Incremental Neural Network Model Inference

An incremental neural network model inference method for updating a vehicle state vector, the method comprising:

• providing a neural network model having a plurality of layers to a vehicle computer, wherein the vehicle computer is configured to execute the neural network model onboard the vehicle;
• reading parameters and functions from a current layer of the neural network model into a memory of the vehicle computer;
• performing a linear transformation on a navigation state estimate with the parameters and functions via the vehicle computer and saving a transformed navigation state estimate to the memory;
• determining whether the current layer of the neural network model is the last layer;
• when the current layer is not the last layer:
• performing a nonlinear transformation on the transformed navigation state estimate;
• removing the parameters and functions from the memory;
• incrementing to a next layer of the neural network model;
• and
• repeating the steps of reading parameters and functions for a next layer of the neural network model, performing a linear transformation, and determining whether the current layer is the last layer;
• and
• when the current layer is the last layer:
• outputting a force command.

An incremental neural network model inference method providing reduced memory requirements, the method comprising:

• inputting parameters and functions from an initial layer of a neural network model into a memory of a computer, wherein the neural network model comprises a plurality of layers;
• transforming a sequence of vectors with the parameters and functions via the computer and saving a transformed sequence of vectors to the memory;
• removing the parameters and functions from the memory;
• incrementing to a next layer of the neural network model;
• repeating the steps of reading, transforming, and removing for the next layer of the neural network model until all layers are transformed;
• and
• outputting a neural network model output, wherein the neural network model output provides a prediction based on the parameters and functions.