ur5-robotic-grasping/network/trained-models/cornell-randsplit-rgbd-grco.../arch.txt

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Layer (type) Output Shape Param #
================================================================
Conv2d-1 [-1, 16, 224, 224] 5,200
BatchNorm2d-2 [-1, 16, 224, 224] 32
Conv2d-3 [-1, 32, 112, 112] 8,224
BatchNorm2d-4 [-1, 32, 112, 112] 64
Conv2d-5 [-1, 64, 56, 56] 32,832
BatchNorm2d-6 [-1, 64, 56, 56] 128
Conv2d-7 [-1, 64, 56, 56] 36,928
BatchNorm2d-8 [-1, 64, 56, 56] 128
Conv2d-9 [-1, 64, 56, 56] 36,928
BatchNorm2d-10 [-1, 64, 56, 56] 128
ResidualBlock-11 [-1, 64, 56, 56] 0
Conv2d-12 [-1, 64, 56, 56] 36,928
BatchNorm2d-13 [-1, 64, 56, 56] 128
Conv2d-14 [-1, 64, 56, 56] 36,928
BatchNorm2d-15 [-1, 64, 56, 56] 128
ResidualBlock-16 [-1, 64, 56, 56] 0
Conv2d-17 [-1, 64, 56, 56] 36,928
BatchNorm2d-18 [-1, 64, 56, 56] 128
Conv2d-19 [-1, 64, 56, 56] 36,928
BatchNorm2d-20 [-1, 64, 56, 56] 128
ResidualBlock-21 [-1, 64, 56, 56] 0
Conv2d-22 [-1, 64, 56, 56] 36,928
BatchNorm2d-23 [-1, 64, 56, 56] 128
Conv2d-24 [-1, 64, 56, 56] 36,928
BatchNorm2d-25 [-1, 64, 56, 56] 128
ResidualBlock-26 [-1, 64, 56, 56] 0
Conv2d-27 [-1, 64, 56, 56] 36,928
BatchNorm2d-28 [-1, 64, 56, 56] 128
Conv2d-29 [-1, 64, 56, 56] 36,928
BatchNorm2d-30 [-1, 64, 56, 56] 128
ResidualBlock-31 [-1, 64, 56, 56] 0
ConvTranspose2d-32 [-1, 32, 113, 113] 32,800
BatchNorm2d-33 [-1, 32, 113, 113] 64
ConvTranspose2d-34 [-1, 16, 225, 225] 8,208
BatchNorm2d-35 [-1, 16, 225, 225] 32
ConvTranspose2d-36 [-1, 16, 225, 225] 20,752
Dropout-37 [-1, 16, 225, 225] 0
Conv2d-38 [-1, 1, 224, 224] 65
Dropout-39 [-1, 16, 225, 225] 0
Conv2d-40 [-1, 1, 224, 224] 65
Dropout-41 [-1, 16, 225, 225] 0
Conv2d-42 [-1, 1, 224, 224] 65
Dropout-43 [-1, 16, 225, 225] 0
Conv2d-44 [-1, 1, 224, 224] 65
================================================================
Total params: 479,156
Trainable params: 479,156
Non-trainable params: 0
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Input size (MB): 0.77
Forward/backward pass size (MB): 110.74
Params size (MB): 1.83
Estimated Total Size (MB): 113.34
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