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norm: guard degenerate channels, horizon pooling, and no rot6d normalization - #657

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RyanPCo wants to merge 3 commits into

ryanco/hand-keypoints-144dfrom

ryanco/norm-stats-pooling

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norm: guard degenerate channels, horizon pooling, and no rot6d normalization#657
RyanPCo wants to merge 3 commits into
ryanco/hand-keypoints-144dfrom
ryanco/norm-stats-pooling

Commits on Oct 30, 2026
- norm: guard degenerate channels, and add openpi-style horizon pooling
  
  RyanPCo
  and
  claude
  committed
  3051290
- norm: stop normalizing the rot6d rotation channels
  
  RyanPCo
  and
  claude
  committed
  20b3583
- norm: keep normalizing rot6d for checkpoints saved before passthrough
  
  RyanPCo
  and
  claude
  committed
  9b9116e