# Shared Components

Shared code used by all methods:

- `src/control/`: classical geometric helpers used by traditional controllers.
- `src/data/`: clean-image dataset loader.
- `src/models/`: shared image encoder and latent world-model components.
- `src/utils/`: parameter counting utilities.
- `src/vision/`: clean image observation renderer and image-only pose estimator for traditional controllers.
- `config/`: the single paper pipeline config.
- `result/`: generated shared outputs.