Model: "encoder_r1" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 2048, 3)] 0 __________________________________________________________________________________________________ tf.split (TFOpLambda) [(None, 2048, 1), (N 0 input_1[0][0] __________________________________________________________________________________________________ shared_det_0_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][0] __________________________________________________________________________________________________ shared_det_0_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_0_conv_0[0][0] __________________________________________________________________________________________________ leaky_re_lu (LeakyReLU) multiple 0 shared_det_0_conv_0_batchnorm[0][ shared_det_0_conv_1_batchnorm[0][ shared_det_0_conv_2_batchnorm[0][ shared_det_0_conv_3_batchnorm[0][ shared_det_0_conv_4_batchnorm[0][ shared_det_1_conv_0_batchnorm[0][ shared_det_1_conv_1_batchnorm[0][ shared_det_1_conv_2_batchnorm[0][ shared_det_1_conv_3_batchnorm[0][ shared_det_1_conv_4_batchnorm[0][ shared_det_2_conv_0_batchnorm[0][ shared_det_2_conv_1_batchnorm[0][ shared_det_2_conv_2_batchnorm[0][ shared_det_2_conv_3_batchnorm[0][ shared_det_2_conv_4_batchnorm[0][ __________________________________________________________________________________________________ shared_det_0_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[0][0] __________________________________________________________________________________________________ shared_det_0_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_0_conv_1[0][0] __________________________________________________________________________________________________ shared_det_0_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[1][0] __________________________________________________________________________________________________ shared_det_0_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_0_conv_2[0][0] __________________________________________________________________________________________________ shared_det_0_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[2][0] __________________________________________________________________________________________________ shared_det_0_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_0_conv_3[0][0] __________________________________________________________________________________________________ shared_det_0_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[3][0] __________________________________________________________________________________________________ shared_det_1_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][1] __________________________________________________________________________________________________ shared_det_0_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_0_conv_4[0][0] __________________________________________________________________________________________________ shared_det_1_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_1_conv_0[0][0] __________________________________________________________________________________________________ shared_det_1_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[5][0] __________________________________________________________________________________________________ shared_det_1_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_1_conv_1[0][0] __________________________________________________________________________________________________ shared_det_1_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[6][0] __________________________________________________________________________________________________ shared_det_1_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_1_conv_2[0][0] __________________________________________________________________________________________________ shared_det_1_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[7][0] __________________________________________________________________________________________________ shared_det_1_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_1_conv_3[0][0] __________________________________________________________________________________________________ shared_det_1_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[8][0] __________________________________________________________________________________________________ shared_det_2_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][2] __________________________________________________________________________________________________ shared_det_1_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_1_conv_4[0][0] __________________________________________________________________________________________________ shared_det_2_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_2_conv_0[0][0] __________________________________________________________________________________________________ shared_det_2_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[10][0] __________________________________________________________________________________________________ shared_det_2_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_2_conv_1[0][0] __________________________________________________________________________________________________ shared_det_2_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[11][0] __________________________________________________________________________________________________ shared_det_2_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_2_conv_2[0][0] __________________________________________________________________________________________________ shared_det_2_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[12][0] __________________________________________________________________________________________________ shared_det_2_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_2_conv_3[0][0] __________________________________________________________________________________________________ shared_det_2_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[13][0] __________________________________________________________________________________________________ shared_det_2_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_2_conv_4[0][0] __________________________________________________________________________________________________ concatenate (Concatenate) (None, 64, 24) 0 leaky_re_lu[4][0] leaky_re_lu[9][0] leaky_re_lu[14][0] __________________________________________________________________________________________________ flatten (Flatten) (None, 1536) 0 concatenate[0][0] __________________________________________________________________________________________________ r1_dense_0 (Dense) (None, 4096) 6295552 flatten[0][0] __________________________________________________________________________________________________ r1_dense_0_batchnorm (BatchNorm (None, 4096) 16384 r1_dense_0[0][0] __________________________________________________________________________________________________ r1_dense_1 (Dense) (None, 2048) 8390656 r1_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ r1_dense_1_batchnorm (BatchNorm (None, 2048) 8192 r1_dense_1[0][0] __________________________________________________________________________________________________ r1_dense_2 (Dense) (None, 1024) 2098176 r1_dense_1_batchnorm[0][0] __________________________________________________________________________________________________ r1_dense_2_batchnorm (BatchNorm (None, 1024) 4096 r1_dense_2[0][0] __________________________________________________________________________________________________ r1_mean_dense (Dense) (None, 1024) 1049600 r1_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ r1_logvar_dense (Dense) (None, 1024) 1049600 r1_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ r1_modes_dense (Dense) (None, 32) 32800 r1_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ concatenate_1 (Concatenate) (None, 2080) 0 r1_mean_dense[0][0] r1_logvar_dense[0][0] r1_modes_dense[0][0] ================================================================================================== Total params: 19,083,320 Trainable params: 19,068,360 Non-trainable params: 14,960 __________________________________________________________________________________________________ Model: "encoder_q" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 2048, 3)] 0 __________________________________________________________________________________________________ tf.split (TFOpLambda) [(None, 2048, 1), (N 0 input_1[0][0] __________________________________________________________________________________________________ shared_det_0_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][0] __________________________________________________________________________________________________ shared_det_0_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_0_conv_0[0][0] __________________________________________________________________________________________________ leaky_re_lu (LeakyReLU) multiple 0 shared_det_0_conv_0_batchnorm[0][ shared_det_0_conv_1_batchnorm[0][ shared_det_0_conv_2_batchnorm[0][ shared_det_0_conv_3_batchnorm[0][ shared_det_0_conv_4_batchnorm[0][ shared_det_1_conv_0_batchnorm[0][ shared_det_1_conv_1_batchnorm[0][ shared_det_1_conv_2_batchnorm[0][ shared_det_1_conv_3_batchnorm[0][ shared_det_1_conv_4_batchnorm[0][ shared_det_2_conv_0_batchnorm[0][ shared_det_2_conv_1_batchnorm[0][ shared_det_2_conv_2_batchnorm[0][ shared_det_2_conv_3_batchnorm[0][ shared_det_2_conv_4_batchnorm[0][ __________________________________________________________________________________________________ shared_det_0_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[0][0] __________________________________________________________________________________________________ shared_det_0_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_0_conv_1[0][0] __________________________________________________________________________________________________ shared_det_0_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[1][0] __________________________________________________________________________________________________ shared_det_0_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_0_conv_2[0][0] __________________________________________________________________________________________________ shared_det_0_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[2][0] __________________________________________________________________________________________________ shared_det_0_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_0_conv_3[0][0] __________________________________________________________________________________________________ shared_det_0_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[3][0] __________________________________________________________________________________________________ shared_det_1_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][1] __________________________________________________________________________________________________ shared_det_0_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_0_conv_4[0][0] __________________________________________________________________________________________________ shared_det_1_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_1_conv_0[0][0] __________________________________________________________________________________________________ shared_det_1_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[5][0] __________________________________________________________________________________________________ shared_det_1_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_1_conv_1[0][0] __________________________________________________________________________________________________ shared_det_1_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[6][0] __________________________________________________________________________________________________ shared_det_1_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_1_conv_2[0][0] __________________________________________________________________________________________________ shared_det_1_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[7][0] __________________________________________________________________________________________________ shared_det_1_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_1_conv_3[0][0] __________________________________________________________________________________________________ shared_det_1_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[8][0] __________________________________________________________________________________________________ shared_det_2_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][2] __________________________________________________________________________________________________ shared_det_1_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_1_conv_4[0][0] __________________________________________________________________________________________________ shared_det_2_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_2_conv_0[0][0] __________________________________________________________________________________________________ shared_det_2_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[10][0] __________________________________________________________________________________________________ shared_det_2_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_2_conv_1[0][0] __________________________________________________________________________________________________ shared_det_2_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[11][0] __________________________________________________________________________________________________ shared_det_2_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_2_conv_2[0][0] __________________________________________________________________________________________________ shared_det_2_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[12][0] __________________________________________________________________________________________________ shared_det_2_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_2_conv_3[0][0] __________________________________________________________________________________________________ shared_det_2_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[13][0] __________________________________________________________________________________________________ shared_det_2_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_2_conv_4[0][0] __________________________________________________________________________________________________ concatenate (Concatenate) (None, 64, 24) 0 leaky_re_lu[4][0] leaky_re_lu[9][0] leaky_re_lu[14][0] __________________________________________________________________________________________________ input_2 (InputLayer) [(None, 15)] 0 __________________________________________________________________________________________________ flatten (Flatten) (None, 1536) 0 concatenate[0][0] __________________________________________________________________________________________________ flatten_1 (Flatten) (None, 15) 0 input_2[0][0] __________________________________________________________________________________________________ concatenate_2 (Concatenate) (None, 1551) 0 flatten[0][0] flatten_1[0][0] __________________________________________________________________________________________________ q_dense_0 (Dense) (None, 4096) 6356992 concatenate_2[0][0] __________________________________________________________________________________________________ q_dense_0_batchnorm (BatchNorma (None, 4096) 16384 q_dense_0[0][0] __________________________________________________________________________________________________ q_dense_1 (Dense) (None, 2048) 8390656 q_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ q_dense_1_batchnorm (BatchNorma (None, 2048) 8192 q_dense_1[0][0] __________________________________________________________________________________________________ q_dense_2 (Dense) (None, 1024) 2098176 q_dense_1_batchnorm[0][0] __________________________________________________________________________________________________ q_dense_2_batchnorm (BatchNorma (None, 1024) 4096 q_dense_2[0][0] __________________________________________________________________________________________________ q_mean_dense (Dense) (None, 32) 32800 q_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ q_logvar_dense (Dense) (None, 32) 32800 q_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ concatenate_3 (Concatenate) (None, 64) 0 q_mean_dense[0][0] q_logvar_dense[0][0] ================================================================================================== Total params: 17,078,360 Trainable params: 17,063,400 Non-trainable params: 14,960 __________________________________________________________________________________________________ Model: "decoder_r2" __________________________________________________________________________________________________ Layer (type) Output Shape Param # Connected to ================================================================================================== input_1 (InputLayer) [(None, 2048, 3)] 0 __________________________________________________________________________________________________ tf.split (TFOpLambda) [(None, 2048, 1), (N 0 input_1[0][0] __________________________________________________________________________________________________ shared_det_0_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][0] __________________________________________________________________________________________________ shared_det_0_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_0_conv_0[0][0] __________________________________________________________________________________________________ leaky_re_lu (LeakyReLU) multiple 0 shared_det_0_conv_0_batchnorm[0][ shared_det_0_conv_1_batchnorm[0][ shared_det_0_conv_2_batchnorm[0][ shared_det_0_conv_3_batchnorm[0][ shared_det_0_conv_4_batchnorm[0][ shared_det_1_conv_0_batchnorm[0][ shared_det_1_conv_1_batchnorm[0][ shared_det_1_conv_2_batchnorm[0][ shared_det_1_conv_3_batchnorm[0][ shared_det_1_conv_4_batchnorm[0][ shared_det_2_conv_0_batchnorm[0][ shared_det_2_conv_1_batchnorm[0][ shared_det_2_conv_2_batchnorm[0][ shared_det_2_conv_3_batchnorm[0][ shared_det_2_conv_4_batchnorm[0][ __________________________________________________________________________________________________ shared_det_0_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[0][0] __________________________________________________________________________________________________ shared_det_0_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_0_conv_1[0][0] __________________________________________________________________________________________________ shared_det_0_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[1][0] __________________________________________________________________________________________________ shared_det_0_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_0_conv_2[0][0] __________________________________________________________________________________________________ shared_det_0_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[2][0] __________________________________________________________________________________________________ shared_det_0_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_0_conv_3[0][0] __________________________________________________________________________________________________ shared_det_0_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[3][0] __________________________________________________________________________________________________ shared_det_1_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][1] __________________________________________________________________________________________________ shared_det_0_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_0_conv_4[0][0] __________________________________________________________________________________________________ shared_det_1_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_1_conv_0[0][0] __________________________________________________________________________________________________ shared_det_1_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[5][0] __________________________________________________________________________________________________ shared_det_1_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_1_conv_1[0][0] __________________________________________________________________________________________________ shared_det_1_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[6][0] __________________________________________________________________________________________________ shared_det_1_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_1_conv_2[0][0] __________________________________________________________________________________________________ shared_det_1_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[7][0] __________________________________________________________________________________________________ shared_det_1_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_1_conv_3[0][0] __________________________________________________________________________________________________ shared_det_1_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[8][0] __________________________________________________________________________________________________ shared_det_2_conv_0 (Conv1D) (None, 1024, 32) 2080 tf.split[0][2] __________________________________________________________________________________________________ shared_det_1_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_1_conv_4[0][0] __________________________________________________________________________________________________ shared_det_2_conv_0_batchnorm ( (None, 1024, 32) 128 shared_det_2_conv_0[0][0] __________________________________________________________________________________________________ shared_det_2_conv_1 (Conv1D) (None, 512, 32) 32800 leaky_re_lu[10][0] __________________________________________________________________________________________________ shared_det_2_conv_1_batchnorm ( (None, 512, 32) 128 shared_det_2_conv_1[0][0] __________________________________________________________________________________________________ shared_det_2_conv_2 (Conv1D) (None, 256, 16) 8208 leaky_re_lu[11][0] __________________________________________________________________________________________________ shared_det_2_conv_2_batchnorm ( (None, 256, 16) 64 shared_det_2_conv_2[0][0] __________________________________________________________________________________________________ shared_det_2_conv_3 (Conv1D) (None, 128, 16) 2064 leaky_re_lu[12][0] __________________________________________________________________________________________________ shared_det_2_conv_3_batchnorm ( (None, 128, 16) 64 shared_det_2_conv_3[0][0] __________________________________________________________________________________________________ shared_det_2_conv_4 (Conv1D) (None, 64, 8) 520 leaky_re_lu[13][0] __________________________________________________________________________________________________ shared_det_2_conv_4_batchnorm ( (None, 64, 8) 32 shared_det_2_conv_4[0][0] __________________________________________________________________________________________________ concatenate (Concatenate) (None, 64, 24) 0 leaky_re_lu[4][0] leaky_re_lu[9][0] leaky_re_lu[14][0] __________________________________________________________________________________________________ input_3 (InputLayer) [(None, 32)] 0 __________________________________________________________________________________________________ flatten (Flatten) (None, 1536) 0 concatenate[0][0] __________________________________________________________________________________________________ flatten_2 (Flatten) (None, 32) 0 input_3[0][0] __________________________________________________________________________________________________ concatenate_4 (Concatenate) (None, 1568) 0 flatten[0][0] flatten_2[0][0] __________________________________________________________________________________________________ r2_dense_0 (Dense) (None, 4096) 6426624 concatenate_4[0][0] __________________________________________________________________________________________________ r2_dense_0_batchnorm (BatchNorm (None, 4096) 16384 r2_dense_0[0][0] __________________________________________________________________________________________________ r2_dense_1 (Dense) (None, 2048) 8390656 r2_dense_0_batchnorm[0][0] __________________________________________________________________________________________________ r2_dense_1_batchnorm (BatchNorm (None, 2048) 8192 r2_dense_1[0][0] __________________________________________________________________________________________________ r2_dense_2 (Dense) (None, 1024) 2098176 r2_dense_1_batchnorm[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] __________________________________________________________________________________________________ JointXYZ_mean (Dense) (None, 3) 3075 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ JointXYZ_logvar (Dense) (None, 3) 3075 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ TruncatedNormal_mean (Dense) (None, 5) 5125 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ TruncatedNormal_logvar (Dense) (None, 5) 5125 r2_dense_2_batchnorm[0][0] __________________________________________________________________________________________________ concatenate_5 (Concatenate) (None, 35) 0 JointM1M2_mean[0][0] JointM1M2_logvar[0][0] VonMises_mean[0][0] VonMises_logvar[0][0] JointXYZ_mean[0][0] JointXYZ_logvar[0][0] TruncatedNormal_mean[0][0] TruncatedNormal_logvar[0][0] ================================================================================================== Total params: 17,118,267 Trainable params: 17,103,307 Non-trainable params: 14,960 __________________________________________________________________________________________________