Search Results for fusion
Explore AI generated designs, images, art and prompts by top community artists and designers.
massive ultra advanced alien megastructure planet with impossible scale , entire surface partially artificial and partially natural , gigantic floating continents suspended in sky with anti-gravity fields , interconnected by glowing energy highways and light bridges , colossal futuristic alien cities spread across multiple layers of atmosphere , with towering megastructures piercing clouds and extending into space , illuminated by dynamic holographic systems and energy cores , planetary rings cutting directly through atmosphere at low altitude , casting moving shadows and glowing light streaks across entire world , broken moons and asteroid belts orbiting very close creating cinematic depth , entire sections of land rotating slowly in air , gravity bending visibly , magnetic fields forming glowing wave patterns across sky , time-distortion zones subtly warping environment , giant energy pillars shooting from surface into space , connecting planet to orbiting alien stations , massive floating platforms and sky cities hovering above clouds , oceans forming levitating water masses and circular gravity pools , waterfalls flowing upward into sky , luminous energy rivers crossing continents , sky filled with cosmic storms , lightning across horizon , nebula-like clouds inside atmosphere , multiple suns creating layered lighting and extreme contrast , ancient + futuristic fusion architecture , alien technology beyond human understanding , hyper-detailed surfaces with glowing circuits and organic-metal blend , cinematic IMAX ultra wide shot , extreme depth , layered composition (foreground floating rocks , mid mega city , background planet rings) , ultra detailed , 8k resolution , hyper realistic , razor sharp focus , depth of field , sci-fi fantasy environment , volumetric lighting , god rays , atmospheric scattering , global illumination , extreme lighting contrast , reflections , shadows , cinematic color grading , color palette: deep violet , neon blue , cyan glow , magenta highlights , dark space blacks , camera angle: ultra wide low + aerial hybrid cinematic shot , mood: god-tier , mind-blowing , surreal , epic , mysterious , divine technology , masterpiece , best quality , ultra realistic , cinematic lighting , Unreal Engine 5 render , ray tracing , HDR , IMAX scale , no blur , no distortion , perfect composition , insane detail ,
A colossal , ancient alien bio-mechanical Jellyfish with tentacles , (in the style of human hand fingers) appears to dissolve into a shifting , its form a fusion of organic kelp ocean and intricate , glowing circuitry , drifts through a nebula of swirling emerald and amethyst waves. Crystalline structures sprout from its surface , pulsing with soft internal light. The scene is rendered with extreme detail , capturing the vastness of space and the intricate textures of the entity. Style: A hyperrealistic , 8k resolution render with subtle glitch art artifacts woven into the cosmic background , reminiscent of H.R. Giger's biomechanical designs and the expansive matte paintings of classic sci-fi cinema. ,
An ethereal alien queen , adorned with intricate crystalline growths and flowing robes woven from starlight , presides over a court of bio-luminescent flora within a colossal , ancient alien structure. The architecture is a fusion of organic curves and advanced technological conduits , humming with soft energy. Highly detailed , 8k resolution , with subtle glitch art effects hinting at dimensional instability. Style: A blend of cosmic horror and high fantasy , with an emphasis on intricate detail and otherworldly atmosphere. ,
A colossal , 3d architectural rendering of a futuristic and sustainable real estate project in a modern Egyptian city built entirely on the back of a giant chameleon perched on a flowering branch , its body positioned diagonally across the frame from upper left to lower right. The chameleon's scales are rendered in extraordinary detail , displaying a vivid mosaic of deep magenta , coral pink , teal , turquoise , and gold tones arranged in intricate overlapping patterns across its body , casque , limbs , and curling tail. Shot in realistic live-action cinematography style.High dynamic range lighting , cinematic color grading , subtle film grain.Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement.50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion.8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation.The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A colossal , 3d architectural rendering of a futuristic and sustainable real estate project in a modern Egyptian city built entirely on the back of a giant chameleon perched on a flowering branch , its body positioned diagonally across the frame from upper left to lower right. The chameleon's scales are rendered in extraordinary detail , displaying a vivid mosaic of deep magenta , coral pink , teal , turquoise , and gold tones arranged in intricate overlapping patterns across its body , casque , limbs , and curling tail. Shot in realistic live-action cinematography style.High dynamic range lighting , cinematic color grading , subtle film grain.Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement.50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion.8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation.The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
Imagine floating above a breathtaking metropolis that's literally out of this world. Picture a gargantuan , transparent whale gliding through the cosmos , its body a marvel of futuristic innovation. Inside this colossal creature , towering spires of cutting-edge technology stretch towards the atmosphere of a nearby gas giant , giving the impression that they're trying to touch the sky. The entire cityscape is a seamless blend of sleek , glowing architecture that mirrors the organic beauty of the whale's inner workings. It's as if the city was grown , not built , with curves and shapes that feel both alien and familiar. Zoom in a bit , and you'll notice tiny , nimble spacecraft zipping through the city's energetic pathways. They leave behind trails of light , like fireflies dancing in the night , adding a mesmerizing layer of dynamism to the scene. But the view doesn't stop there. As you gaze out , you see the whale's exterior , a canvas of twinkling constellations that seem to tell ancient stories of the universe. The entire scene is bathed in a vibrant , surreal light , with sharp lines and colors that pop against the cosmic backdrop. The perspective from up high gives you a sense of just how mind-bogglingly vast and intricate this city is. It's a fusion of the organic and the synthetic , the natural and the technological , all swirling together in a dance of light and wonder. You're witnessing a place where the future isn't just imagined , but lived – a place that's as much a part of the universe as the stars themselves. ,
Imagine floating above a breathtaking metropolis that's literally out of this world. Picture a gargantuan , transparent manta-ray gliding through the cosmos , its body a marvel of futuristic innovation. Inside this colossal creature , towering spires of cutting-edge technology stretch towards the atmosphere of a nearby gas giant , giving the impression that they're trying to touch the sky. The entire cityscape is a seamless blend of sleek , glowing architecture that mirrors the organic beauty of the manta-ray's inner workings. It's as if the city was grown , not built , with curves and shapes that feel both alien and familiar. Zoom in a bit , and you'll notice tiny , nimble spacecraft zipping through the city's energetic pathways. They leave behind trails of light , like fireflies dancing in the night , adding a mesmerizing layer of dynamism to the scene. But the view doesn't stop there. As you gaze out , you see the manta-ray's exterior , a canvas of twinkling constellations that seem to tell ancient stories of the universe. The entire scene is bathed in a vibrant , surreal light , with sharp lines and colors that pop against the cosmic backdrop. The perspective from up high gives you a sense of just how mind-bogglingly vast and intricate this city is. It's a fusion of the organic and the synthetic , the natural and the technological , all swirling together in a dance of light and wonder. You're witnessing a place where the future isn't just imagined , but lived – a place that's as much a part of the universe as the stars themselves. ,
Cinematic aerial view over a futuristic oceanic metropolis. A colossal bio-mechanical sea turtle , its form a fusion of glass-like polymers curves and motherboard texture with CCTVs camera plating , glides through a nebula of swirling stardust and gas clouds. Intricate gold , silver , and chrome-plated components are embedded throughout its body , pulsing with glowing marine life. The scene is rendered with hyper-realistic detail , emphasizing the vastness of ocean and the majestic , ocean nature of the creature. Late afternoon light. Golden reflections on the facades. Humid atmosphere , light saline mist. Distant seagulls. Gentle waves lapping against the structures. 70mm optics. Realistic depth of field. Photorealistic live-action rendering. Credible physical textures. No UI elements. No game graphics. Organic and functional futuristic architecture A sea turtle immersed in a Luminescent Oceanic Reverie , where the sea comes alive with glowing marine life. Use vibrant shades of gold and teal to capture the ethereal beauty of underwater illumination. ,
Ultra-precise illustration of a traditional Kabyle Algerian bracelet (Berber style) , strictly based on the provided image: rigid silver band , cloisonné with royal blue , coral red , and sunflower yellow enamel , geometric symmetrical patterns , precise placement of decorative elements , vibrant colors unchanged. Rendered as a scientific study: pencil sketch with fine lines , ink contours , delicate watercolor wash bleeding beyond all edges , pigment diffusion on textured paper. Scientific illustration style , in the manner of Leonardo da Vinci , no stylization , no creative additions , absolute fidelity to details and materials." ,
Cinematic aerial view over a futuristic oceanic metropolis. A colossal bio-mechanical manta-ray , its form a fusion of glass-like polymers curves and motherboard texture with CCTVs camera plating , glides through a nebula of swirling stardust and gas clouds. Intricate gold , silver , and chrome-plated components are embedded throughout its body , pulsing with soft , internal light. The scene is rendered with hyper-realistic detail , emphasizing the vastness of ocean and the majestic , ocean nature of the creature. Late afternoon light. Golden reflections on the facades. Humid atmosphere , light saline mist. Distant seagulls. Gentle waves lapping against the structures. 70mm optics. Realistic depth of field. Photorealistic live-action rendering. Credible physical textures. No UI elements. No game graphics. Organic and functional futuristic architecture ,
Ultra-précise illustration d’un bracelet kabyle traditionnel algérien (style berbère) , reproduit avec rigueur d’après l’image fournie : bande rigide en argent travaillée , cloisonné d’émaux bleu roi , rouge corail , jaune tournesol , motifs géométriques symétriques. Reproduction fidèle : proportions exactes , placement précis des éléments décoratifs , couleurs intenses inchangées. Rendu en étude artistique : esquisse au crayon , traits fins , contours à l’encre , lavis aquarelle débordant sur tous les bords , diffusion des pigments sur papier texturé. Style de documentation scientifique , à la manière de Léonard de Vinci , sans stylisation ni ajout , fidélité absolue aux détails et aux matériaux. » ,
A green light casting intricate shadows through the stone tracery of a Gothic window onto the floor of a ruined castle interior. female with a long green Vine like root gown and a crown of grapes standing there where a green light focus on her dress. Lush tropical plants and palms , mist . The style of 19th-century realism. Cinematic , hyper-realistic style with a focus on natural beauty and a sense of adventure. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic storm simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A figure , she playing the violin , composed of circuit paths , motherboard texture with glowing LED elements , silver traces forming a dress , quantum processor eyes , color scheme of green and metallic blue , floating binary code. The dress flows into a dramatic that forms , uncharted jungle canopy stretching to the horizon. Below , a hidden waterfall cascades into a crystal-clear river , hinting at undiscovered mysteries. The scene is bathed in the moon light of dawn , with mist gently rising from the foliage. Cinematic , hyper-realistic style with a focus on natural beauty and a sense of adventure. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic storm simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A lone celestial ballet stands on a cliff edge , rendered entirely as a luminous dress made of thousands of peacock's feathers in a green-purple gradient. The dress flows into a dramatic that forms , uncharted jungle canopy stretching to the horizon. Below , a hidden waterfall cascades into a crystal-clear river , hinting at undiscovered mysteries. The scene is bathed in the moon light of dawn , with mist gently rising from the foliage. Cinematic , hyper-realistic style with a focus on natural beauty and a sense of adventure. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic storm simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A lone celestial ballet stands on a cliff edge , rendered entirely as a leaves made of thousands of stripes and leaves in a green gradient. The gown flows into a dramatic that forms , uncharted jungle canopy stretching to the horizon. Below , a hidden waterfall cascades into a crystal-clear river , hinting at undiscovered mysteries. The scene is bathed in the moon light of dawn , with mist gently rising from the foliage. Cinematic , hyper-realistic style with a focus on natural beauty and a sense of adventure. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic storm simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A breathtaking masterpiece depicting a celestial figure , she playing the violin , rendered entirely as a luminous sans made of thousands of black stripes in a vibrant sand gradient. The dress flows into a Symphony of the Swirling , dreamlike figure in the vast expanse of desert. Above them , filling the sky , a massive swirling formation of clouds curls inward , forming the unmistakable shape of a colossal flowing eye. The style is a fusion of ethereal fantasy art and highly detailed digital painting , reminiscent of the works of artists like Thomas Kinkade and Albert Bierstadt , with an 8k resolution and cinematic composition. ,
A breathtaking masterpiece depicting a celestial ballet of nebulae and star clusters forming impossible , dreamlike figures in the vast expanse of space. Swirls of vibrant cosmic dust intertwine with distant galaxies , creating a symphony of light and color. The style is a fusion of ethereal fantasy art and highly detailed digital painting , reminiscent of the works of artists like Thomas Kinkade and Albert Bierstadt , with an 8k resolution and cinematic composition. ,
A man on a surf board waiting for a wave , suddenly a colossal , 3D architectural rendering of futuristic and sustainable modern city built entirely on the back of a giant , resembling a transparent cybernetic whale , its body positioned diagonally across the frame from upper left to lower right. Its exoskeleton is sculpted from clear , glass-like polymers , revealing a mesmerizing inner world of green glowing micro-LEDs , nano-scale circuit boards , and ultra-fine mechanical filaments , with a focus on awe-inspiring scale and ethereal beauty. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
bird eye view , a surreal bridge melting by a mythological sea Xenomorph serpent , over a desolate , alien planet , huge skyscraper vertical city where skyscrappers are connected by bridges and metros train , trains passing inside the building , public building , organic futurism , deconstructivism , futuristic monolithic , concrete polycarbonate vertical louvers facade , designed by frank gehry zaha hadid bjarke ingels , highly detailed. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation --ar 3:2 --raw --v 8 ,
A gritty photograph showcasing a Futuristic soldier in white and red armor with dual weapons , featuring a sleek design and a reflective red visor riding on Hippopotamus. The soldier , clad in worn leather and red armor , grips a sword , his face contorted in a grimace of effort and fury , with streaks of rain mixing with dirt across his cheek. Harsh , chiaroscuro lighting from a sudden flash of lightning illuminates the scene , casting stark shadows and highlighting the glint of wet metal amidst billowing smoke in the distant background. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A futuristic single-person mobility pod inspired by mid-century modern design. Smooth chrome and brushed aluminum surfaces , rounded aerodynamic shapes , bubble canopy , glowing neon edge lights , retro-futuristic aesthetic. The seat looks like a stylish lounge chair from the 1960s , cozy and ergonomic. Sleek wheels integrated into sculptural curves. Highly realistic photography , detailed reflections , studio lighting , high resolution , 8K , extremely sharp , sci-fi meets 1950s future vision. Seaside highway with retro-futuristic resort buildings , bright sun , sparkling ocean behind , palm trees swaying , vivid and optimistic 1960s future aesthetic. a Cute chibi female sitting on a driver sit , big expressive eyes , soft smooth skin , tiny body with oversized head , wearing white shirt and ripped skinny jeans , red high heels , large polka-dot bow headband , long voluminous hair driver with relaxed posture , pastel tones , ultra-detailed , 3D render , Pixar-style , High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. ,
bird eye view , a surreal bridge melting by a flying eagle , over a desolate , alien planet , huge skyscraper vertical city where skyscrappers are connected by bridges and metros train , trains passing inside the building , public building , organic futurism , deconstructivism , futuristic monolithic , concrete polycarbonate vertical louvers facade , designed by frank gehry zaha hadid bjarke ingels , highly detailed , futuristic designs High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation , rich detailing --ar 4:6 --raw --stylize 200 ,
A gritty photograph showcasing a Futuristic soldier in white and red armor with dual weapons , featuring a sleek design and a reflective red visor atop a massive , roaring Hippopotamus. The soldier , clad in worn leather and red armor , grips a sword , his face contorted in a grimace of effort and fury , with streaks of rain mixing with dirt across his cheek. Harsh , chiaroscuro lighting from a sudden flash of lightning illuminates the scene , casting stark shadows and highlighting the glint of wet metal amidst billowing smoke in the distant background. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A gritty photograph showcasing a fierce , battle-hardened woman atop a massive , roaring Hippopotamus. The woman , clad in worn leather and steel armor , grips a sword , her face contorted in a grimace of effort and fury , with streaks of rain mixing with dirt across her cheek. Harsh , chiaroscuro lighting from a sudden flash of lightning illuminates the scene , casting stark shadows and highlighting the glint of wet metal amidst billowing smoke in the distant background. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
masterpiece , best quality: Human hand touching floating human meditations pose figure , interconnected by bioluminescent mycelium networks , subtle lightning pulses synchronizing through group of figures walk in Que , merging into rainbow bridge over Zanskar Valley , Padum city below with misty dawn light with golden fractals , ultra-detailed healing fantasy realism , Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
Bird eye view , Renaissance style , black-print of a (surreal spacecraft melting from florescence red eyes in the circuit-wings) , 4k resolution , intricate , wire-frame , masterpiece , trending on art-station , city street black background. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A colossal , 3d architectural rendering of a futuristic and sustainable real estate project in a modern Egyptian city built entirely on the back of a giant chameleon perched on a flowering branch , its body positioned diagonally across the frame from upper left to lower right. The chameleon's scales are rendered in extraordinary detail , displaying a vivid mosaic of deep magenta , coral pink , teal , turquoise , and gold tones arranged in intricate overlapping patterns across its body , casque , limbs , and curling tail. Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
A hyperrealistic close-up of an exotic watermelon , split open to reveal a miniature , intricate 3d architectural rendering of a futuristic and sustainable real estate project in a alien city within its core , symbolizing the fusion of nature and human creation. The watermelon's skin is textured like haute couture fabric. The lighting is soft and diffused , as if from a high-fashion photoshoot , highlighting the fantastical juxtaposition. ,
Extreme bird's-eye view looking down into a vast ancient fantasy citadel built from warm sandstone and gold-trimmed stone , towering multi-tiered battlements and ornate arched gateways carved with intricate relief sculptures. A skydiver mid-fall , their jumpsuit transforming into a butterfly-like wings along the left edge of the frame , dwarfed by the colossal architecture below. Tiny human figures scattered across the grand courtyard floors far below Shot in realistic live-action cinematography style. High dynamic range lighting , cinematic color grading , subtle film grain. Natural optical depth of field , realistic lens blur , slight handheld camera micro-movement. 50mm cinematic lens , f/4 aperture , physically accurate lighting , volumetric light diffusion. 8K level visual fidelity , highly detailed environment , believable scale and realistic crowd simulation. The scene feels like a frame from a large-budget live-action science-fiction space movie. ,
Vision-Language-Action (VLA) models have emerged as a promising paradigm for robot learning , but their representations are still largely inherited from static image-text pretraining , leaving physical dynamics to be learned from comparatively limited action data. Generative video models , by contrast , encode rich spatiotemporal structure and implicit physics , making them a compelling foundation for robotic manipulation. But their potentials are not fully explored in the literature. To bridge the gap , we introduce DiT4DiT , an end-to-end Video-Action Model that couples a video Diffusion Transformer with an action Diffusion Transformer in a unified cascaded framework. Instead of relying on reconstructed future frames , DiT4DiT extracts intermediate denoising features from the video generation process and uses them as temporally grounded conditions for action prediction. We further propose a dual flow-matching objective with decoupled timesteps and noise scales for video prediction , hidden-state extraction , and action inference , enabling coherent joint training of both modules. ,