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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 uncertainty and contrast cues to latent perceptual fusion

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

Add uncertainty and contrast cues to latent perceptual fusion
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