\section{Extended Error Distribution Summary}
\label{appendix:extended_error_summary}

To complement Table~\ref{tab:pose_comparison_w_nograd} and Figure~\ref{fig:pose_comparison_w_nograd} in the main text, Table~\ref{tab:extended_quantitative_results} reports additional distribution statistics for each experimental setting, including the standard deviation and the 50th, 60th, 70th, 80th, and 90th percentiles of the rotation and translation errors. These results provide a more complete view of the error spread.

\begin{table*}[t]
\centering
\small
\setlength{\tabcolsep}{6pt}
\renewcommand{\arraystretch}{1.2}

\begin{tabular}{lcccccc}
\hline
\textbf{Experiment} & \textbf{Rotation Error} & \textbf{P=50} & \textbf{P=60} & \textbf{P=70} & \textbf{P=80} & \textbf{P=90} \\
\hline
No Weights          & $26.14 \pm 30.08$ & 12.96 & 17.45 & 29.92 & 41.46 & 75.48 \\
DS                  & $14.22 \pm 29.18$ & 2.31  & 3.39  & 5.42  & 13.68 & 51.83 \\
Finetune + NG + DS  & $16.52 \pm 30.38$ & 2.87  & 4.51  & 9.24  & 21.09 & 57.17 \\
Finetune + DS       & $16.33 \pm 30.78$ & 2.84  & 4.37  & 8.08  & 20.00 & 59.39 \\
CW                  & $13.94 \pm 28.67$ & 2.27  & 3.43  & 5.36  & 12.72 & 46.68 \\
Finetune + NG + CW  & $15.65 \pm 28.57$ & 2.73  & 4.45  & 9.23  & 20.65 & 54.13 \\
Finetune + CW       & $15.84 \pm 30.80$ & 2.73  & 4.78  & 7.41  & 16.97 & 49.39 \\
\hline
\end{tabular}

\vspace{0.75em}

\begin{tabular}{lcccccc}
\hline
\textbf{Experiment} & \textbf{Translation Error} & \textbf{P=50} & \textbf{P=60} & \textbf{P=70} & \textbf{P=80} & \textbf{P=90} \\
\hline
No Weights          & $51.18 \pm 56.58$ & 32.70 & 45.09 & 64.30 & 80.86 & 111.67 \\
DS                  & $24.79 \pm 50.58$ & 6.38  & 9.09  & 13.59 & 33.46 & 70.17 \\
Finetune + NG + DS  & $21.98 \pm 33.38$ & 7.46  & 11.21 & 21.61 & 33.64 & 60.30 \\
Finetune + DS       & $21.92 \pm 36.44$ & 7.21  & 10.53 & 17.19 & 32.08 & 55.74 \\
CW                  & $24.18 \pm 62.23$ & 6.35  & 8.98  & 12.96 & 27.99 & 58.35 \\
Finetune + NG + CW  & $22.14 \pm 34.78$ & 7.44  & 10.78 & 20.02 & 32.67 & 58.41 \\
Finetune + CW       & $20.63 \pm 32.54$ & 6.97  & 10.24 & 18.84 & 30.99 & 55.14 \\
\hline
\end{tabular}

\caption{Extended quantitative summary of pose-estimation errors across all experimental configurations. For each method, we report the mean $\pm$ standard deviation together with the 50th, 60th, 70th, 80th, and 90th percentiles of the rotation error (degrees) and translation error (mm). DS denotes Discrete Selection, CW denotes Continuous Weighting, and NG denotes fine-tuning without gradient updates through the MC dropout branch.}
\label{tab:extended_quantitative_results}
\end{table*}