Table 4
Ablation study on gradient gating mechanisms.
| Training configuration | Depth RMSE (m) | Path smoothness (m−1) | Training stability (variance) | Task success rate (%) |
|---|---|---|---|---|
| (a) No Joint Training | 0.75 | 0.25 | 0.045 | 76.8 |
| (b) Joint w/o Gating | 0.67 | 0.21 | 0.033 | 85.2 |
| (c) Joint + Gating (Proposed) | 0.61 | 0.18 | 0.024 | 94.5 |
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