mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
648 lines
418 KiB
Python
648 lines
418 KiB
Python
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import tensorflow as tf
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import sys
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import numpy as np
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import pybullet as p
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import time
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p.connect(p.SHARED_MEMORY) #DIRECT is much faster, but GUI shows the running gait
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p.resetSimulation()
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p.setGravity(0,0,-9.8)
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p.setRealTimeSimulation(0)
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p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
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#this mp4 recording requires ffmpeg installed
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#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
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plane, human = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
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print("human")
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print(human)
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p.setVRCameraState([0,0,0],[0,0,0,0],human, trackObjectFlag=human)#p.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
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ordered_joints = []
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ordered_joint_indices = []
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jdict = {}
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for j in range( p.getNumJoints(human) ):
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info = p.getJointInfo(human, j)
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link_name = info[12].decode("ascii")
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if link_name=="left_foot": left_foot = j
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if link_name=="right_foot": right_foot = j
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ordered_joint_indices.append(j)
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if info[2] != p.JOINT_REVOLUTE: continue
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jname = info[1].decode("ascii")
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jdict[jname] = j
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lower, upper = (info[8], info[9])
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ordered_joints.append( (j, lower, upper) )
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p.setJointMotorControl2(human, j, controlMode=p.VELOCITY_CONTROL, force=0)
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motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
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motor_power = [100, 100, 100]
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motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
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motor_power += [100, 100, 300, 200]
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motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
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motor_power += [100, 100, 300, 200]
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motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
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motor_power += [75, 75, 75]
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motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
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motor_power += [75, 75, 75]
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motors = [jdict[n] for n in motor_names]
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class Dummy:
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pass
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dummy = Dummy()
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dummy.initial_z = None
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def current_relative_position(jointStates, human, j, lower, upper):
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#print("j")
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#print(j)
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#print (len(jointStates))
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#print(j)
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temp = jointStates[j]
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pos = temp[0]
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vel = temp[1]
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#print("pos")
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#print(pos)
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#print("vel")
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#print(vel)
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pos_mid = 0.5 * (lower + upper);
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return (
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2 * (pos - pos_mid) / (upper - lower),
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0.1 * vel
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)
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def collect_observations(human):
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#print("ordered_joint_indices")
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#print(ordered_joint_indices)
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jointStates = p.getJointStates(human,ordered_joint_indices)
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j = np.array([current_relative_position(jointStates, human, *jtuple) for jtuple in ordered_joints]).flatten()
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#print("j")
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#print(j)
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body_xyz, (qx, qy, qz, qw) = p.getBasePositionAndOrientation(human)
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#print("body_xyz")
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#print(body_xyz, qx,qy,qz,qw)
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z = body_xyz[2]
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dummy.distance = body_xyz[0]
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if dummy.initial_z==None:
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dummy.initial_z = z
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(vx, vy, vz), _ = p.getBaseVelocity(human)
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more = np.array([z-dummy.initial_z, 0.1*vx, 0.1*vy, 0.1*vz, qx, qy, qz, qw])
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rcont = p.getContactPoints(human, -1, right_foot, -1)
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#print("rcont")
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#print(rcont)
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lcont = p.getContactPoints(human, -1, left_foot, -1)
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#print("lcont")
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#print(lcont)
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feet_contact = np.array([len(rcont)>0, len(lcont)>0])
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return np.clip( np.concatenate([more] + [j] + [feet_contact]), -5, +5)
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class SmallReactivePolicy(object):
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def __init__(self, name, ob_space, ac_space):
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self.name = name
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with tf.variable_scope(name):
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batch_of_observations = [None] + list(ob_space.shape)
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self.ob = tf.placeholder(dtype=tf.float32, shape=batch_of_observations, name="ob")
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x = self.ob
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width = 256
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self.dense1_w = tf.get_variable("dense1_w", [x.get_shape()[1], width])
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self.dense1_b = tf.get_variable("dense1_b", [width])
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x = tf.nn.relu(tf.matmul(x, self.dense1_w) + self.dense1_b)
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width = 128
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self.dense2_w = tf.get_variable("dense2_w", [x.get_shape()[1], width])
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self.dense2_b = tf.get_variable("dense2_b", [width])
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x = tf.nn.relu(tf.matmul(x, self.dense2_w) + self.dense2_b)
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assert(len(ac_space.shape)==1)
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width = ac_space.shape[0]
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self.final_w = tf.get_variable("final_w", [x.get_shape()[1], width])
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self.final_b = tf.get_variable("final_b", [width])
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x = tf.matmul(x, self.final_w) + self.final_b
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self.action_node = x
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self.all_variables = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, tf.get_variable_scope().name)
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def act(self, ob):
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a = tf.get_default_session().run(self.action_node, feed_dict={ self.ob: ob[None] })
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return a[0]
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def load_weights(self):
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assigns = [
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(self.dense1_w, weights_dense1_w),
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(self.dense1_b, weights_dense1_b),
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(self.dense2_w, weights_dense2_w),
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(self.dense2_b, weights_dense2_b),
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(self.final_w, weights_final_w),
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(self.final_b, weights_final_b)]
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to_run = []
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feed_dict = {}
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for var, w in assigns:
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ph = tf.placeholder(tf.float32, w.shape)
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to_run.append( tf.assign(var, ph) )
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feed_dict[ph] = w
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tf.get_default_session().run(to_run, feed_dict=feed_dict)
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def demo_run():
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sess = tf.InteractiveSession(config=tf.ConfigProto(inter_op_parallelism_threads=1, intra_op_parallelism_threads=1, device_count={ "GPU": 0 }))
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pi = SmallReactivePolicy("pi", np.zeros((44,)), np.zeros((17,)))
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pi.load_weights()
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t1 = time.time()
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timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "humanoidTimings.json")
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frame = 0
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while 1:
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obs = collect_observations(human)
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actions = pi.act(obs)
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#print(" ".join(["%+0.2f"%x for x in obs]))
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#print("Motors")
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#print(motors)
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#for m in range(len(motors)):
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#print("motor_power")
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#print(motor_power[m])
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#print("actions[m]")
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#print(actions[m])
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#p.setJointMotorControl2(human, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
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#p.setJointMotorControl2(human1, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
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forces = [0.] * len(motors)
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for m in range(len(motors)):
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forces[m] = motor_power[m]*actions[m]*0.082
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p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
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p.stepSimulation()
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time.sleep(0.01)
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distance=5
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yaw = 0
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humanPos, humanOrn = p.getBasePositionAndOrientation(human)
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#p.resetDebugVisualizerCamera(distance,yaw,20,humanPos);
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frame += 1
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if frame==1000: break
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t2 = time.time()
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print("############################### distance = %0.2f meters" % dummy.distance)
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print("############################### FPS = ", 1000/ (t2-t1))
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#print("Starting benchmark")
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#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
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#p.stopStateLogging(logId)
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print("ended benchmark")
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print(frame)
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p.stopStateLogging(timinglog)
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weights_dense1_w = np.array([
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[ -0.3857, -0.7450, +0.1473, +0.1996, +0.0570, +0.4522, +0.1172, +0.7558, -0.2530, -0.7948, +0.3120, +0.6216, +0.1044, -0.4347, +0.0921, +0.0187, +0.2030, +0.2042, -0.2928, +0.2717, +0.5117, +0.1115, -0.0278, -0.0675, -0.2967, +0.3128, -0.1434, -0.0476, +0.0561, -0.1874, +0.1675, -0.1028, +0.0712, +0.8653, -0.5565, -0.1207, +0.0982, -0.2875, -0.0755, -0.3057, -0.0841, +0.5336, +0.2068, -0.0132, -0.2131, -0.5910, +0.1329, +0.2789, +0.0036, +0.0048, +0.2655, +0.3585, +0.2861, -0.2288, -0.0646, +0.0569, -0.4701, -0.0116, +0.4616, +0.0947, -0.1013, -0.0256, +0.2854, +0.3382, +0.0822, +0.1160, -0.4913, +0.3991, +0.0121, -0.3392, +0.2515, +0.7188, +0.3412, +0.1247, +0.1422, +0.0420, +0.1401, +0.5830, +0.0226, +0.6080, +0.3019, -0.7696, -0.0580, +0.2104, +0.3786, +0.2968, -0.3726, +0.2792, +0.3572, -0.4362, +0.5368, +0.0068, +0.4366, -0.4799, +0.2688, +0.1115, +0.0251, +0.4107, -0.0358, +0.0198, +0.2563, +0.0315, -0.1143, +0.6191, +0.1694, +0.4175, +0.1873, +0.0678, +0.1324, +0.3038, +0.0610, +0.2491, -0.2730, +0.2933, +0.1704, +0.1746, +0.1444, -0.2578, +0.3743, +0.3837, +0.3294, +0.0433, +0.5242, -0.3465, +0.1618, -0.5255, -0.1703, +0.0420, +0.5505, +0.4046, +0.1596, +0.3973, -0.5158, -0.2922, +0.3183, -0.0244, +0.3496, +0.4069, -0.1961, +0.2705, -0.1008, -0.4008, -0.1443, -0.2113, +0.2064, -0.3466, +0.2565, +0.0279, +0.5785, -0.2918, +0.7262, +0.0285, -0.1779, +0.2811, -0.2066, +0.5471, -0.7668, +0.1909, -0.5684, -0.0002, +0.2291, -0.0631, +0.0823, +0.5520, -0.3267, +0.0143, +0.4295, +0.2594, +0.3523, -0.1266, +0.4412, -0.2685, +0.0863, +0.1779, +0.1280, +0.5087, +0.0809, +0.1118, -0.5754, -0.3300, -0.0032, +0.7060, -0.5172, -0.6553, -0.0951, -0.0129, +0.1382, -0.0504, -0.2634, +0.2659, -0.1932, -0.3762, +0.3072, +0.1612, +0.2942, -0.1438, -0.0850, +0.1877, +0.4726, +0.2751, -0.0787, +0.3128, -0.1351, +0.2552, -0.4833, -0.0322, +0.3641, +0.3715, -0.1938, +0.5040, -0.0598, +0.0341, +0.6252, -0.2977, +0.2694, +0.0525, +0.6295, -0.1007, -0.0406, +0.1028, +0.5181, +0.2201, +0.2269, +0.3724, -0.1985, -0.1614, +0.0093, +0.2851, +0.0191, +0.0620, +0.1989, +0.5905, +0.5589, +0.1896, +0.3859, +0.1207, -0.0323, +0.3912, +0.2950, +0.3255, +0.2765, -0.3384, +0.4286, +0.2692, +0.2889, +0.5955, +0.0918, -0.3228, +0.3828, -0.0196, -0.0484, +0.3256, -0.1361, +0.5124, -0.1782, +0.2984],
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||
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])
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weights_dense1_b = np.array([ -0.0562, -0.1282, -0.3753, -0.1119, -0.0136, -0.2313, -0.0345, +0.0894, -0.0010, -0.0601, -0.0762, -0.1205, -0.1190, +0.0179, -0.0906, -0.0572, +0.0797, -0.2050, -0.0318, -0.2306, -0.0182, -0.0847, +0.0607, -0.1987, -0.1262, -0.1896, -0.0226, -0.0034, -0.0809, +0.0404, +0.0756, -0.1168, -0.0733, -0.0739, +0.0161, -0.0528, +0.0067, +0.0332, -0.2382, -0.0745, -0.0184, -0.0287, +0.1160, -0.0248, -0.1523, -0.0589, -0.3165, -0.0986, -0.0604, -0.0633, +0.0549, -0.0209, -0.0474, -0.2358, -0.0890, -0.1201, -0.0595, +0.1562, -0.1967, -0.0995, -0.1231, +0.0500, +0.0962, -0.1140, +0.0393, -0.1390, -0.1273, -0.0866, +0.0868, -0.0849, -0.1148, -0.2904, +0.0706, -0.1821, -0.1143, -0.2196, -0.0112, -0.0375, -0.1567, -0.0589, +0.1257, +0.1125, -0.1020, +0.0818, -0.2838, -0.1653, -0.1676, -0.0244, -0.0784, -0.0181, -0.0429, -0.0966, +0.0494, +0.0093, -0.0858, -0.0919, -0.1196, -0.2181, +0.0292, -0.2283, -0.2595, -0.0925, -0.0134, -0.0093, +0.0310, +0.0078, -0.0172, -0.0803, -0.0386, +0.1367, -0.1948, -0.0290, +0.0785, -0.0464, +0.0371, -0.0128, -0.0377, -0.0724, +0.1637, -0.1972, -0.1093, -0.1634, -0.0691, -0.0834, -0.2310, -0.2676, -0.0683, -0.0024, -0.1401, -0.0378, -0.1633, -0.1665, -0.1098, -0.0746, -0.0684, -0.1914, -0.1284, -0.0998, +0.0577, -0.0638, -0.0885, -0.0445, -0.0384, -0.1012, +0.0067, -0.2128, -0.1312, +0.0526, +0.1238, +0.0742, +0.0261, +0.0444, +0.0614, +0.1223, +0.1232, -0.1827, -0.1289, -0.0469, -0.1420, +0.0705, -0.2220, -0.2401, -0.1121, -0.1697, -0.1621, +0.0688, +0.0688, -0.0040, -0.0048, -0.0416, -0.1265, +0.0311, +0.0280, +0.0287, -0.1893, -0.0966, -0.0876, -0.1778, +0.0000, +0.0074, -0.0978, -0.1932, -0.0790, +0.0037, -0.1398, -0.1006, -0.0532, -0.1227, +0.1148, -0.1254, -0.1134, +0.1205, -0.1588, +0.1093, -0.2470, -0.0915, -0.1715, -0.0036, -0.2943, +0.1375, +0.1075, -0.0339, -0.0491, +0.0060, +0.0145, -0.1867, +0.0646, -0.1327, -0.0529, -0.0830, +0.1433, -0.1924, -0.0285, -0.2420, -0.2244, -0.1451, -0.1009, -0.1149, +0.0846, +0.0473, +0.1568, -0.0062, -0.1289, -0.2085, +0.0600, -0.1314, -0.1569, +0.2043, -0.0302, -0.1666, +0.0473, -0.0075, -0.2825, -0.0696, -0.2223, -0.2911, -0.0567, -0.0510, +0.0184, -0.2132, -0.0371, +0.1715, -0.1301, -0.0310, +0.1523, -0.0142, +0.0185, -0.0030, -0.0725, -0.1011, -0.0923, -0.1991, -0.1686, -0.1198, -0.2226, -0.1094])
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weights_dense2_w = np.array([
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||
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|
[ +0.0445, +0.3258, -0.3897, -0.9250, -0.1552, +0.0457, -0.1724, -0.0763, -1.4100, +0.1473, -0.1446, -0.3841, +0.1477, -0.0290, +0.1949, +0.3805, -0.0565, +0.0721, +0.4733, -0.8596, +0.1278, -0.7788, +0.2252, +0.5076, +0.3259, -0.4569, +0.0218, -1.1651, -0.6023, +0.5247, -0.0698, -0.5287, -0.4980, -0.3742, -0.3540, +0.2404, -0.2737, -0.0001, -0.2909, -0.6940, +0.1236, -0.4878, -0.2978, -0.0255, -0.2776, -0.0096, -0.0926, +0.3629, +0.1967, -1.4511, +0.0184, -0.0039, -0.0859, -0.3284, +0.1288, -0.2185, -0.4335, -0.0137, -0.4161, -0.1739, +0.1742, +0.1686, -0.7623, -0.4584, +0.0873, -0.1496, -0.2064, -0.2601, -0.0554, +0.1165, -0.1830, +0.3370, -0.3273, -0.0035, -0.5173, -0.4919, -0.5520, +0.4621, -0.3296, +0.2683, -0.2363, +0.2684, +0.5559, -0.0760, -0.3864, -0.5297, -1.1667, -0.1952, +0.1237, -0.0796, -0.2315, -0.1927, +0.0855, +0.1945, +0.2481, +0.3408, +0.5076, +0.2756, +0.2805, +0.2590, +0.0864, +0.1665, +0.7472, +0.0074, +0.1091, -0.7141, -0.1676, +0.0718, -0.2115, -0.1887, -0.4651, +0.3149, +0.1988, -0.4582, -0.0331, -0.0648, +0.1369, -0.3698, +0.3056, +0.6038, -0.4791, -0.8684, -0.3822, -0.4373, -0.3103, +0.1921, -1.2456, -0.1832],
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||
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[ +0.4725, -0.6903, +0.1069, -0.2764, -0.4829, +0.1424, -0.4064, -0.7198, +0.0647, -0.1901, +0.5348, -0.2738, -0.2990, -0.3179, -0.0097, -1.5312, +0.5687, +0.1389, -0.4395, -0.3930, +0.5095, -0.1703, -0.1827, +0.0805, +0.4156, +0.3704, -0.1195, -0.1711, +0.2741, +0.3656, -0.2913, -0.8413, +0.1128, -0.0996, +0.5234, +0.1482, +0.4244, -0.4038, -0.2496, -0.0959, +0.0538, -0.4928, -0.3236, -0.3246, +0.2523, +0.0080, +0.1540, -0.5401, -0.4358, +0.5393, -0.7050, +0.5095, -0.1597, -0.6963, -0.5342, -0.4408, +1.3109, -0.1664, -0.3779, -0.9932, +0.2030, +0.9412, -0.3152, +0.1530, +0.2447, -0.4332, -0.1578, -0.9264, -1.2485, +0.1622, +0.5076, -0.6892, -0.0615, +0.1607, -1.5503, +0.0253, +0.6621, +0.5765, -0.7294, -0.3851, -0.2190, -0.7339, -0.7382, -0.1852, +0.1626, -1.1072, -0.3674, -0.7856, -0.0389, -0.0732, -1.1486, -0.4915, +0.3573, -0.0292, +0.4741, +0.2513, +0.5534, +0.3612, -0.8750, -0.8013, +0.4614, -1.1983, -0.0763, +0.5898, +0.5711, +0.2504, -0.4979, +0.0021, -0.4765, +0.0824, -0.1976, -0.4295, +0.3984, -1.3600, -0.1005, -0.4039, +0.1267, +0.2414, -0.3044, -0.9220, -0.8115, +0.2719, +0.0273, +0.2470, -0.3792, -0.3335, +0.0905, +0.5115],
|
||
|
|
[ +0.2076, +0.0608, +0.1159, -0.2067, -0.4900, -0.1953, -0.1437, +0.4170, -0.0335, -0.0583, +0.0487, -0.3439, -0.5721, +0.3095, +0.1239, +0.1339, +0.3199, +0.2520, -0.8602, -0.1184, +0.3002, +0.1484, -0.0931, -0.2876, -0.4837, -0.2327, -0.3427, -0.1833, -0.2469, +0.2013, +0.3121, +0.2055, +0.2293, -0.5355, +0.1646, -0.0459, +0.1082, -0.1895, -0.2310, -1.0031, +0.2505, -0.0454, -0.3693, -0.1980, +0.6906, -0.0510, -0.2170, +0.3851, +0.3530, -0.2247, -0.1184, -0.1441, +0.6583, +0.1746, +0.1381, +0.3182, +0.1797, +0.4545, -0.3327, +0.3556, -0.4037, -0.6595, +0.2673, -0.0412, +0.4172, +0.3935, -0.0065, +0.0560, +0.2428, +0.3260, -0.6168, -0.0381, -0.6579, -0.2867, -0.1551, +0.3825, -1.0231, -0.0084, +0.1505, -0.2083, -0.3050, +0.3750, -0.3108, -0.4509, -0.0301, +0.2131, -0.3729, +0.3262, -0.0628, -0.2456, -0.1833, -0.1106, +0.2168, -0.3768, +0.2713, +0.5294, -0.2034, +0.0242, -0.6079, -0.1576, +0.2150, +0.2100, +0.4975, +0.1428, -0.1845, +0.3099, +0.2005, +0.0964, -0.2774, -0.1429, -0.2301, -0.0242, +0.3992, -0.2053, +0.1651, -0.0676, -0.0708, -0.1506, -0.5444, +0.2067, -0.1700, -0.2707, -0.1692, +0.1861, -0.0041, -0.0532, +0.0183, +0.2384],
|
||
|
|
[ -0.6375, +0.3651, +0.2436, +0.1752, -0.1460, -0.0626, +0.4601, +0.0446, -0.1151, +0.3228, -0.1859, +0.1703, +0.2150, +0.0290, -0.0694, +1.0209, +0.8811, +0.0272, -0.0669, +0.1925, +0.0989, -0.8075, +0.1572, -0.3682, -0.0514, -0.0063, +0.2538, -0.4736, -0.7416, -0.1268, +0.4847, -0.3042, -0.3548, -0.4044, +0.0744, -0.0751, -0.0986, +0.1080, +0.1435, -0.8579, +0.0235, -0.4297, +0.2014, -0.0363, +0.1568, -0.1170, +0.3229, +0.4236, +0.2343, -0.0142, +0.1517, +0.3264, -0.2739, -0.1967, -0.8886, -0.0304, +0.4113, +0.2752, -0.2778, -0.3894, -0.3228, -0.1496, +0.3176, -0.0606, +0.6366, +0.0869, -0.4706, -0.0623, +0.4748, -0.4167, -0.2650, -0.1523, -0.0372, -0.5838, -0.3944, -0.1141, -0.2120, -0.1428, -0.8031, +0.7924, +0.0753, +0.2618, -0.6083, +0.0661, +0.0275, +0.0300, +0.2161, +0.7156, +0.1853, +0.0142, +0.7981, +0.1379, -0.1876, +0.3035, +0.0018, +1.0314, +0.0758, -0.1061, +0.1913, -0.1958, -0.0590, -0.5442, +0.6021, +0.3196, +0.2609, +0.1737, -0.0722, -0.2525, -0.4437, -0.0467, +0.2741, -0.0649, -0.1994, -0.2601, -1.0840, -0.0605, +0.2686, -0.1046, +0.4438, -0.5226, +0.1733, -0.4228, -0.5853, +0.3934, -0.0476, -0.3616, -0.2780, -0.1258],
|
||
|
|
[ +0.6867, +0.4724, +0.3292, -1.1454, -0.2058, +0.4164, +0.2246, +0.0381, -0.5152, +0.8548, +0.4807, +0.2806, -0.2856, -0.3538, +0.2281, +0.9878, -0.2247, +0.6616, -0.1019, +0.3186, -0.6905, +0.0708, +0.5357, -0.1032, -0.7422, -1.2644, -0.4052, +0.6192, -0.1329, -0.2649, +0.5382, +0.4912, -1.2289, +0.0261, -0.3315, +0.0534, -0.5083, -0.1222, +0.4136, -0.4186, -0.6623, +0.0077, -0.1184, -0.6798, -0.4292, -1.3118, +0.0811, -0.0773, +0.3190, -0.6695, +0.5506, +0.6003, -0.5128, -0.4308, -0.2475, +0.8333, -0.7603, +0.1938, +0.3206, +0.1851, -0.0911, -0.2287, +0.6717, -0.0226, -0.6560, -0.3719, -0.4950, +0.2135, +0.1312, -0.1219, +0.2059, +0.4192, +0.5512, +0.4458, +0.0162, -0.1117, +0.2476, +0.3416, +0.1183, +0.1549, -0.2135, -0.6936, +0.3073, +0.3932, -0.3390, +0.8693, +0.3992, +0.5370, +0.5329, +0.6200, +0.2953, +0.0928, +0.3588, -1.3759, +0.1482, -0.0664, +0.3160, +0.4801, +0.4890, +0.3038, -0.6116, +0.1161, -0.3446, -0.3424, -0.1681, +0.1677, -0.6294, -0.9320, -0.4076, +0.2937, +0.6234, +0.0829, -0.8659, -0.2892, -0.2668, -0.7057, +0.5845, +0.2654, -0.6165, +0.0247, -0.2863, +1.0240, +0.0559, -0.2702, +0.2465, -0.3120, -0.4070, +0.0242]
|
||
|
|
])
|
||
|
|
|
||
|
|
weights_dense2_b = np.array([ +0.0589, +0.2417, -0.0986, +0.1092, +0.0381, +0.2114, +0.2297, +0.1468, -0.1559, -0.1759, +0.0344, +0.3008, +0.3244, +0.3597, +0.1691, +0.0277, +0.0064, +0.2372, +0.0961, +0.3293, +0.2077, +0.1230, +0.1195, +0.4294, +0.2816, +0.1169, +0.4083, +0.0309, +0.0433, +0.4852, +0.1903, +0.1055, +0.2894, +0.0468, +0.0669, +0.1655, -0.0712, +0.2791, +0.3653, +0.1661, +0.0730, +0.4481, +0.2336, +0.4547, +0.3048, +0.3674, +0.1072, +0.2519, +0.0875, +0.1864, +0.0793, +0.1467, +0.1665, -0.0635, +0.2464, +0.2529, +0.2301, +0.3551, +0.1974, +0.5505, +0.1776, +0.0702, -0.0460, +0.1697, -0.0007, +0.0430, +0.2190, +0.3566, +0.2163, +0.2470, +0.1928, -0.0373, +0.3103, +0.1705, +0.0386, +0.1008, +0.0483, -0.0530, +0.0899, +0.1354, +0.2905, +0.0686, +0.2512, +0.4373, +0.2106, +0.2685, +0.2320, +0.0750, +0.4447, +0.2390, -0.0136, +0.0224, +0.1565, -0.0579, -0.0142, +0.0710, +0.2252, +0.1527, +0.3315, +0.1419, +0.3483, +0.3999, +0.2818, +0.1021, +0.2659, +0.2742, +0.0814, +0.0849, -0.0068, +0.1339, +0.1216, +0.0148, +0.0219, -0.0728, +0.2957, +0.0854, +0.0055, -0.0289, +0.0866, +0.0203, +0.0353, +0.2069, +0.3297, +0.1171, +0.0607, +0.1667, +0.5721, -0.0218])
|
||
|
|
|
||
|
|
weights_final_w = np.array([
|
||
|
|
[ +0.1312, +0.2606, +0.0873, -0.2167, -0.0211, -0.2425, -0.2365, +0.0256, -0.0525, -0.1167, +0.0605, +0.1389, -0.0801, -0.2973, +0.1066, +0.0129, +0.0549],
|
||
|
|
[ +0.0107, +0.1381, +0.0126, -0.0227, +0.0100, -0.1605, -0.4347, -0.2622, -0.3952, +0.1417, -0.0394, -0.0345, -0.1321, +0.0973, +0.0614, -0.1857, +0.0101],
|
||
|
|
[ +0.0489, +0.0031, -0.2181, +0.2105, +0.2968, -0.2446, +0.0639, -0.2621, -0.0567, +0.0232, +0.1381, +0.2903, -0.1861, -0.4347, +0.5889, +0.1608, +0.3169],
|
||
|
|
[ +0.2935, +0.0971, -0.1493, +0.0123, -0.3232, +0.1984, -0.1904, +0.0674, -0.1251, -0.1421, -0.2297, +0.1642, +0.4883, +0.1015, +0.0046, -0.1664, -0.1933],
|
||
|
|
[ +0.0655, -0.0136, +0.1110, -0.0768, +0.0236, -0.0335, +0.2260, -0.4519, -0.0795, -0.3457, +0.0667, -0.3201, +0.3744, -0.0273, +0.2743, +0.0971, -0.1144],
|
||
|
|
[ -0.3984, +0.0525, -0.0927, -0.1104, +0.0242, +0.2294, -0.0730, -0.2585, -0.1027, -0.1138, -0.0855, +0.2366, -0.1895, -0.1304, -0.4098, +0.2590, -0.0564],
|
||
|
|
[ -0.0326, +0.0244, +0.3413, +0.2870, +0.1252, -0.0921, +0.4718, +0.1316, -0.0767, -0.1213, -0.0975, +0.0160, -0.0676, +0.0719, +0.3433, +0.1957, +0.2411],
|
||
|
|
[ +0.1805, -0.0909, +0.1841, +0.0092, +0.0334, -0.0274, -0.1892, -0.1136, -0.1936, -0.0776, +0.0088, -0.5994, -0.0894, +0.0054, +0.0222, -0.5486, +0.0794],
|
||
|
|
[ +0.1231, -0.1501, +0.1568, -0.0432, +0.2135, -0.0308, -0.1665, +0.1327, -0.0055, +0.0054, -0.2374, -0.1399, +0.5330, +0.3818, +0.0111, +0.3729, -0.3116],
|
||
|
|
[ +0.0443, +0.0425, -0.2333, -0.0758, +0.0445, -0.0364, -0.1385, +0.4477, +0.2164, +0.0454, -0.1320, -0.3380, +0.5406, +0.0488, -0.2379, +0.1216, -0.0559],
|
||
|
|
[ -0.4501, +0.1921, +0.0992, -0.2644, +0.0216, -0.0723, +0.0213, -0.1043, -0.0775, +0.2790, -0.2341, +0.0725, +0.0472, -0.0021, -0.1217, -0.1285, -0.2625],
|
||
|
|
[ -0.0878, -0.1506, -0.2460, +0.1033, -0.0043, -0.1535, -0.0529, +0.1674, +0.0078, +0.3391, +0.8355, +0.0874, -0.0233, +0.1923, +0.0359, +0.1081, +0.1508],
|
||
|
|
[ -0.3796, +0.0832, -0.2270, +0.1005, -0.1703, +0.0832, +0.0064, +0.1643, +0.0637, -0.1930, +0.0365, -0.0470, +0.1059, -0.1114, +0.1208, -0.3628, +0.2056],
|
||
|
|
[ +0.2360, +0.0879, -0.1799, -0.0360, +0.1466, -0.3555, +0.0957, -0.0095, +0.2665, +0.5403, -0.5690, -0.0800, -0.3047, +0.1044, +0.0053, -0.0098, -0.2020],
|
||
|
|
[ -0.1021, -0.0576, +0.5277, +0.3862, -0.2923, -0.1565, +0.3422, +0.2636, +0.1655, +0.1700, +0.1921, -0.6448, -0.2882, +0.2176, -0.2975, +0.4688, +0.0548],
|
||
|
|
[ +0.1350, -0.0520, -0.0243, -0.1268, +0.2160, +0.0838, -0.2554, +0.1928, -0.0042, -0.0117, +0.3009, -0.3786, -0.3108, -0.0581, +0.2374, +0.2102, +0.0998],
|
||
|
|
[ +0.1258, +0.1091, +0.3406, +0.3366, +0.2269, -0.1391, -0.1218, +0.1913, -0.0044, +0.1850, +0.2097, -0.2372, -0.2832, -0.0987, +0.1170, +0.0516, -0.1875],
|
||
|
|
[ -0.0902, +0.2603, +0.3307, +0.1615, -0.0565, -0.3079, +0.0315, +0.0874, +0.0755, +0.7551, -0.1873, +0.2390, -0.1559, +0.0447, -0.0154, +0.0343, +0.1431],
|
||
|
|
[ -0.1310, -0.0000, +0.1157, -0.4601, -0.2381, +0.1276, -0.1355, +0.0909, -0.2596, +0.4611, +0.5581, +0.1119, -0.2449, -0.1039, +0.1356, -0.1378, +0.1854],
|
||
|
|
[ -0.2234, +0.1488, -0.0868, -0.0221, -0.2624, +0.5707, -0.4488, -0.0552, +0.1251, +0.0740, +0.0574, +0.3261, +0.0011, -0.0559, +0.0850, +0.1478, -0.0575],
|
||
|
|
[ -0.1547, -0.2551, -0.2269, -0.0155, +0.2671, +0.2239, +0.0401, -0.0152, -0.2506, -0.0510, -0.0408, -0.1499, -0.3132, -0.0916, +0.0558, -0.1317, -0.1131],
|
||
|
|
[ -0.3986, +0.0452, +0.0059, +0.0143, +0.3271, -0.2273, -0.1940, +0.1802, -0.0765, -0.3095, +0.0365, +0.0157, +0.1850, -0.2821, +0.0505, -0.0141, +0.0334],
|
||
|
|
[ -0.1405, -0.1715, +0.2472, +0.0586, +0.2633, +0.0251, +0.0151, +0.5158, -0.0045, -0.0354, +0.3007, +0.3528, +0.1331, -0.0457, -0.1532, +0.1718, -0.0002],
|
||
|
|
[ -0.2526, +0.0306, -0.2338, +0.0557, -0.0416, -0.2174, +0.2027, +0.1293, +0.0471, -0.4165, -0.0245, +0.0312, -0.2050, +0.2281, +0.0194, -0.0756, -0.1017],
|
||
|
|
[ +0.2395, -0.0035, -0.0206, +0.2011, -0.0853, +0.1665, -0.2279, -0.2057, +0.0230, -0.2693, -0.0173, -0.0095, +0.1317, -0.1597, +0.3547, +0.0186, +0.1017],
|
||
|
|
[ -0.1807, +0.0229, +0.1314, -0.0384, +0.1618, +0.1776, +0.2824, +0.1815, -0.0702, +0.1897, +0.1154, -0.1015, +0.3698, +0.0610, +0.2967, -0.1962, +0.0017],
|
||
|
|
[ -0.0074, +0.2953, -0.2820, +0.1022, +0.3167, +0.4200, -0.0643, +0.1692, +0.1454, -0.4422, -0.0188, +0.0325, -0.0591, +0.0319, +0.0870, -0.1527, -0.1347],
|
||
|
|
[ -0.2557, +0.0643, -0.0250, -0.0358, -0.2493, -0.1554, +0.1479, +0.2026, -0.3371, -0.1351, +0.1498, +0.0373, +0.4199, +0.0188, -0.2702, +0.0521, +0.0950],
|
||
|
|
[ +0.1081, -0.4271, +0.0690, -0.3374, -0.0935, -0.1386, -0.0240, -0.0407, +0.4000, +0.1332, -0.2086, +0.7726, +0.0442, +0.0718, -0.2187, -0.1867, -0.0762],
|
||
|
|
[ -0.2350, -0.1500, +0.1550, +0.1218, +0.0389, +0.1064, -0.0495, +0.1717, -0.0759, -0.2376, -0.2130, -0.0091, -0.0250, -0.2824, +0.0911, -0.1364, -0.1061],
|
||
|
|
[ -0.1212, +0.4204, -0.0501, +0.0208, -0.2520, +0.2076, +0.0444, +0.1458, -0.0982, -0.0022, +0.2173, +0.2447, -0.0222, -0.0018, -0.0566, +0.2430, -0.0905],
|
||
|
|
[ +0.1643, -0.2400, -0.1019, -0.1235, +0.2953, +0.1080, -0.0416, +0.0763, -0.1258, -0.1884, -0.3330, +0.2187, -0.2763, -0.1867, -0.2056, -0.2271, +0.1966],
|
||
|
|
[ -0.4632, +0.1782, +0.2223, -0.3054, -0.0924, -0.2057, +0.0089, +0.2455, +0.3828, +0.1087, -0.1154, +0.0237, -0.3203, -0.0789, +0.0756, +0.1260, +0.0117],
|
||
|
|
[ -0.0527, -0.1818, +0.0755, +0.0768, -0.0594, +0.1384, +0.0534, -0.5923, +0.4133, +0.1154, -0.2839, -0.0294, +0.0174, +0.1350, +0.1564, +0.1622, -0.0221],
|
||
|
|
[ -0.1845, -0.0040, +0.0629, +0.0127, +0.2480, +0.3868, -0.1440, +0.2099, +0.0125, -0.1419, -0.0316, -0.1121, -0.1147, +0.1579, -0.1398, -0.3699, -0.2407],
|
||
|
|
[ -0.3024, -0.4112, +0.3517, -0.1744, +0.0442, +0.1175, +0.1120, +0.0313, -0.1000, -0.1217, -0.3270, +0.1557, +0.0458, +0.0634, +0.1686, +0.0292, +0.0342],
|
||
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|
|
[ +0.0934, -0.2574, +0.1155, -0.0240, +0.0258, +0.1470, -0.0135, +0.4334, -0.0167, -0.2294, -0.1428, -0.3680, -0.2007, -0.0010, +0.1405, -0.4045, -0.0752],
|
||
|
|
[ +0.3774, -0.3684, -0.1185, +0.3444, -0.0005, -0.2114, +0.1939, -0.3012, +0.1912, +0.1980, +0.0747, +0.3322, +0.1122, -0.2042, -0.2741, +0.1889, -0.0508],
|
||
|
|
[ +0.1951, +0.0460, -0.2167, -0.2370, +0.1496, -0.2761, +0.2644, -0.0282, -0.0858, -0.0368, +0.4173, -0.0596, +0.3189, +0.3252, +0.3012, +0.2653, -0.1094],
|
||
|
|
[ -0.0618, -0.1060, -0.0063, -0.1816, -0.0928, +0.1112, +0.2248, -0.0704, +0.1565, -0.1376, -0.1280, -0.1405, -0.4444, -0.0081, -0.3809, -0.2760, +0.2826],
|
||
|
|
[ -0.2150, -0.2761, -0.4387, +0.0652, -0.0250, -0.1408, -0.1410, -0.0401, -0.2530, -0.1720, -0.1383, +0.0815, +0.1345, +0.1094, +0.1165, -0.1125, -0.0680],
|
||
|
|
[ +0.4100, -0.2501, -0.1091, -0.1421, -0.1276, -0.0343, -0.2467, +0.5050, -0.1084, +0.2873, +0.2955, -0.0441, +0.0624, -0.3208, -0.1248, -0.2148, +0.0624],
|
||
|
|
[ +0.2167, -0.2099, +0.1943, -0.0190, +0.1348, +0.0457, -0.0756, -0.1493, -0.2804, +0.0296, -0.1222, -0.2076, +0.1460, +0.0056, +0.0618, +0.0620, +0.1078],
|
||
|
|
[ -0.1699, +0.1200, +0.0562, -0.2747, +0.2608, -0.3566, -0.2460, -0.2062, +0.5545, -0.0188, +0.3313, -0.1312, -0.7428, -0.5009, -0.6418, -0.0003, +0.2460],
|
||
|
|
[ -0.2792, +0.1021, -0.2467, -0.0577, -0.1567, +0.0156, +0.0434, -0.2623, +0.0924, +0.0685, +0.2042, +0.0532, +0.1473, -0.1451, -0.0592, -0.1645, +0.1258],
|
||
|
|
[ +0.0919, -0.0480, +0.3094, +0.1917, +0.0822, +0.0892, +0.0365, -0.0325, +0.1961, -0.2383, -0.0073, +0.0189, +0.2700, +0.2116, -0.2724, -0.1682, -0.1288],
|
||
|
|
[ +0.1483, +0.0807, +0.2281, -0.3101, -0.0014, +0.0484, -0.2612, -0.0005, +0.0087, -0.1544, +0.1201, +0.1475, -0.1714, +0.0190, -0.2971, -0.1113, -0.4718],
|
||
|
|
[ -0.1700, -0.1545, +0.2127, -0.1944, +0.3472, +0.2332, +0.2231, +0.0469, +0.2023, -0.0298, -0.0297, +0.0597, -0.3039, +0.0959, +0.2502, +0.2281, -0.0078],
|
||
|
|
[ +0.3397, +0.2010, +0.6118, +0.2780, -0.0135, +0.4304, -0.2720, -0.6300, +0.3764, +0.1227, -0.0925, +0.1188, -0.5911, +0.1235, -0.1578, -0.4889, -0.1543],
|
||
|
|
[ +0.4581, +0.2872, +0.1375, +0.2818, +0.2036, -0.0369, +0.0807, -0.0667, -0.2801, -0.0582, +0.1936, +0.1047, -0.1245, -0.1259, -0.1373, -0.1140, +0.0582],
|
||
|
|
[ +0.2535, +0.5913, +0.2155, -0.0587, -0.0918, -0.0362, +0.7135, +0.3591, +0.4240, +0.3692, -0.0313, -0.2431, +0.9143, -0.0241, -0.6210, +0.4646, -0.1512],
|
||
|
|
[ +0.3188, +0.2507, -0.2129, -0.4617, +0.1874, -0.1286, +0.0632, -0.2470, -0.0572, +0.6183, +0.3531, +0.1321, -0.1687, +0.1307, -0.3712, +0.0199, -0.0776],
|
||
|
|
[ -0.1779, +0.3660, +0.2386, +0.2297, +0.1792, -0.1369, +0.2320, -0.5867, -0.1306, +0.3471, -0.1127, +0.3352, -0.0214, +0.0801, -0.1368, -0.7262, +0.1757],
|
||
|
|
[ +0.0183, -0.0485, +0.1199, +0.2513, +0.2022, -0.0472, +0.3076, +0.0656, -0.3302, -0.0587, -0.0200, -0.5474, -0.0863, +0.2087, -0.2581, -0.1750, +0.3391],
|
||
|
|
[ -0.2339, +0.0639, +0.2085, -0.1872, -0.2686, +0.1490, +0.0436, -0.0841, -0.1054, -0.4899, +0.0193, -0.0250, +0.2212, +0.0972, +0.0329, +0.1328, -0.0545],
|
||
|
|
[ -0.0874, -0.1087, -0.1577, +0.0936, -0.3083, -0.1450, +0.0365, -0.1924, -0.0536, +0.0475, +0.0348, +0.0772, +0.0348, -0.2800, +0.0864, +0.2640, -0.0215],
|
||
|
|
[ +0.0745, +0.4503, -0.4064, +0.6300, -0.1275, -0.0463, -0.4074, +0.0031, +0.1408, +0.0531, +0.1400, +0.0308, -0.0220, -0.0014, -0.3056, -0.1551, -0.0096],
|
||
|
|
[ +0.1479, +0.1186, +0.1323, -0.3466, -0.0654, -0.1084, -0.2509, +0.0944, -0.2135, +0.2020, +0.0602, -0.1239, +0.0741, +0.2037, -0.4462, +0.1065, +0.1710]
|
||
|
|
])
|
||
|
|
|
||
|
|
weights_final_b = np.array([ -0.0274, +0.1314, -0.0578, +0.2965, +0.1318, -0.0622, +0.1158, +0.0643, +0.2138, -0.1422, +0.1579, +0.0836, -0.0388, -0.0933, +0.2233, -0.2276, +0.0375])
|
||
|
|
|
||
|
|
if __name__=="__main__":
|
||
|
|
demo_run()
|