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Add per-sample ODE horizons, batched RoPE/masking, Stiefel equivariant layer and enhanced ray marcher#2

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Add per-sample ODE horizons, batched RoPE/masking, Stiefel equivariant layer and enhanced ray marcher#2
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codex/analyze-and-rectify-code-logic-flow-iyv1w4

Add uncertainty and contrast cues to latent perceptual fusion

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