Table 1.
Multitask network parameters.
| Layer | Output Shape | Number of Parameters |
|---|---|---|
| Input Layer | (None, 120, 300, 3) | - |
| Conv1 | (None, 120, 300, 32) | 2432 |
| Conv2 | (None, 120, 300, 32) | 9248 |
| MaxPool1 | (None, 60, 150, 32) | - |
| Conv3 | (None, 60, 150, 64) | 18,496 |
| Conv4 | (None, 60, 150, 64) | 36,928 |
| MaxPool2 | (None, 30, 75, 64) | - |
| Conv5 | (None, 30, 75, 128) | 73,856 |
| Conv6 | (None, 30, 75, 128) | 147,584 |
| MaxPool3 | (None, 15, 38, 128) | - |
| Conv7 | (None, 15, 38, 256) | 295,168 |
| Conv8 | (None, 15, 38, 256) | 590,080 |
| MaxPool4 | (None, 8, 19, 256) | - |
| Flatten | (None, 38,912) | - |
| FC1-256 | (None, 256) | 9,961,728 |
| FC2-256 | (None, 256) | 65,792 |
| Input Speed | (None, 1) | - |
| FC1-128 | (None, 128) | 256 |
| FC2-128 | (None, 128) | 16,512 |
| Concat (FC2-256, FC2-128) | (None, 384) | - |
| FC3-256 | (None, 256) | 98,560 |
| FC4-256 | (None, 256) | 65,792 |
| Crash Head (FC1-10) | (None, 10) | 2570 |
| Crash Head (FC2-1) | (None, 1) | 11 |
| Softmax | (None, 1) | - |
| Control Head (FC1-10) | (None, 10) | 2570 |
| Control Head (FC2-3) | (None, 3) | 33 |
| Sigmoid | (None, 3) | - |
| 11,387,616 |