Curricula, sampling schedules, pseudo-labeling and multi-task mixing, with the standard training recipe as the control.
Use the envelope's phase transition to choose whether clipping should primarily control update energy or preserve the raw gradient and reduce clipping bias. In the energy-dominated regime, regulate the retained update energy; in the bias-dominated regime, regulate the removed-gradient residual and monitor rare outliers explicitly.
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.
Replace uniform node minibatches in a GNN with a coreset selected from a small random candidate set using local Laplacian-column coherence. Select nodes whose connectivity signatures are least redundant with already selected nodes, while retaining inverse-probability weights for unbiased loss estimates. This should improve coverage of weakly connected graph clusters and preserve smooth graph signals at the same batch size.
Train a neural controller as a uniformly accurate surrogate of a trusted but expensive controller, and use a measured small-gain condition to decide whether the surrogate is safe for closed-loop deployment. The approximation tolerance becomes an interpretable residual-state budget instead of an opaque validation metric.