Replace uniform minibatch sampling by a fixed-size determinantal point process whose similarity matrix is a diffusion kernel on the training-data k-NN graph. The sampler repels nearby or redundant examples while preserving multiple diffusion modes, so a small batch should cover intrinsic data geometry and provide lower-variance estimates of losses and gradients.
Use the reachable-safe-set viewpoint to make training data generation adaptive: maintain an approximation of the states reached by the current neural policy, identify boundary regions with weak barrier margin, and sample there until the set is sufficiently covered. This replaces random rollout expansion with a measurable coverage condition that can support finite-sample safety claims.
Initialize latent coordinate-frame parameters analytically from two temporally separated neural predictions instead of starting joint optimization from arbitrary translation and orientation. This removes the continuous gauge before backpropagation and should prevent EKF-like or gradient-based failures caused by large yaw and position initialization errors.
Use the paper's linearized Beltrami equation as a custom Jacobian-vector product or implicit backward rule for a differentiable deformation solver. Instead of differentiating through an ill-conditioned solve naively, solve a normalized linearized equation whose source is scaled by the coefficient derivative; the derivative-to-ellipticity cancellation keeps sensitivity bounded even when the learned warp approaches extreme distortion.
Add a deliberate large-constant-learning-rate phase in which training loss is not forced monotonically toward interpolation. The phase is intended to calibrate shared, high-signal directions before the optimizer memorizes example-specific nuisance directions, and should be stopped when validation error is minimized even if training error remains high.