@article{trainingwithoutorthogonalizationinferenc,
  title = {Training Without Orthogonalization, Inference With SVD: A Gradient Analysis of Rotation Representations},
  author = {Chris Choy},
  year = {2026},
  eprint = {2604.05414},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.05414},
}