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  This one is going to attempt a new form of prediction based on velocity flow matching using spherical representation.
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  I'm going to attempt to fully replace the diffuser's substructure with a spherical representation. Standby.
 
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  This one is going to attempt a new form of prediction based on velocity flow matching using spherical representation.
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+ The alignment for the early prototype is essentially going to be euler discreet ODE flow matching, and it will be more than enough for now.
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+ We'll work from there and build increased representation as needed.
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  I'm going to attempt to fully replace the diffuser's substructure with a spherical representation. Standby.