Model: "encoder_r1" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 2048, 3)] 0 __________________________________________________________________________________________________ shared_conv_0 (Conv1D) (None, 2048, 64) 12352 input_1[0][0] __________________________________________________________________________________________________ shared_conv_0_batchnorm (BatchN (None, 2048, 64) 256 shared_conv_0[0][0] __________________________________________________________________________________________________ leaky_re_lu (LeakyReLU) multiple 0 shared_conv_0_batchnorm[0][0] shared_conv_1_batchnorm[0][0] shared_conv_2_batchnorm[0][0] shared_conv_3_batchnorm[0][0] shared_conv_4_batchnorm[0][0] shared_conv_5_batchnorm[0][0] r1_conv_0_batchnorm[0][0] r1_conv_1_batchnorm[0][0] r1_conv_2_batchnorm[0][0] __________________________________________________________________________________________________ max_pooling1d (MaxPooling1D) (None, 1024, 64) 0 leaky_re_lu[0][0] __________________________________________________________________________________________________ shared_conv_1 (Conv1D) (None, 512, 64) 262208 max_pooling1d[0][0] __________________________________________________________________________________________________ shared_conv_1_batchnorm (BatchN (None, 512, 64) 256 shared_conv_1[0][0] __________________________________________________________________________________________________ shared_conv_2 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[1][0] __________________________________________________________________________________________________ shared_conv_2_batchnorm (BatchN (None, 512, 32) 128 shared_conv_2[0][0] __________________________________________________________________________________________________ max_pooling1d_1 (MaxPooling1D) (None, 256, 32) 0 leaky_re_lu[2][0] __________________________________________________________________________________________________ shared_conv_3 (Conv1D) (None, 128, 32) 16416 max_pooling1d_1[0][0] __________________________________________________________________________________________________ shared_conv_3_batchnorm (BatchN (None, 128, 32) 128 shared_conv_3[0][0] __________________________________________________________________________________________________ shared_conv_4 (Conv1D) (None, 128, 32) 4128 leaky_re_lu[3][0] __________________________________________________________________________________________________ shared_conv_4_batchnorm (BatchN (None, 128, 32) 128 shared_conv_4[0][0] __________________________________________________________________________________________________ max_pooling1d_2 (MaxPooling1D) (None, 64, 32) 0 leaky_re_lu[4][0] __________________________________________________________________________________________________ shared_conv_5 (Conv1D) (None, 32, 32) 4128 max_pooling1d_2[0][0] __________________________________________________________________________________________________ shared_conv_5_batchnorm (BatchN (None, 32, 32) 128 shared_conv_5[0][0] __________________________________________________________________________________________________ r1_conv_0 (Conv1D) (None, 32, 32) 4128 leaky_re_lu[5][0] __________________________________________________________________________________________________ r1_conv_0_batchnorm (BatchNorma (None, 32, 32) 128 r1_conv_0[0][0] __________________________________________________________________________________________________ r1_conv_1 (Conv1D) (None, 32, 32) 4128 leaky_re_lu[6][0] __________________________________________________________________________________________________ r1_conv_1_batchnorm (BatchNorma (None, 32, 32) 128 r1_conv_1[0][0] __________________________________________________________________________________________________ r1_conv_2 (Conv1D) (None, 32, 32) 4128 leaky_re_lu[7][0] __________________________________________________________________________________________________ r1_conv_2_batchnorm (BatchNorma (None, 32, 32) 128 r1_conv_2[0][0] __________________________________________________________________________________________________ flatten (Flatten) (None, 1024) 0 leaky_re_lu[8][0] __________________________________________________________________________________________________ r1_dense_3 (Dense) (None, 1024) 1049600 flatten[0][0] __________________________________________________________________________________________________ r1_dense_3_batchnorm (BatchNorm (None, 1024) 4096 r1_dense_3[0][0] __________________________________________________________________________________________________ r1_mean_dense (Dense) (None, 256) 262400 r1_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ r1_logvar_dense (Dense) (None, 256) 262400 r1_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ r1_modes_dense (Dense) (None, 16) 16400 r1_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ concatenate (Concatenate) (None, 528) 0 r1_mean_dense[0][0] r1_logvar_dense[0][0] r1_modes_dense[0][0] ================================================================================================== Total params: 1,940,720 Trainable params: 1,937,968 Non-trainable params: 2,752 __________________________________________________________________________________________________ Model: "encoder_q" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 2048, 3)] 0 __________________________________________________________________________________________________ shared_conv_0 (Conv1D) (None, 2048, 64) 12352 input_1[0][0] __________________________________________________________________________________________________ shared_conv_0_batchnorm (BatchN (None, 2048, 64) 256 shared_conv_0[0][0] __________________________________________________________________________________________________ leaky_re_lu (LeakyReLU) multiple 0 shared_conv_0_batchnorm[0][0] shared_conv_1_batchnorm[0][0] shared_conv_2_batchnorm[0][0] shared_conv_3_batchnorm[0][0] shared_conv_4_batchnorm[0][0] shared_conv_5_batchnorm[0][0] q_conv_0_batchnorm[0][0] q_conv_1_batchnorm[0][0] q_conv_2_batchnorm[0][0] __________________________________________________________________________________________________ max_pooling1d (MaxPooling1D) (None, 1024, 64) 0 leaky_re_lu[0][0] __________________________________________________________________________________________________ shared_conv_1 (Conv1D) (None, 512, 64) 262208 max_pooling1d[0][0] __________________________________________________________________________________________________ shared_conv_1_batchnorm (BatchN (None, 512, 64) 256 shared_conv_1[0][0] __________________________________________________________________________________________________ shared_conv_2 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[1][0] __________________________________________________________________________________________________ shared_conv_2_batchnorm (BatchN (None, 512, 32) 128 shared_conv_2[0][0] __________________________________________________________________________________________________ max_pooling1d_1 (MaxPooling1D) (None, 256, 32) 0 leaky_re_lu[2][0] __________________________________________________________________________________________________ shared_conv_3 (Conv1D) (None, 128, 32) 16416 max_pooling1d_1[0][0] __________________________________________________________________________________________________ shared_conv_3_batchnorm (BatchN (None, 128, 32) 128 shared_conv_3[0][0] __________________________________________________________________________________________________ shared_conv_4 (Conv1D) (None, 128, 32) 4128 leaky_re_lu[3][0] __________________________________________________________________________________________________ shared_conv_4_batchnorm (BatchN (None, 128, 32) 128 shared_conv_4[0][0] __________________________________________________________________________________________________ max_pooling1d_2 (MaxPooling1D) (None, 64, 32) 0 leaky_re_lu[4][0] __________________________________________________________________________________________________ input_2 (InputLayer) [(None, 15)] 0 __________________________________________________________________________________________________ shared_conv_5 (Conv1D) (None, 32, 32) 4128 max_pooling1d_2[0][0] __________________________________________________________________________________________________ flatten_1 (Flatten) (None, 15) 0 input_2[0][0] __________________________________________________________________________________________________ shared_conv_5_batchnorm (BatchN (None, 32, 32) 128 shared_conv_5[0][0] __________________________________________________________________________________________________ q_expand (Dense) (None, 32) 512 flatten_1[0][0] __________________________________________________________________________________________________ tf.reshape (TFOpLambda) (None, 32, 1) 0 q_expand[0][0] __________________________________________________________________________________________________ concatenate_1 (Concatenate) (None, 32, 33) 0 leaky_re_lu[5][0] tf.reshape[0][0] __________________________________________________________________________________________________ q_conv_0 (Conv1D) (None, 32, 32) 4256 concatenate_1[0][0] __________________________________________________________________________________________________ q_conv_0_batchnorm (BatchNormal (None, 32, 32) 128 q_conv_0[0][0] __________________________________________________________________________________________________ q_conv_1 (Conv1D) (None, 32, 32) 4128 leaky_re_lu[9][0] __________________________________________________________________________________________________ q_conv_1_batchnorm (BatchNormal (None, 32, 32) 128 q_conv_1[0][0] __________________________________________________________________________________________________ q_conv_2 (Conv1D) (None, 32, 32) 4128 leaky_re_lu[10][0] __________________________________________________________________________________________________ q_conv_2_batchnorm (BatchNormal (None, 32, 32) 128 q_conv_2[0][0] __________________________________________________________________________________________________ flatten_2 (Flatten) (None, 1024) 0 leaky_re_lu[11][0] __________________________________________________________________________________________________ q_dense_3 (Dense) (None, 1024) 1049600 flatten_2[0][0] __________________________________________________________________________________________________ q_dense_3_batchnorm (BatchNorma (None, 1024) 4096 q_dense_3[0][0] __________________________________________________________________________________________________ q_mean_dense (Dense) (None, 16) 16400 q_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ q_logvar_dense (Dense) (None, 16) 16400 q_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ concatenate_2 (Concatenate) (None, 32) 0 q_mean_dense[0][0] q_logvar_dense[0][0] ================================================================================================== Total params: 1,432,960 Trainable params: 1,430,208 Non-trainable params: 2,752 __________________________________________________________________________________________________ Model: "decoder_r2" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 2048, 3)] 0 __________________________________________________________________________________________________ shared_conv_0 (Conv1D) (None, 2048, 64) 12352 input_1[0][0] __________________________________________________________________________________________________ shared_conv_0_batchnorm (BatchN (None, 2048, 64) 256 shared_conv_0[0][0] __________________________________________________________________________________________________ leaky_re_lu (LeakyReLU) multiple 0 shared_conv_0_batchnorm[0][0] shared_conv_1_batchnorm[0][0] shared_conv_2_batchnorm[0][0] shared_conv_3_batchnorm[0][0] shared_conv_4_batchnorm[0][0] shared_conv_5_batchnorm[0][0] r2_conv_0_batchnorm[0][0] r2_conv_1_batchnorm[0][0] r2_conv_2_batchnorm[0][0] __________________________________________________________________________________________________ max_pooling1d (MaxPooling1D) (None, 1024, 64) 0 leaky_re_lu[0][0] __________________________________________________________________________________________________ shared_conv_1 (Conv1D) (None, 512, 64) 262208 max_pooling1d[0][0] __________________________________________________________________________________________________ shared_conv_1_batchnorm (BatchN (None, 512, 64) 256 shared_conv_1[0][0] __________________________________________________________________________________________________ shared_conv_2 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[1][0] __________________________________________________________________________________________________ shared_conv_2_batchnorm (BatchN (None, 512, 32) 128 shared_conv_2[0][0] __________________________________________________________________________________________________ max_pooling1d_1 (MaxPooling1D) (None, 256, 32) 0 leaky_re_lu[2][0] __________________________________________________________________________________________________ shared_conv_3 (Conv1D) (None, 128, 32) 16416 max_pooling1d_1[0][0] __________________________________________________________________________________________________ shared_conv_3_batchnorm (BatchN (None, 128, 32) 128 shared_conv_3[0][0] __________________________________________________________________________________________________ shared_conv_4 (Conv1D) (None, 128, 32) 4128 leaky_re_lu[3][0] __________________________________________________________________________________________________ shared_conv_4_batchnorm (BatchN (None, 128, 32) 128 shared_conv_4[0][0] __________________________________________________________________________________________________ max_pooling1d_2 (MaxPooling1D) (None, 64, 32) 0 leaky_re_lu[4][0] __________________________________________________________________________________________________ input_3 (InputLayer) [(None, 16)] 0 __________________________________________________________________________________________________ shared_conv_5 (Conv1D) (None, 32, 32) 4128 max_pooling1d_2[0][0] __________________________________________________________________________________________________ flatten_3 (Flatten) (None, 16) 0 input_3[0][0] __________________________________________________________________________________________________ shared_conv_5_batchnorm (BatchN (None, 32, 32) 128 shared_conv_5[0][0] __________________________________________________________________________________________________ r2_expand (Dense) (None, 32) 544 flatten_3[0][0] __________________________________________________________________________________________________ tf.reshape_1 (TFOpLambda) (None, 32, 1) 0 r2_expand[0][0] __________________________________________________________________________________________________ concatenate_3 (Concatenate) (None, 32, 33) 0 leaky_re_lu[5][0] tf.reshape_1[0][0] __________________________________________________________________________________________________ r2_conv_0 (Conv1D) (None, 32, 32) 4256 concatenate_3[0][0] __________________________________________________________________________________________________ r2_conv_0_batchnorm (BatchNorma (None, 32, 32) 128 r2_conv_0[0][0] __________________________________________________________________________________________________ r2_conv_1 (Conv1D) (None, 32, 32) 4128 leaky_re_lu[12][0] __________________________________________________________________________________________________ r2_conv_1_batchnorm (BatchNorma (None, 32, 32) 128 r2_conv_1[0][0] __________________________________________________________________________________________________ r2_conv_2 (Conv1D) (None, 32, 32) 4128 leaky_re_lu[13][0] __________________________________________________________________________________________________ r2_conv_2_batchnorm (BatchNorma (None, 32, 32) 128 r2_conv_2[0][0] __________________________________________________________________________________________________ flatten_4 (Flatten) (None, 1024) 0 leaky_re_lu[14][0] __________________________________________________________________________________________________ r2_dense_3 (Dense) (None, 1024) 1049600 flatten_4[0][0] __________________________________________________________________________________________________ r2_dense_3_batchnorm (BatchNorm (None, 1024) 4096 r2_dense_3[0][0] __________________________________________________________________________________________________ JointM1M2_mean (Dense) (None, 2) 2050 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ JointM1M2_logvar (Dense) (None, 2) 2050 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ VonMises_mean (Dense) (None, 8) 8200 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ VonMises_logvar (Dense) (None, 4) 4100 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ TruncatedNormal_mean (Dense) (None, 7) 7175 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ TruncatedNormal_logvar (Dense) (None, 7) 7175 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ JointVonMisesFisher_mean (Dense (None, 3) 3075 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ JointVonMisesFisher_logvar (Den (None, 1) 1025 r2_dense_3_batchnorm[0][0] __________________________________________________________________________________________________ concatenate_4 (Concatenate) (None, 34) 0 JointM1M2_mean[0][0] JointM1M2_logvar[0][0] VonMises_mean[0][0] VonMises_logvar[0][0] TruncatedNormal_mean[0][0] TruncatedNormal_logvar[0][0] JointVonMisesFisher_mean[0][0] JointVonMisesFisher_logvar[0][0] ================================================================================================== Total params: 1,435,042 Trainable params: 1,432,290 Non-trainable params: 2,752 __________________________________________________________________________________________________