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license: apache-2.0 |
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# Tensorflow |
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* Version: 2.7.0 |
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* TensorRT version: 7.2.2.1 |
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* Docker image: nvcr.io/nvidia/tensorflow:20.12-tf2-py3 |
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* GPU: NVIDIA GeForce 3090 |
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* CUDA: 11.6 |
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* Driver version: 510.54 |
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| Optimization | Model size (MB) | MSE | Inference time (s/frame) | Filename | |
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| --------------------------------- | ---------------------- | ---------------------- | ---------------------- | --------------------------------- | |
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| Baseline | 6.0925140380859375 | 0.010881431312199034 | 0.0016004319190979005 | 28_04_pilotnet_model.tflite | |
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| Dynamic Range Quantization | 1.5389328002929688 | 0.041451400199878044 | 0.0008851253986358643 | 28_04_pilotnet_dynamic_quant.tflite | |
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| Integer Quantization | 1.5389328002929688 | 0.01102226436099348 | 0.0008868560791015625 | 28_04_pilotnet_int_quant.tflite | |
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| Integer (float fallback) Quantization | 1.5389175415039062 | 0.011030688516599923 | 0.0008031470775604248 | 28_04_pilotnet_intflt_quant.tflite | |
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| Float16 Quantization | - | - | - | 28_04_pilotnet_float16_quant.tflite | |
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| Quantization Aware Training | 1.5446319580078125 | 0.0115418379596583 | 0.0008456888198852539 | 28_04_pilotnet_quant_aware.tflite | |
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| (random sparse) Weight pruning | 6.0925140380859375 | 0.011697137610230973 | 0.0016570956707000733 | 28_04_pilotnet_pruned.tflite | |
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| (random sparse) Weight pruning Quantization | 1.536590576171875 | 0.011635421636510991 | 0.0012711701393127441 | 28_04_pilotnet_pruned_quan.tflite | |
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| Cluster preserving Quantization Aware | 1.5446319580078125 | 0.010546523951115492 | 0.0008221814632415771 | 28_04_pilotnet_cqat_model.tflite | |
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| Pruning preserving Quantization Aware | 1.5446319580078125 | 0.010758002372154884 | 0.0008252830505371093 | 28_04_pilotnet_pqat_model.tflite | |
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| Sparsity and cluster preserving quantization aware training (PCQAT) | 1.5446319580078125 | 0.008262857163545972 | 0.0008286898136138916 | 28_04_pilotnet_pcqat_model.tflite | |
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# TensorRT-Tensorflow |
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| Optimization | Model size (MB) | MSE | Inference time (s/frame) | Folder | |
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| --------------------------------- | ---------------------- | ---------------------- | ---------------------- | --------------------------------- | |
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| Float32 Quantization | 0.00390625 | 0.010798301750717706 | 0.00038761067390441896 | 24_04_pilotnet_tftrt_fp32 | |
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| Float16 Quantization | 0.00390625 | 0.010798278900279191 | 0.00042218327522277834 | 24_04_pilotnet_tftrt_fp16 | |
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| Int8 Quantization | 0.00390625 | 0.04791482252948612 | 0.0003384373188018799 | 14_06_pilotnet_tftrt_fp16 | |
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