],[-0.11688351],[0.0057563568],[-0.2258239],[-0.12888032],[-0.04495887],[-0.19279772],[-0.024947112],[-0.24512185],[-0.06996539],[0.002301173],[-0.18535274]]},{"dense_3_W":[[-0.3262236,0.2867189,-0.46465525,-0.12294561,-0.09975732,0.6389669,-0.06613567,-0.6155315,0.5748487,0.5216139,-0.4668207,0.35530105,0.2609643],[-0.63311577,-0.7085013,-0.31479278,-0.63713,0.32777005,0.2345535,0.7747577,0.2789224,0.3357283,0.53898865,-0.15058397,0.20608704,0.49955884],[-0.72667474,-0.25321692,-0.17046283,-0.11438071,0.5548703,-0.008387027,0.6999693,0.052387122,-0.2282906,-0.32617927,0.025806168,0.50178117,0.5016455]],"activation":"identity","dense_3_b":[[-0.09833234],[-0.08791367],[0.020298293]]},{"dense_4_W":[[-0.5844458,-0.98398805,-0.08582402]],"dense_4_b":[[0.08352287]],"activation":"identity"}]} |