We conduct ablation studies on each regularization loss component to validate their individual contributions to our physics-guided optimization (as shown in Fig. 9). We evaluate the following variants:
- Without position regularization (w/o Lxyz) - removing position regularization causes significant trajectory drift from the physics prior.
- Without velocity regularization (w/o Lvel) - removing velocity regularization similarly causes trajectory drift.
- Without rotation regularization (w/o Lrot) - removing rotation regularization shows minimal impact, producing results similar to our full method, indicating rotational corrections remain small throughout optimization.
- Without appearance regularization (w/o Lapp) - removing appearance regularization leads to severe error accumulation in recurrent predictions, resulting in noisy and incoherent results.
| w/o Lxyz | w/o Lvel | w/o Lrot | w/o Lapp | Ours |
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