keras.py 文件源码

def default_linear():
    from keras.layers import Input, Dense, merge
    from keras.models import Model
    from keras.layers import Convolution2D, MaxPooling2D, Reshape, BatchNormalization
    from keras.layers import Activation, Dropout, Flatten, Dense

    img_in = Input(shape=(120,160,3), name='img_in')
    x = img_in
    x = Convolution2D(24, (5,5), strides=(2,2), activation='relu')(x)
    x = Convolution2D(32, (5,5), strides=(2,2), activation='relu')(x)
    x = Convolution2D(64, (5,5), strides=(2,2), activation='relu')(x)
    x = Convolution2D(64, (3,3), strides=(2,2), activation='relu')(x)
    x = Convolution2D(64, (3,3), strides=(1,1), activation='relu')(x)

    x = Flatten(name='flattened')(x)
    x = Dense(100, activation='linear')(x)
    x = Dropout(.1)(x)
    x = Dense(50, activation='linear')(x)
    x = Dropout(.1)(x)
    #categorical output of the angle
    angle_out = Dense(1, activation='linear', name='angle_out')(x)

    #continous output of throttle
    throttle_out = Dense(1, activation='linear', name='throttle_out')(x)

    model = Model(inputs=[img_in], outputs=[angle_out, throttle_out])


    model.compile(optimizer='adam',
                  loss={'angle_out': 'mean_squared_error', 
                        'throttle_out': 'mean_squared_error'},
                  loss_weights={'angle_out': 0.5, 'throttle_out': .5})

    return model