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U-Net architecture of ϕθ = hθ(m, f). Each block of the encoder features a 3D convolution with n = 256 filters and a LeakyReLU layer (0.2). Stride-2 convolutions each halve the resolution relative to the input. In the decoder, each convolution is followed by an upsampling layer and a skip connection (long arrows). The SVF vθ is obtained at half resolution, yielding the warp ϕθ after integration and upsampling. All kernels are of size 3 × 3 × 3. The final layer uses n= 3 filters.
