Modified CNN based off AlexNet for Behavioral Cloning CarND project

behavioral-cloning-alexnet-modified.py

model = Sequential()

# Output = 55 x 55
model.add(Lambda(lambda x: x / 255 - 0.5, input_shape=(227, 227, 3)))
model.add(Convolution2D(48, 11, 11, subsample=(4,4)))
model.add(Activation('relu'))

# Output = 27 x 27
model.add(MaxPooling2D((3,3), strides=(2,2)))
model.add(Convolution2D(128, 5, 5, border_mode='same'))
model.add(Activation('relu'))

# Output = 13 x 13
model.add(MaxPooling2D((3,3), strides=(2,2)))
model.add(Convolution2D(192, 3, 3, border_mode='same'))
model.add(Activation('relu'))

# Output = 13 x 13
model.add(Convolution2D(192, 3, 3, border_mode='same'))
model.add(Activation('relu'))

# Output = 13 x 13
model.add(Convolution2D(128, 3, 3, border_mode='same'))
model.add(Activation('relu'))

# Output = 4 x 4 x 128
model.add(MaxPooling2D((3,3)))

model.add(Flatten())
model.add(Dense(2048))
model.add(Dense(2048))
model.add(Dense(1))