Model: "encoder_r1" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 256, 3)] 0 __________________________________________________________________________________________________ flatten (Flatten) (None, 768) 0 input_1[0][0] __________________________________________________________________________________________________ shared_dense_0 (Dense) (None, 1024) 787456 flatten[0][0] __________________________________________________________________________________________________ shared_dense_0_batchnorm (Batch (None, 1024) 4096 shared_dense_0[0][0] __________________________________________________________________________________________________ flatten_1 (Flatten) (None, 1024) 0 shared_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ r1_dense_0 (Dense) (None, 2048) 2099200 flatten_1[0][0] __________________________________________________________________________________________________ r1_dense_0_batchnorm (BatchNorm (None, 2048) 8192 r1_dense_0[0][0] __________________________________________________________________________________________________ flatten_2 (Flatten) (None, 2048) 0 r1_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ r1_dense_1 (Dense) (None, 2048) 4196352 flatten_2[0][0] __________________________________________________________________________________________________ r1_dense_1_batchnorm (BatchNorm (None, 2048) 8192 r1_dense_1[0][0] __________________________________________________________________________________________________ flatten_3 (Flatten) (None, 2048) 0 r1_dense_1_batchnorm[0][0] __________________________________________________________________________________________________ r1_dense_2 (Dense) (None, 1024) 2098176 flatten_3[0][0] __________________________________________________________________________________________________ r1_dense_2_batchnorm (BatchNorm (None, 1024) 4096 r1_dense_2[0][0] __________________________________________________________________________________________________ r1_mean_dense (Dense) (None, 256) 262400 r1_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ r1_logvar_dense (Dense) (None, 256) 262400 r1_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ r1_modes_dense (Dense) (None, 16) 16400 r1_dense_2_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: 9,746,960 Trainable params: 9,734,672 Non-trainable params: 12,288 __________________________________________________________________________________________________ Model: "encoder_q" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 256, 3)] 0 __________________________________________________________________________________________________ flatten (Flatten) (None, 768) 0 input_1[0][0] __________________________________________________________________________________________________ shared_dense_0 (Dense) (None, 1024) 787456 flatten[0][0] __________________________________________________________________________________________________ shared_dense_0_batchnorm (Batch (None, 1024) 4096 shared_dense_0[0][0] __________________________________________________________________________________________________ input_2 (InputLayer) [(None, 15)] 0 __________________________________________________________________________________________________ flatten_5 (Flatten) (None, 1024) 0 shared_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ flatten_4 (Flatten) (None, 15) 0 input_2[0][0] __________________________________________________________________________________________________ concatenate_1 (Concatenate) (None, 1039) 0 flatten_5[0][0] flatten_4[0][0] __________________________________________________________________________________________________ flatten_6 (Flatten) (None, 1039) 0 concatenate_1[0][0] __________________________________________________________________________________________________ q_dense_0 (Dense) (None, 2048) 2129920 flatten_6[0][0] __________________________________________________________________________________________________ q_dense_0_batchnorm (BatchNorma (None, 2048) 8192 q_dense_0[0][0] __________________________________________________________________________________________________ flatten_7 (Flatten) (None, 2048) 0 q_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ q_dense_1 (Dense) (None, 2048) 4196352 flatten_7[0][0] __________________________________________________________________________________________________ q_dense_1_batchnorm (BatchNorma (None, 2048) 8192 q_dense_1[0][0] __________________________________________________________________________________________________ flatten_8 (Flatten) (None, 2048) 0 q_dense_1_batchnorm[0][0] __________________________________________________________________________________________________ q_dense_2 (Dense) (None, 1024) 2098176 flatten_8[0][0] __________________________________________________________________________________________________ q_dense_2_batchnorm (BatchNorma (None, 1024) 4096 q_dense_2[0][0] __________________________________________________________________________________________________ q_mean_dense (Dense) (None, 16) 16400 q_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ q_logvar_dense (Dense) (None, 16) 16400 q_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ concatenate_2 (Concatenate) (None, 32) 0 q_mean_dense[0][0] q_logvar_dense[0][0] ================================================================================================== Total params: 9,269,280 Trainable params: 9,256,992 Non-trainable params: 12,288 __________________________________________________________________________________________________ Model: "decoder_r2" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 256, 3)] 0 __________________________________________________________________________________________________ flatten (Flatten) (None, 768) 0 input_1[0][0] __________________________________________________________________________________________________ shared_dense_0 (Dense) (None, 1024) 787456 flatten[0][0] __________________________________________________________________________________________________ shared_dense_0_batchnorm (Batch (None, 1024) 4096 shared_dense_0[0][0] __________________________________________________________________________________________________ flatten_5 (Flatten) (None, 1024) 0 shared_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ input_3 (InputLayer) [(None, 16)] 0 __________________________________________________________________________________________________ flatten_10 (Flatten) (None, 1024) 0 flatten_5[0][0] __________________________________________________________________________________________________ flatten_9 (Flatten) (None, 16) 0 input_3[0][0] __________________________________________________________________________________________________ concatenate_3 (Concatenate) (None, 1040) 0 flatten_10[0][0] flatten_9[0][0] __________________________________________________________________________________________________ flatten_11 (Flatten) (None, 1040) 0 concatenate_3[0][0] __________________________________________________________________________________________________ r2_dense_0 (Dense) (None, 2048) 2131968 flatten_11[0][0] __________________________________________________________________________________________________ r2_dense_0_batchnorm (BatchNorm (None, 2048) 8192 r2_dense_0[0][0] __________________________________________________________________________________________________ flatten_12 (Flatten) (None, 2048) 0 r2_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ r2_dense_1 (Dense) (None, 2048) 4196352 flatten_12[0][0] __________________________________________________________________________________________________ r2_dense_1_batchnorm (BatchNorm (None, 2048) 8192 r2_dense_1[0][0] __________________________________________________________________________________________________ flatten_13 (Flatten) (None, 2048) 0 r2_dense_1_batchnorm[0][0] __________________________________________________________________________________________________ r2_dense_2 (Dense) (None, 1024) 2098176 flatten_13[0][0] __________________________________________________________________________________________________ r2_dense_2_batchnorm (BatchNorm (None, 1024) 4096 r2_dense_2[0][0] __________________________________________________________________________________________________ JointM1M2_mean (Dense) (None, 2) 2050 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ JointM1M2_logvar (Dense) (None, 2) 2050 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ VonMises_mean (Dense) (None, 10) 10250 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ VonMises_logvar (Dense) (None, 5) 5125 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ TruncatedNormal_mean (Dense) (None, 6) 6150 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ TruncatedNormal_logvar (Dense) (None, 6) 6150 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ JointVonMisesFisher_mean (Dense (None, 3) 3075 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ JointVonMisesFisher_logvar (Den (None, 1) 1025 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ concatenate_4 (Concatenate) (None, 35) 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: 9,274,403 Trainable params: 9,262,115 Non-trainable params: 12,288 __________________________________________________________________________________________________