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Table 2 Gradient routing in the two-stage training procedure

From: Generative Video-LiDAR world models for long-horizon multimodal scene simulation with temporal and geometric consistency

Loss

Generator / Geometry Head

\({F_\phi }\)

\({E_\psi }\)

\({H_\omega }\)

Feedback Model

Diffusion loss

✓

—

—

—

Frozen

Geometric loss

✓

—

—

—

Frozen

Recoverability loss

✓

✓

✓

—

Frozen

Counterfactual loss

Frozen

Frozen

Frozen

✓

Frozen