model.py 文件源码

def build_model(args):
    """
    Modified NVIDIA model
    """
    model = Sequential()
    model.add(Lambda(lambda x: x/127.5-1.0, input_shape=INPUT_SHAPE))
    model.add(Conv2D(24, 5, 5, activation='elu', subsample=(2, 2)))
    model.add(Conv2D(36, 5, 5, activation='elu', subsample=(2, 2)))
    model.add(Conv2D(48, 5, 5, activation='elu', subsample=(2, 2)))
    model.add(Conv2D(64, 3, 3, activation='elu'))
    model.add(Conv2D(64, 3, 3, activation='elu'))
    model.add(Dropout(args.keep_prob))
    model.add(Flatten())
    model.add(Dense(100, activation='elu'))
    model.add(Dense(50, activation='elu'))
    model.add(Dense(10, activation='elu'))
    model.add(Dense(1))
    model.summary()

    return model