clearly went into our reviews, and all reviewers seem happy with the substantial potential impact of our approach, and

We thank the reviewers for their extensive comments. Where is the novelty (R2+R4) / What is the point of the new proofs (R2)? However, our primary result is to show why it works. Newton's method with a more stable trust-region based method gave rise to a more stable fixed-point (line 131), and Given this, partial derivatives and full derivatives coincide. This mischaracterisation by R6 is our fault; we had intended to cite Fitzgibbon's later We emphasise that we're modifying a baseline [24] that was published independently All issues raised by the reviewers will be clarified. 'network' instead of'parameters of the energy function' in the pose experiment; we agree the name should be changed.