hyperray 0.0.1__py3-none-any.whl

hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/conv2d/operations_generic.h

@@ -0,0 +1,1219 @@
+#include "../../../version.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_NN_LAYERS_CONV2D_OPERATIONS_GENERIC_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_NN_LAYERS_CONV2D_OPERATIONS_GENERIC_H
+
+#include "../../../containers/tensor/tensor.h"
+#include "../../../nn/parameters/operations_generic.h"
+
+#include "layer.h"
+#include "../../../rl_tools.h"
+
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools{
+    // ======================== NormForward malloc / free / copy / zero_gradient / update / _reset_optimizer_state ========================
+    // NONE
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC>&) {}
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC>&) {}
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SD&, TD&, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC1>&, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC2>&) {}
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void zero_gradient(DEVICE&, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC>&) {}
+    template<typename DEVICE, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void add_gradient(DEVICE&, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC1>&, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC2>&) {}
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy_gradient(SD&, TD&, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC1>&, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC2>&) {}
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void update(DEVICE&, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC>&, OPTIMIZER&) {}
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void _reset_optimizer_state(DEVICE&, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC>&, OPTIMIZER&) {}
+    template<typename DEVICE, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT typename SPEC1::TYPE_POLICY::DEFAULT abs_diff(DEVICE&, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC1>&, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC2>&) { return 0; }
+    template<typename DEVICE, typename SPEC, typename MODE>
+    RL_TOOLS_FUNCTION_PLACEMENT bool is_nan(DEVICE&, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::NONE, SPEC>&, const Mode<MODE>&) { return false; }
+
+    // BATCH_NORM
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& norm) {
+        malloc(device, norm.gamma);
+        malloc(device, norm.beta);
+        malloc(device, norm.running_mean);
+        malloc(device, norm.running_var);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& norm) {
+        free(device, norm.gamma);
+        free(device, norm.beta);
+        free(device, norm.running_mean);
+        free(device, norm.running_var);
+    }
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SD& sd, TD& td, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC1>& src, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC2>& dst) {
+        copy(sd, td, src.gamma, dst.gamma);
+        copy(sd, td, src.beta, dst.beta);
+        copy(sd, td, src.running_mean, dst.running_mean);
+        copy(sd, td, src.running_var, dst.running_var);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void zero_gradient(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& norm) {
+        zero_gradient(device, norm.gamma);
+        zero_gradient(device, norm.beta);
+    }
+    template<typename DEVICE, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void add_gradient(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC1>& source, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC2>& target) {
+        add_gradient(device, source.gamma, target.gamma);
+        add_gradient(device, source.beta, target.beta);
+    }
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy_gradient(SD& sd, TD& td, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC1>& source, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC2>& target) {
+        copy_gradient(sd, td, source.gamma, target.gamma);
+        copy_gradient(sd, td, source.beta, target.beta);
+    }
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void update(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& norm, OPTIMIZER& optimizer) {
+        update(device, norm.gamma, optimizer);
+        update(device, norm.beta, optimizer);
+    }
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void _reset_optimizer_state(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& norm, OPTIMIZER& optimizer) {
+        _reset_optimizer_state(device, norm.gamma, optimizer);
+        _reset_optimizer_state(device, norm.beta, optimizer);
+    }
+    template<typename DEVICE, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT typename SPEC1::TYPE_POLICY::DEFAULT abs_diff(DEVICE& device, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC1>& a, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC2>& b) {
+        using T = typename SPEC1::TYPE_POLICY::DEFAULT;
+        T acc = 0;
+        acc += abs_diff(device, a.gamma, b.gamma);
+        acc += abs_diff(device, a.beta, b.beta);
+        acc += abs_diff(device, a.running_mean, b.running_mean);
+        acc += abs_diff(device, a.running_var, b.running_var);
+        return acc;
+    }
+    template<typename DEVICE, typename SPEC, typename MODE>
+    RL_TOOLS_FUNCTION_PLACEMENT bool is_nan(DEVICE& device, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& norm, const Mode<MODE>& mode) {
+        return is_nan(device, norm.gamma, mode) || is_nan(device, norm.beta, mode) || is_nan(device, norm.running_mean, mode) || is_nan(device, norm.running_var, mode);
+    }
+
+    // LAYER_NORM
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& norm) {
+        malloc(device, norm.gamma);
+        malloc(device, norm.beta);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& norm) {
+        free(device, norm.gamma);
+        free(device, norm.beta);
+    }
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SD& sd, TD& td, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC1>& src, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC2>& dst) {
+        copy(sd, td, src.gamma, dst.gamma);
+        copy(sd, td, src.beta, dst.beta);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void zero_gradient(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& norm) {
+        zero_gradient(device, norm.gamma);
+        zero_gradient(device, norm.beta);
+    }
+    template<typename DEVICE, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void add_gradient(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC1>& source, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC2>& target) {
+        add_gradient(device, source.gamma, target.gamma);
+        add_gradient(device, source.beta, target.beta);
+    }
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy_gradient(SD& sd, TD& td, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC1>& source, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC2>& target) {
+        copy_gradient(sd, td, source.gamma, target.gamma);
+        copy_gradient(sd, td, source.beta, target.beta);
+    }
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void update(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& norm, OPTIMIZER& optimizer) {
+        update(device, norm.gamma, optimizer);
+        update(device, norm.beta, optimizer);
+    }
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void _reset_optimizer_state(DEVICE& device, nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& norm, OPTIMIZER& optimizer) {
+        _reset_optimizer_state(device, norm.gamma, optimizer);
+        _reset_optimizer_state(device, norm.beta, optimizer);
+    }
+    template<typename DEVICE, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT typename SPEC1::TYPE_POLICY::DEFAULT abs_diff(DEVICE& device, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC1>& a, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC2>& b) {
+        using T = typename SPEC1::TYPE_POLICY::DEFAULT;
+        T acc = 0;
+        acc += abs_diff(device, a.gamma, b.gamma);
+        acc += abs_diff(device, a.beta, b.beta);
+        return acc;
+    }
+    template<typename DEVICE, typename SPEC, typename MODE>
+    RL_TOOLS_FUNCTION_PLACEMENT bool is_nan(DEVICE& device, const nn::layers::conv2d::NormForward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& norm, const Mode<MODE>& mode) {
+        return is_nan(device, norm.gamma, mode) || is_nan(device, norm.beta, mode);
+    }
+
+    // ======================== NormBackward malloc / free / copy ========================
+    // NONE
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE&, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::NONE, SPEC>&) {}
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE&, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::NONE, SPEC>&) {}
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SD&, TD&, const nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::NONE, SPEC1>&, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::NONE, SPEC2>&) {}
+    // BATCH_NORM
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& cache) {
+        malloc(device, cache.mean);
+        malloc(device, cache.inv_std);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC>& cache) {
+        free(device, cache.mean);
+        free(device, cache.inv_std);
+    }
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SD& sd, TD& td, const nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC1>& src, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::BATCH_NORM, SPEC2>& dst) {
+        copy(sd, td, src.mean, dst.mean);
+        copy(sd, td, src.inv_std, dst.inv_std);
+    }
+    // LAYER_NORM
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& cache) {
+        malloc(device, cache.mean);
+        malloc(device, cache.inv_std);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC>& cache) {
+        free(device, cache.mean);
+        free(device, cache.inv_std);
+    }
+    template<typename SD, typename TD, typename SPEC1, typename SPEC2>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SD& sd, TD& td, const nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC1>& src, nn::layers::conv2d::NormBackward<nn::layers::conv2d::Normalization::LAYER_NORM, SPEC2>& dst) {
+        copy(sd, td, src.mean, dst.mean);
+        copy(sd, td, src.inv_std, dst.inv_std);
+    }
+
+    // ======================== Layer malloc / free ========================
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::LayerForward<SPEC>& layer) {
+        malloc(device, layer.weights);
+        malloc(device, layer.biases);
+        malloc(device, layer.norm);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::LayerForward<SPEC>& layer) {
+        free(device, layer.weights);
+        free(device, layer.biases);
+        free(device, layer.norm);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::LayerBackward<SPEC>& layer) {
+        malloc(device, (nn::layers::conv2d::LayerForward<SPEC>&) layer);
+        malloc(device, layer.pre_activations);
+        malloc(device, layer.norm_cache);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::LayerBackward<SPEC>& layer) {
+        free(device, (nn::layers::conv2d::LayerForward<SPEC>&) layer);
+        free(device, layer.pre_activations);
+        free(device, layer.norm_cache);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::LayerGradient<SPEC>& layer) {
+        malloc(device, (nn::layers::conv2d::LayerBackward<SPEC>&) layer);
+        malloc(device, layer.output);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::LayerGradient<SPEC>& layer) {
+        free(device, (nn::layers::conv2d::LayerBackward<SPEC>&) layer);
+        free(device, layer.output);
+    }
+    template<typename DEVICE>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::State& state) { }
+    template <typename SOURCE_DEVICE, typename TARGET_DEVICE>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SOURCE_DEVICE& source_device, TARGET_DEVICE& target_device, nn::layers::conv2d::State& source, nn::layers::conv2d::State& target){}
+    template<typename SPEC, typename DEVICE, typename RNG, typename MODE>
+    RL_TOOLS_FUNCTION_PLACEMENT void reset(DEVICE& device, const nn::layers::conv2d::LayerForward<SPEC>& layer, nn::layers::conv2d::State& state, RNG&, Mode<MODE> mode = Mode<mode::Default<>>{}) { }
+    template<typename DEVICE>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::State& state) { }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void malloc(DEVICE& device, nn::layers::conv2d::Buffer<SPEC>& buffer) {
+        malloc(device, buffer.d_weights_acc);
+        malloc(device, buffer.d_biases_acc);
+        malloc(device, buffer.d_input_acc);
+        malloc(device, buffer.d_gamma_acc);
+        malloc(device, buffer.d_beta_acc);
+    }
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void free(DEVICE& device, nn::layers::conv2d::Buffer<SPEC>& buffer) {
+        free(device, buffer.d_weights_acc);
+        free(device, buffer.d_biases_acc);
+        free(device, buffer.d_input_acc);
+        free(device, buffer.d_gamma_acc);
+        free(device, buffer.d_beta_acc);
+    }
+
+    // ======================== init_weights ========================
+    template<typename DEVICE, typename SPEC, typename INITIALIZER_SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT void init_weights(DEVICE& device, nn::layers::conv2d::LayerForward<SPEC>& layer, const nn::layers::conv2d::KaimingUniform<INITIALIZER_SPEC>& initializer, RNG& rng){
+        using T = typename SPEC::TYPE_POLICY::DEFAULT;
+        using TI = typename SPEC::TI;
+        T gain;
+        if constexpr(INITIALIZER_SPEC::INIT_LEGACY){
+            T negative_slope = math::sqrt(device.math, (T)5);
+            gain = math::sqrt(device.math, (T)2.0 / (1 + negative_slope * negative_slope));
+        }
+        else{
+            gain = math::sqrt(device.math, (T)2.0) * INITIALIZER_SPEC::SCALE;
+        }
+        // fan_in for Conv2d = INPUT_CHANNELS * KERNEL_HEIGHT * KERNEL_WIDTH
+        T fan = (T)(SPEC::INPUT_CHANNELS * SPEC::KERNEL_HEIGHT * SPEC::KERNEL_WIDTH);
+        T std = gain / math::sqrt(device.math, fan);
+        T weight_bound = math::sqrt(device.math, (T)3.0) * std;
+        T bias_bound = 1/math::sqrt(device.math, fan);
+        using PARAMETER_TYPE = typename decltype(layer.weights.parameters)::SPEC::T;
+        for(TI oc = 0; oc < SPEC::OUTPUT_CHANNELS; oc++) {
+            if constexpr(INITIALIZER_SPEC::INIT_LEGACY) {
+                set(device, layer.biases.parameters, (PARAMETER_TYPE)random::uniform_real_distribution(device.random, -bias_bound, bias_bound, rng), oc);
+            }
+            else{
+                set(device, layer.biases.parameters, (PARAMETER_TYPE)0, oc);
+            }
+            for(TI kh = 0; kh < SPEC::KERNEL_HEIGHT; kh++) {
+                for(TI kw = 0; kw < SPEC::KERNEL_WIDTH; kw++) {
+                    for(TI ic = 0; ic < SPEC::INPUT_CHANNELS; ic++) {
+                        set(device, layer.weights.parameters, (PARAMETER_TYPE)random::uniform_real_distribution(device.random, -weight_bound, weight_bound, rng), oc, kh, kw, ic);
+                    }
+                }
+            }
+        }
+        // Initialize normalization parameters
+        if constexpr(SPEC::NORMALIZATION != nn::layers::conv2d::Normalization::NONE) {
+            using NORM_PARAM_TYPE = typename decltype(layer.norm.gamma.parameters)::SPEC::T;
+            for(TI oc = 0; oc < SPEC::OUTPUT_CHANNELS; oc++) {
+                set(device, layer.norm.gamma.parameters, (NORM_PARAM_TYPE)1, oc);
+                set(device, layer.norm.beta.parameters, (NORM_PARAM_TYPE)0, oc);
+            }
+            if constexpr(SPEC::NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) {
+                using NORM_STAT_TYPE = typename decltype(layer.norm.running_mean)::SPEC::T;
+                for(TI oc = 0; oc < SPEC::OUTPUT_CHANNELS; oc++) {
+                    set(device, layer.norm.running_mean, (NORM_STAT_TYPE)0, oc);
+                    set(device, layer.norm.running_var, (NORM_STAT_TYPE)1, oc);
+                }
+            }
+        }
+    }
+    template<typename DEVICE, typename SPEC, typename RNG>
+    RL_TOOLS_FUNCTION_PLACEMENT void init_weights(DEVICE& device, nn::layers::conv2d::LayerForward<SPEC>& layer, RNG& rng) {
+        init_weights(device, layer, typename SPEC::INITIALIZER{}, rng);
+    }
+
+    // ======================== evaluate (LayerForward, no storage) ========================
+#ifndef RL_TOOLS_NN_DISABLE_GENERIC_FORWARD_BACKWARD
+    template<typename DEVICE, typename LAYER_SPEC, typename INPUT_SPEC, typename OUTPUT_SPEC, typename BUFFER_SPEC, typename RNG, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void evaluate(DEVICE& device, const nn::layers::conv2d::LayerForward<LAYER_SPEC>& layer, const Tensor<INPUT_SPEC>& input, Tensor<OUTPUT_SPEC>& output, nn::layers::conv2d::Buffer<BUFFER_SPEC>&, RNG& rng, const Mode<MODE>& mode = Mode<mode::Default<>>{}) {
+        static_assert(nn::layers::conv2d::check_input_output<LAYER_SPEC, INPUT_SPEC, OUTPUT_SPEC>);
+        using TI = typename DEVICE::index_t;
+        using T = typename OUTPUT_SPEC::T;
+        using ACCUMULATOR_TYPE = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Accumulator>;
+        constexpr TI BATCH_SIZE = product(typename INPUT_SPEC::SHAPE{}) / (LAYER_SPEC::INPUT_HEIGHT * LAYER_SPEC::INPUT_WIDTH * LAYER_SPEC::INPUT_CHANNELS);
+        constexpr auto NORMALIZATION = LAYER_SPEC::NORMALIZATION;
+        // Reshape to 4D: [INTERNAL_BATCH_SIZE, H, W, C]
+        using INTERNAL_INPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::INPUT_HEIGHT, LAYER_SPEC::INPUT_WIDTH, LAYER_SPEC::INPUT_CHANNELS>;
+        using INTERNAL_OUTPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::OUTPUT_HEIGHT, LAYER_SPEC::OUTPUT_WIDTH, LAYER_SPEC::OUTPUT_CHANNELS>;
+        auto input_4d = view_memory<INTERNAL_INPUT_SHAPE>(device, input);
+        auto output_4d = view_memory<INTERNAL_OUTPUT_SHAPE>(device, output);
+
+        if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::NONE) {
+            // Fused conv + activation
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE acc = (ACCUMULATOR_TYPE)get(device, layer.biases.parameters, oc);
+                            for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                    TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                    TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                    if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                       iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                        TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                        TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                        for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                            acc += (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic);
+                                        }
+                                    }
+                                }
+                            }
+                            set(device, output_4d, (T)activation<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(acc), bi, oh, ow, oc);
+                        }
+                    }
+                }
+            }
+        } else {
+            // Phase 1: Compute conv output -> store temporarily in output
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE acc = (ACCUMULATOR_TYPE)get(device, layer.biases.parameters, oc);
+                            for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                    TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                    TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                    if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                       iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                        TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                        TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                        for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                            acc += (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic);
+                                        }
+                                    }
+                                }
+                            }
+                            set(device, output_4d, (T)acc, bi, oh, ow, oc);
+                        }
+                    }
+                }
+            }
+
+            const T eps = (T)LAYER_SPEC::NORM_EPSILON;
+
+            if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) {
+                // Evaluate mode for BN: use running statistics
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE inv_std = (ACCUMULATOR_TYPE)1 / math::sqrt(device.math, (ACCUMULATOR_TYPE)get(device, layer.norm.running_var, oc) + (ACCUMULATOR_TYPE)eps);
+                                ACCUMULATOR_TYPE z_hat = (conv_out - (ACCUMULATOR_TYPE)get(device, layer.norm.running_mean, oc)) * inv_std;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                set(device, output_4d, (T)activation<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out), bi, oh, ow, oc);
+                            }
+                        }
+                    }
+                }
+            } else { // LAYER_NORM
+                // Compute per-sample statistics on the fly
+                constexpr TI N_LN = LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH * LAYER_SPEC::OUTPUT_CHANNELS;
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    // Compute mean
+                    ACCUMULATOR_TYPE mean_val = 0;
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                mean_val += (ACCUMULATOR_TYPE)get(device, output_4d, bi, oh, ow, oc);
+                            }
+                        }
+                    }
+                    mean_val /= (ACCUMULATOR_TYPE)N_LN;
+                    // Compute variance
+                    ACCUMULATOR_TYPE var_val = 0;
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE diff = (ACCUMULATOR_TYPE)get(device, output_4d, bi, oh, ow, oc) - mean_val;
+                                var_val += diff * diff;
+                            }
+                        }
+                    }
+                    var_val /= (ACCUMULATOR_TYPE)N_LN;
+                    ACCUMULATOR_TYPE inv_std = (ACCUMULATOR_TYPE)1 / math::sqrt(device.math, var_val + (ACCUMULATOR_TYPE)eps);
+                    // Normalize + activate
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                set(device, output_4d, (T)activation<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out), bi, oh, ow, oc);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    // ======================== evaluate_step (stateless, delegates to evaluate) ========================
+    template<typename DEVICE, typename LAYER_SPEC, typename INPUT_SPEC, typename OUTPUT_SPEC, typename BUFFER_SPEC, typename RNG, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void evaluate_step(DEVICE& device, const nn::layers::conv2d::LayerForward<LAYER_SPEC>& layer, const Tensor<INPUT_SPEC>& input, nn::layers::conv2d::State& state, Tensor<OUTPUT_SPEC>& output, nn::layers::conv2d::Buffer<BUFFER_SPEC>& buffer, RNG& rng, const Mode<MODE>& mode = Mode<mode::Default<>>{}){
+        evaluate(device, layer, input, output, buffer, rng, mode);
+    }
+
+    // ======================== forward (LayerBackward, stores pre_activations and caches stats) ========================
+    template<typename DEVICE, typename LAYER_SPEC, typename INPUT_SPEC, typename OUTPUT_SPEC, typename BUFFER_SPEC, typename RNG, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void forward(DEVICE& device, nn::layers::conv2d::LayerBackward<LAYER_SPEC>& layer, const Tensor<INPUT_SPEC>& input, Tensor<OUTPUT_SPEC>& output, nn::layers::conv2d::Buffer<BUFFER_SPEC>& buffer, RNG& rng, const Mode<MODE>& mode = Mode<mode::Default<>>{}){
+        static_assert(nn::layers::conv2d::check_input_output<LAYER_SPEC, INPUT_SPEC, OUTPUT_SPEC>);
+        using TI = typename DEVICE::index_t;
+        using T = typename OUTPUT_SPEC::T;
+        using ACCUMULATOR_TYPE = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Accumulator>;
+        constexpr TI BATCH_SIZE = LAYER_SPEC::INTERNAL_BATCH_SIZE;
+        constexpr auto NORMALIZATION = LAYER_SPEC::NORMALIZATION;
+
+        using INTERNAL_INPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::INPUT_HEIGHT, LAYER_SPEC::INPUT_WIDTH, LAYER_SPEC::INPUT_CHANNELS>;
+        using INTERNAL_OUTPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::OUTPUT_HEIGHT, LAYER_SPEC::OUTPUT_WIDTH, LAYER_SPEC::OUTPUT_CHANNELS>;
+        auto input_4d = view_memory<INTERNAL_INPUT_SHAPE>(device, input);
+        auto output_4d = view_memory<INTERNAL_OUTPUT_SHAPE>(device, output);
+
+        // Phase 1: Compute conv output -> store in pre_activations
+        for(TI bi = 0; bi < BATCH_SIZE; bi++){
+            for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                    for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                        ACCUMULATOR_TYPE acc = (ACCUMULATOR_TYPE)get(device, layer.biases.parameters, oc);
+                        for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                            for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                   iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                    TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                    TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                    for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                        acc += (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic);
+                                    }
+                                }
+                            }
+                        }
+                        set(device, layer.pre_activations, (T)acc, bi, oh, ow, oc);
+                    }
+                }
+            }
+        }
+
+        if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::NONE) {
+            // Apply activation directly
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            T pre_act = get(device, layer.pre_activations, bi, oh, ow, oc);
+                            set(device, output_4d, activation<typename DEVICE::SPEC::MATH, T, LAYER_SPEC::ACTIVATION_FUNCTION>(pre_act), bi, oh, ow, oc);
+                        }
+                    }
+                }
+            }
+        } else if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) {
+            const T eps = (T)LAYER_SPEC::NORM_EPSILON;
+            if constexpr(mode::is<MODE, mode::Evaluation>) {
+                // Evaluation mode: use running statistics (like PyTorch model.eval())
+                for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                    T mean_val = get(device, layer.norm.running_mean, oc);
+                    ACCUMULATOR_TYPE var_val = (ACCUMULATOR_TYPE)get(device, layer.norm.running_var, oc);
+                    T inv_std = (T)((ACCUMULATOR_TYPE)1 / math::sqrt(device.math, var_val + (ACCUMULATOR_TYPE)eps));
+                    set(device, layer.norm_cache.mean, mean_val, oc);
+                    set(device, layer.norm_cache.inv_std, inv_std, oc);
+                }
+            } else {
+                // Training mode: compute batch statistics
+                const T momentum = (T)LAYER_SPEC::BN_MOMENTUM;
+                constexpr TI N_BN = BATCH_SIZE * LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH;
+                for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                    ACCUMULATOR_TYPE mean_val = 0;
+                    for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                        for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                            for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                                mean_val += (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                            }
+                        }
+                    }
+                    mean_val /= (ACCUMULATOR_TYPE)N_BN;
+                    ACCUMULATOR_TYPE var_val = 0;
+                    for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                        for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                            for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                                ACCUMULATOR_TYPE diff = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc) - mean_val;
+                                var_val += diff * diff;
+                            }
+                        }
+                    }
+                    var_val /= (ACCUMULATOR_TYPE)N_BN;
+                    T inv_std = (T)((ACCUMULATOR_TYPE)1 / math::sqrt(device.math, var_val + (ACCUMULATOR_TYPE)eps));
+                    set(device, layer.norm_cache.mean, (T)mean_val, oc);
+                    set(device, layer.norm_cache.inv_std, inv_std, oc);
+                    // Update running statistics (EMA)
+                    using NORM_STAT_TYPE = typename decltype(layer.norm.running_mean)::SPEC::T;
+                    NORM_STAT_TYPE running_mean = get(device, layer.norm.running_mean, oc);
+                    NORM_STAT_TYPE running_var = get(device, layer.norm.running_var, oc);
+                    set(device, layer.norm.running_mean, (NORM_STAT_TYPE)((ACCUMULATOR_TYPE)((ACCUMULATOR_TYPE)1 - (ACCUMULATOR_TYPE)momentum) * (ACCUMULATOR_TYPE)running_mean + (ACCUMULATOR_TYPE)momentum * mean_val), oc);
+                    set(device, layer.norm.running_var, (NORM_STAT_TYPE)((ACCUMULATOR_TYPE)((ACCUMULATOR_TYPE)1 - (ACCUMULATOR_TYPE)momentum) * (ACCUMULATOR_TYPE)running_var + (ACCUMULATOR_TYPE)momentum * var_val), oc);
+                }
+            }
+
+            // Phase 3: Normalize + activate -> output (same for both modes, uses cached stats)
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                            ACCUMULATOR_TYPE z_hat = (conv_out - (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc)) * (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc);
+                            ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                            set(device, output_4d, (T)activation<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out), bi, oh, ow, oc);
+                        }
+                    }
+                }
+            }
+        } else { // LAYER_NORM
+            const T eps = (T)LAYER_SPEC::NORM_EPSILON;
+            constexpr TI N_LN = LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH * LAYER_SPEC::OUTPUT_CHANNELS;
+
+            // Phase 2: Compute per-sample statistics
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                ACCUMULATOR_TYPE mean_val = 0;
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            mean_val += (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                        }
+                    }
+                }
+                mean_val /= (ACCUMULATOR_TYPE)N_LN;
+
+                ACCUMULATOR_TYPE var_val = 0;
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE diff = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc) - mean_val;
+                            var_val += diff * diff;
+                        }
+                    }
+                }
+                var_val /= (ACCUMULATOR_TYPE)N_LN;
+                T inv_std = (T)((ACCUMULATOR_TYPE)1 / math::sqrt(device.math, var_val + (ACCUMULATOR_TYPE)eps));
+
+                set(device, layer.norm_cache.mean, (T)mean_val, bi);
+                set(device, layer.norm_cache.inv_std, inv_std, bi);
+            }
+
+            // Phase 3: Normalize + activate -> output
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                ACCUMULATOR_TYPE mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, bi);
+                ACCUMULATOR_TYPE inv_std = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, bi);
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                            ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std;
+                            ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                            set(device, output_4d, (T)activation<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out), bi, oh, ow, oc);
+                        }
+                    }
+                }
+            }
+        }
+    }
+#endif
+
+    template<typename DEVICE, typename LAYER_SPEC, typename INPUT_SPEC, typename BUFFER_SPEC, typename RNG, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void forward(DEVICE& device, nn::layers::conv2d::LayerGradient<LAYER_SPEC>& layer, const Tensor<INPUT_SPEC>& input, nn::layers::conv2d::Buffer<BUFFER_SPEC>& buffer, RNG& rng, const Mode<MODE>& mode = Mode<mode::Default<>>{}) {
+        forward(device, static_cast<nn::layers::conv2d::LayerBackward<LAYER_SPEC>&>(layer), input, layer.output, buffer, rng, mode);
+    }
+    template<typename DEVICE, typename LAYER_SPEC, typename INPUT_SPEC, typename OUTPUT_SPEC, typename BUFFER_SPEC, typename RNG, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void forward(DEVICE& device, nn::layers::conv2d::LayerGradient<LAYER_SPEC>& layer, const Tensor<INPUT_SPEC>& input, Tensor<OUTPUT_SPEC>& output, nn::layers::conv2d::Buffer<BUFFER_SPEC>& buffer, RNG& rng, const Mode<MODE>& mode = Mode<mode::Default<>>{}) {
+        static_assert(nn::layers::conv2d::check_input_output<LAYER_SPEC, INPUT_SPEC, OUTPUT_SPEC>);
+        forward(device, layer, input, buffer, rng, mode);
+        copy(device, device, layer.output, output);
+    }
+
+    // ======================== Normalization backward helper ========================
+    // Computes d_conv_out from d_output given cached forward stats.
+    // Also optionally accumulates d_gamma and d_beta.
+    // Returns nothing; caller uses d_conv_out inline in phase 2.
+    // This is integrated directly into the backward functions below.
+
+    // ======================== backward_input ========================
+#ifndef RL_TOOLS_NN_DISABLE_GENERIC_FORWARD_BACKWARD
+    template<typename DEVICE, typename LAYER_SPEC, typename D_OUTPUT_SPEC, typename D_INPUT_SPEC, typename BUFFER_SPEC, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void backward_input(DEVICE& device, const nn::layers::conv2d::LayerBackward<LAYER_SPEC>& layer, const Tensor<D_OUTPUT_SPEC>& d_output, Tensor<D_INPUT_SPEC>& d_input, nn::layers::conv2d::Buffer<BUFFER_SPEC>&, const Mode<MODE>& mode = Mode<mode::Default<>>{}){
+        using TI = typename DEVICE::index_t;
+        using T = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Gradient>;
+        using ACCUMULATOR_TYPE = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Accumulator>;
+        constexpr TI BATCH_SIZE = LAYER_SPEC::INTERNAL_BATCH_SIZE;
+        constexpr auto NORMALIZATION = LAYER_SPEC::NORMALIZATION;
+
+        using INTERNAL_D_INPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::INPUT_HEIGHT, LAYER_SPEC::INPUT_WIDTH, LAYER_SPEC::INPUT_CHANNELS>;
+        using INTERNAL_D_OUTPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::OUTPUT_HEIGHT, LAYER_SPEC::OUTPUT_WIDTH, LAYER_SPEC::OUTPUT_CHANNELS>;
+        auto d_input_4d = view_memory<INTERNAL_D_INPUT_SHAPE>(device, d_input);
+        auto d_output_4d = view_memory<INTERNAL_D_OUTPUT_SHAPE>(device, d_output);
+
+        set_all(device, d_input_4d, (T)0);
+
+        if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::NONE) {
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE d_pre_act = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>((ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc)) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                            for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                    TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                    TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                    if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                       iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                        TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                        TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                        for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                            increment(device, d_input_4d, (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * d_pre_act, bi, ih, iw, ic);
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        } else {
+            // Normalization backward
+            constexpr bool IS_EVAL = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) && mode::is<MODE, mode::Evaluation>;
+            if constexpr(IS_EVAL) {
+                // Evaluation mode: statistics are fixed, simple backward
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc);
+                                ACCUMULATOR_TYPE inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc);
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE d_conv_out = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * inv_std_val;
+                                for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                    for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                        TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                        TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                        if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                           iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                            TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                            TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                            for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                                increment(device, d_input_4d, (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * d_conv_out, bi, ih, iw, ic);
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            } else {
+                // Training mode: two-phase normalization backward
+                constexpr TI NORM_DIM = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) ? LAYER_SPEC::OUTPUT_CHANNELS : BATCH_SIZE;
+                constexpr TI N = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) ?
+                    (BATCH_SIZE * LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH) :
+                    (LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH * LAYER_SPEC::OUTPUT_CHANNELS);
+                ACCUMULATOR_TYPE sum_dz_hat[NORM_DIM];
+                ACCUMULATOR_TYPE sum_dz_hat_z_hat[NORM_DIM];
+                for(TI i = 0; i < NORM_DIM; i++){ sum_dz_hat[i] = 0; sum_dz_hat_z_hat[i] = 0; }
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                TI stat_idx; ACCUMULATOR_TYPE mean_val, inv_std_val;
+                                if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) {
+                                    stat_idx = oc; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc);
+                                } else {
+                                    stat_idx = bi; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, bi); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, bi);
+                                }
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE d_z_hat_val = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc);
+                                sum_dz_hat[stat_idx] += d_z_hat_val;
+                                sum_dz_hat_z_hat[stat_idx] += d_z_hat_val * z_hat;
+                            }
+                        }
+                    }
+                }
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                TI stat_idx; ACCUMULATOR_TYPE mean_val, inv_std_val;
+                                if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) {
+                                    stat_idx = oc; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc);
+                                } else {
+                                    stat_idx = bi; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, bi); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, bi);
+                                }
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE d_z_hat_val = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc);
+                                T d_conv_out = (T)(inv_std_val * ((ACCUMULATOR_TYPE)1 / (ACCUMULATOR_TYPE)N) * ((ACCUMULATOR_TYPE)N * d_z_hat_val - sum_dz_hat[stat_idx] - z_hat * sum_dz_hat_z_hat[stat_idx]));
+                                for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                    for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                        TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                        TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                        if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                           iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                            TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                            TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                            for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                                increment(device, d_input_4d, (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * (ACCUMULATOR_TYPE)d_conv_out, bi, ih, iw, ic);
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    // ======================== backward (gradient accumulation only) ========================
+    template<typename DEVICE, typename LAYER_SPEC, typename INPUT_SPEC, typename D_OUTPUT_SPEC, typename BUFFER_SPEC, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void backward(DEVICE& device, nn::layers::conv2d::LayerGradient<LAYER_SPEC>& layer, const Tensor<INPUT_SPEC>& input, Tensor<D_OUTPUT_SPEC>& d_output, nn::layers::conv2d::Buffer<BUFFER_SPEC>& buffer, const Mode<MODE>& mode = Mode<mode::Default<>>{}) {
+        using TI = typename DEVICE::index_t;
+        using T = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Gradient>;
+        using ACCUMULATOR_TYPE = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Accumulator>;
+        constexpr TI BATCH_SIZE = LAYER_SPEC::INTERNAL_BATCH_SIZE;
+        constexpr auto NORMALIZATION = LAYER_SPEC::NORMALIZATION;
+
+        using INTERNAL_INPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::INPUT_HEIGHT, LAYER_SPEC::INPUT_WIDTH, LAYER_SPEC::INPUT_CHANNELS>;
+        using INTERNAL_D_OUTPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::OUTPUT_HEIGHT, LAYER_SPEC::OUTPUT_WIDTH, LAYER_SPEC::OUTPUT_CHANNELS>;
+        auto input_4d = view_memory<INTERNAL_INPUT_SHAPE>(device, input);
+        auto d_output_4d = view_memory<INTERNAL_D_OUTPUT_SHAPE>(device, d_output);
+
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) set(device, buffer.d_biases_acc, (ACCUMULATOR_TYPE)get(device, layer.biases.gradient, oc), oc);
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++) for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++) for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++)
+            set(device, buffer.d_weights_acc, (ACCUMULATOR_TYPE)get(device, layer.weights.gradient, oc, kh, kw, ic), oc, kh, kw, ic);
+        if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::NONE) {
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE d_pre_act = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>((ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc)) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                            increment(device, buffer.d_biases_acc, d_pre_act, oc);
+                            for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                    TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                    TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                    if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                       iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                        TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                        TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                        for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                            increment(device, buffer.d_weights_acc, d_pre_act * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic), oc, kh, kw, ic);
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        } else {
+            constexpr bool IS_EVAL = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) && mode::is<MODE, mode::Evaluation>;
+            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                set(device, buffer.d_gamma_acc, (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.gradient, oc), oc);
+                set(device, buffer.d_beta_acc, (ACCUMULATOR_TYPE)get(device, layer.norm.beta.gradient, oc), oc);
+            }
+            if constexpr(IS_EVAL) {
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc);
+                                ACCUMULATOR_TYPE inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc);
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                increment(device, buffer.d_gamma_acc, d_norm_out * z_hat, oc);
+                                increment(device, buffer.d_beta_acc, d_norm_out, oc);
+                                ACCUMULATOR_TYPE d_conv_out = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * inv_std_val;
+                                increment(device, buffer.d_biases_acc, d_conv_out, oc);
+                                for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                    for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                        TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                        TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                        if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                           iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                            TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                            TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                            for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                                increment(device, buffer.d_weights_acc, d_conv_out * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic), oc, kh, kw, ic);
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            } else {
+                // Training mode: two-phase normalization backward
+                constexpr TI NORM_DIM = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) ? LAYER_SPEC::OUTPUT_CHANNELS : BATCH_SIZE;
+                constexpr TI N = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) ?
+                    (BATCH_SIZE * LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH) :
+                    (LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH * LAYER_SPEC::OUTPUT_CHANNELS);
+                ACCUMULATOR_TYPE sum_dz_hat[NORM_DIM]; ACCUMULATOR_TYPE sum_dz_hat_z_hat[NORM_DIM];
+                for(TI i = 0; i < NORM_DIM; i++){ sum_dz_hat[i] = 0; sum_dz_hat_z_hat[i] = 0; }
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                TI stat_idx; ACCUMULATOR_TYPE mean_val, inv_std_val;
+                                if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) { stat_idx = oc; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc); }
+                                else { stat_idx = bi; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, bi); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, bi); }
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE d_z_hat_val = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc);
+                                increment(device, buffer.d_gamma_acc, d_norm_out * z_hat, oc);
+                                increment(device, buffer.d_beta_acc, d_norm_out, oc);
+                                sum_dz_hat[stat_idx] += d_z_hat_val; sum_dz_hat_z_hat[stat_idx] += d_z_hat_val * z_hat;
+                            }
+                        }
+                    }
+                }
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                TI stat_idx; ACCUMULATOR_TYPE mean_val, inv_std_val;
+                                if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) { stat_idx = oc; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc); }
+                                else { stat_idx = bi; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, bi); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, bi); }
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE d_z_hat_val = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc);
+                                ACCUMULATOR_TYPE d_conv_out = inv_std_val * ((ACCUMULATOR_TYPE)1 / (ACCUMULATOR_TYPE)N) * ((ACCUMULATOR_TYPE)N * d_z_hat_val - sum_dz_hat[stat_idx] - z_hat * sum_dz_hat_z_hat[stat_idx]);
+                                increment(device, buffer.d_biases_acc, d_conv_out, oc);
+                                for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                    for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                        TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                        TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                        if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                           iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                            TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                            TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                            for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                                increment(device, buffer.d_weights_acc, d_conv_out * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic), oc, kh, kw, ic);
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                set(device, layer.norm.gamma.gradient, (T)get(device, buffer.d_gamma_acc, oc), oc);
+                set(device, layer.norm.beta.gradient, (T)get(device, buffer.d_beta_acc, oc), oc);
+            }
+        }
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) set(device, layer.biases.gradient, (T)get(device, buffer.d_biases_acc, oc), oc);
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++) for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++) for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++)
+            set(device, layer.weights.gradient, (T)get(device, buffer.d_weights_acc, oc, kh, kw, ic), oc, kh, kw, ic);
+    }
+
+    // ======================== backward_full (d_input + gradient accumulation) ========================
+    template<typename DEVICE, typename LAYER_SPEC, typename INPUT_SPEC, typename D_OUTPUT_SPEC, typename D_INPUT_SPEC, typename BUFFER_SPEC, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT void backward_full(DEVICE& device, nn::layers::conv2d::LayerGradient<LAYER_SPEC>& layer, const Tensor<INPUT_SPEC>& input, Tensor<D_OUTPUT_SPEC>& d_output, Tensor<D_INPUT_SPEC>& d_input, nn::layers::conv2d::Buffer<BUFFER_SPEC>& buffer, const Mode<MODE>& mode = Mode<mode::Default<>>{}) {
+        using TI = typename DEVICE::index_t;
+        using T = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Gradient>;
+        using ACCUMULATOR_TYPE = typename LAYER_SPEC::TYPE_POLICY::template GET<numeric_types::categories::Accumulator>;
+        constexpr TI BATCH_SIZE = LAYER_SPEC::INTERNAL_BATCH_SIZE;
+        constexpr auto NORMALIZATION = LAYER_SPEC::NORMALIZATION;
+
+        using INTERNAL_INPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::INPUT_HEIGHT, LAYER_SPEC::INPUT_WIDTH, LAYER_SPEC::INPUT_CHANNELS>;
+        using INTERNAL_D_INPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::INPUT_HEIGHT, LAYER_SPEC::INPUT_WIDTH, LAYER_SPEC::INPUT_CHANNELS>;
+        using INTERNAL_D_OUTPUT_SHAPE = tensor::Shape<TI, BATCH_SIZE, LAYER_SPEC::OUTPUT_HEIGHT, LAYER_SPEC::OUTPUT_WIDTH, LAYER_SPEC::OUTPUT_CHANNELS>;
+        auto input_4d = view_memory<INTERNAL_INPUT_SHAPE>(device, input);
+        auto d_input_4d = view_memory<INTERNAL_D_INPUT_SHAPE>(device, d_input);
+        auto d_output_4d = view_memory<INTERNAL_D_OUTPUT_SHAPE>(device, d_output);
+
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) set(device, buffer.d_biases_acc, (ACCUMULATOR_TYPE)get(device, layer.biases.gradient, oc), oc);
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++) for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++) for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++)
+            set(device, buffer.d_weights_acc, (ACCUMULATOR_TYPE)get(device, layer.weights.gradient, oc, kh, kw, ic), oc, kh, kw, ic);
+        set_all(device, buffer.d_input_acc, (ACCUMULATOR_TYPE)0);
+        if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::NONE) {
+            for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                    for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                            ACCUMULATOR_TYPE d_pre_act = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>((ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc)) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                            increment(device, buffer.d_biases_acc, d_pre_act, oc);
+                            for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                    TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                    TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                    if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                       iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                        TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                        TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                        for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                            increment(device, buffer.d_input_acc, (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * d_pre_act, bi, ih, iw, ic);
+                                            increment(device, buffer.d_weights_acc, d_pre_act * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic), oc, kh, kw, ic);
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        } else {
+            constexpr bool IS_EVAL = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) && mode::is<MODE, mode::Evaluation>;
+            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                set(device, buffer.d_gamma_acc, (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.gradient, oc), oc);
+                set(device, buffer.d_beta_acc, (ACCUMULATOR_TYPE)get(device, layer.norm.beta.gradient, oc), oc);
+            }
+            if constexpr(IS_EVAL) {
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc);
+                                ACCUMULATOR_TYPE inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc);
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                increment(device, buffer.d_gamma_acc, d_norm_out * z_hat, oc);
+                                increment(device, buffer.d_beta_acc, d_norm_out, oc);
+                                ACCUMULATOR_TYPE d_conv_out = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * inv_std_val;
+                                increment(device, buffer.d_biases_acc, d_conv_out, oc);
+                                for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                    for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                        TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                        TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                        if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                           iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                            TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                            TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                            for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                                increment(device, buffer.d_input_acc, (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * d_conv_out, bi, ih, iw, ic);
+                                                increment(device, buffer.d_weights_acc, d_conv_out * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic), oc, kh, kw, ic);
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            } else {
+                // Training mode: two-phase normalization backward
+                constexpr TI NORM_DIM = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) ? LAYER_SPEC::OUTPUT_CHANNELS : BATCH_SIZE;
+                constexpr TI N = (NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) ?
+                    (BATCH_SIZE * LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH) :
+                    (LAYER_SPEC::OUTPUT_HEIGHT * LAYER_SPEC::OUTPUT_WIDTH * LAYER_SPEC::OUTPUT_CHANNELS);
+                ACCUMULATOR_TYPE sum_dz_hat[NORM_DIM]; ACCUMULATOR_TYPE sum_dz_hat_z_hat[NORM_DIM];
+                for(TI i = 0; i < NORM_DIM; i++){ sum_dz_hat[i] = 0; sum_dz_hat_z_hat[i] = 0; }
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                TI stat_idx; ACCUMULATOR_TYPE mean_val, inv_std_val;
+                                if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) { stat_idx = oc; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc); }
+                                else { stat_idx = bi; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, bi); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, bi); }
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE d_z_hat_val = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc);
+                                increment(device, buffer.d_gamma_acc, d_norm_out * z_hat, oc);
+                                increment(device, buffer.d_beta_acc, d_norm_out, oc);
+                                sum_dz_hat[stat_idx] += d_z_hat_val; sum_dz_hat_z_hat[stat_idx] += d_z_hat_val * z_hat;
+                            }
+                        }
+                    }
+                }
+                for(TI bi = 0; bi < BATCH_SIZE; bi++){
+                    for(TI oh = 0; oh < LAYER_SPEC::OUTPUT_HEIGHT; oh++){
+                        for(TI ow = 0; ow < LAYER_SPEC::OUTPUT_WIDTH; ow++){
+                            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                                ACCUMULATOR_TYPE conv_out = (ACCUMULATOR_TYPE)get(device, layer.pre_activations, bi, oh, ow, oc);
+                                TI stat_idx; ACCUMULATOR_TYPE mean_val, inv_std_val;
+                                if constexpr(NORMALIZATION == nn::layers::conv2d::Normalization::BATCH_NORM) { stat_idx = oc; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, oc); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, oc); }
+                                else { stat_idx = bi; mean_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.mean, bi); inv_std_val = (ACCUMULATOR_TYPE)get(device, layer.norm_cache.inv_std, bi); }
+                                ACCUMULATOR_TYPE z_hat = (conv_out - mean_val) * inv_std_val;
+                                ACCUMULATOR_TYPE norm_out = (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc) * z_hat + (ACCUMULATOR_TYPE)get(device, layer.norm.beta.parameters, oc);
+                                ACCUMULATOR_TYPE d_norm_out = d_activation_d_x<typename DEVICE::SPEC::MATH, ACCUMULATOR_TYPE, LAYER_SPEC::ACTIVATION_FUNCTION>(norm_out) * (ACCUMULATOR_TYPE)get(device, d_output_4d, bi, oh, ow, oc);
+                                ACCUMULATOR_TYPE d_z_hat_val = d_norm_out * (ACCUMULATOR_TYPE)get(device, layer.norm.gamma.parameters, oc);
+                                ACCUMULATOR_TYPE d_conv_out = inv_std_val * ((ACCUMULATOR_TYPE)1 / (ACCUMULATOR_TYPE)N) * ((ACCUMULATOR_TYPE)N * d_z_hat_val - sum_dz_hat[stat_idx] - z_hat * sum_dz_hat_z_hat[stat_idx]);
+                                increment(device, buffer.d_biases_acc, d_conv_out, oc);
+                                for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++){
+                                    for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++){
+                                        TI ih_padded = oh * LAYER_SPEC::STRIDE_H + kh;
+                                        TI iw_padded = ow * LAYER_SPEC::STRIDE_W + kw;
+                                        if(ih_padded >= LAYER_SPEC::PADDING_H && ih_padded < LAYER_SPEC::INPUT_HEIGHT + LAYER_SPEC::PADDING_H &&
+                                           iw_padded >= LAYER_SPEC::PADDING_W && iw_padded < LAYER_SPEC::INPUT_WIDTH + LAYER_SPEC::PADDING_W){
+                                            TI ih = ih_padded - LAYER_SPEC::PADDING_H;
+                                            TI iw = iw_padded - LAYER_SPEC::PADDING_W;
+                                            for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++){
+                                                increment(device, buffer.d_input_acc, (ACCUMULATOR_TYPE)get(device, layer.weights.parameters, oc, kh, kw, ic) * d_conv_out, bi, ih, iw, ic);
+                                                increment(device, buffer.d_weights_acc, d_conv_out * (ACCUMULATOR_TYPE)get(device, input_4d, bi, ih, iw, ic), oc, kh, kw, ic);
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+            for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++){
+                set(device, layer.norm.gamma.gradient, (T)get(device, buffer.d_gamma_acc, oc), oc);
+                set(device, layer.norm.beta.gradient, (T)get(device, buffer.d_beta_acc, oc), oc);
+            }
+        }
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) set(device, layer.biases.gradient, (T)get(device, buffer.d_biases_acc, oc), oc);
+        for(TI oc = 0; oc < LAYER_SPEC::OUTPUT_CHANNELS; oc++) for(TI kh = 0; kh < LAYER_SPEC::KERNEL_HEIGHT; kh++) for(TI kw = 0; kw < LAYER_SPEC::KERNEL_WIDTH; kw++) for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++)
+            set(device, layer.weights.gradient, (T)get(device, buffer.d_weights_acc, oc, kh, kw, ic), oc, kh, kw, ic);
+        for(TI bi = 0; bi < BATCH_SIZE; bi++) for(TI ih = 0; ih < LAYER_SPEC::INPUT_HEIGHT; ih++) for(TI iw = 0; iw < LAYER_SPEC::INPUT_WIDTH; iw++) for(TI ic = 0; ic < LAYER_SPEC::INPUT_CHANNELS; ic++)
+            set(device, d_input_4d, (T)get(device, buffer.d_input_acc, bi, ih, iw, ic), bi, ih, iw, ic);
+    }
+#endif
+
+    // ======================== zero_gradient / update / _reset_optimizer_state ========================
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void zero_gradient(DEVICE& device, nn::layers::conv2d::LayerGradient<SPEC>& layer) {
+        zero_gradient(device, layer.weights);
+        zero_gradient(device, layer.biases);
+        zero_gradient(device, layer.norm);
+    }
+    template<typename DEVICE, typename SOURCE_SPEC, typename TARGET_SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void add_gradient(DEVICE& device, nn::layers::conv2d::LayerGradient<SOURCE_SPEC>& source, nn::layers::conv2d::LayerGradient<TARGET_SPEC>& target) {
+        add_gradient(device, source.weights, target.weights);
+        add_gradient(device, source.biases, target.biases);
+        add_gradient(device, source.norm, target.norm);
+    }
+    template<typename SOURCE_DEVICE, typename TARGET_DEVICE, typename SOURCE_SPEC, typename TARGET_SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy_gradient(SOURCE_DEVICE& source_device, TARGET_DEVICE& target_device, const nn::layers::conv2d::LayerGradient<SOURCE_SPEC>& source, nn::layers::conv2d::LayerGradient<TARGET_SPEC>& target) {
+        copy_gradient(source_device, target_device, source.weights, target.weights);
+        copy_gradient(source_device, target_device, source.biases, target.biases);
+        copy_gradient(source_device, target_device, source.norm, target.norm);
+    }
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void update(DEVICE& device, nn::layers::conv2d::LayerGradient<SPEC>& layer, OPTIMIZER& optimizer){
+        update(device, layer.weights, optimizer);
+        update(device, layer.biases, optimizer);
+        update(device, layer.norm, optimizer);
+    }
+    template<typename DEVICE, typename SPEC, typename OPTIMIZER>
+    RL_TOOLS_FUNCTION_PLACEMENT void _reset_optimizer_state(DEVICE& device, nn::layers::conv2d::LayerGradient<SPEC>& layer, OPTIMIZER& optimizer) {
+        _reset_optimizer_state(device, layer.weights, optimizer);
+        _reset_optimizer_state(device, layer.biases, optimizer);
+        _reset_optimizer_state(device, layer.norm, optimizer);
+    }
+
+    // ======================== copy ========================
+    template<typename SOURCE_DEVICE, typename TARGET_DEVICE, typename SOURCE_SPEC, typename TARGET_SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SOURCE_DEVICE& source_device, TARGET_DEVICE& target_device, const nn::layers::conv2d::LayerForward<SOURCE_SPEC>& source, nn::layers::conv2d::LayerForward<TARGET_SPEC>& target){
+        static_assert(nn::layers::conv2d::check_spec_memory<SOURCE_SPEC, TARGET_SPEC>);
+        copy(source_device, target_device, source.weights, target.weights);
+        copy(source_device, target_device, source.biases, target.biases);
+        copy(source_device, target_device, source.norm, target.norm);
+    }
+    template<typename SOURCE_DEVICE, typename TARGET_DEVICE, typename SOURCE_SPEC, typename TARGET_SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SOURCE_DEVICE& source_device, TARGET_DEVICE& target_device, const nn::layers::conv2d::LayerBackward<SOURCE_SPEC>& source, nn::layers::conv2d::LayerBackward<TARGET_SPEC>& target){
+        static_assert(nn::layers::conv2d::check_spec_memory<SOURCE_SPEC, TARGET_SPEC>);
+        copy(source_device, target_device, static_cast<const nn::layers::conv2d::LayerForward<SOURCE_SPEC>&>(source), static_cast<nn::layers::conv2d::LayerForward<TARGET_SPEC>&>(target));
+        copy(source_device, target_device, source.pre_activations, target.pre_activations);
+        copy(source_device, target_device, source.norm_cache, target.norm_cache);
+    }
+    template<typename SOURCE_DEVICE, typename TARGET_DEVICE, typename SOURCE_SPEC, typename TARGET_SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void copy(SOURCE_DEVICE& source_device, TARGET_DEVICE& target_device, const nn::layers::conv2d::LayerGradient<SOURCE_SPEC>& source, nn::layers::conv2d::LayerGradient<TARGET_SPEC>& target){
+        static_assert(nn::layers::conv2d::check_spec_memory<SOURCE_SPEC, TARGET_SPEC>);
+        copy(source_device, target_device, static_cast<const nn::layers::conv2d::LayerBackward<SOURCE_SPEC>&>(source), static_cast<nn::layers::conv2d::LayerBackward<TARGET_SPEC>&>(target));
+        copy(source_device, target_device, source.output, target.output);
+    }
+
+    // ======================== abs_diff ========================
+    template <typename DEVICE, typename SPEC_1, typename SPEC_2>
+    RL_TOOLS_FUNCTION_PLACEMENT typename SPEC_1::TYPE_POLICY::DEFAULT abs_diff(DEVICE& device, const rl_tools::nn::layers::conv2d::LayerForward<SPEC_1>& l1, const rl_tools::nn::layers::conv2d::LayerForward<SPEC_2>& l2) {
+        static_assert(nn::layers::conv2d::check_spec_memory<SPEC_1, SPEC_2>);
+        using T = typename SPEC_1::TYPE_POLICY::DEFAULT;
+        T acc = 0;
+        acc += abs_diff(device, l1.weights, l2.weights);
+        acc += abs_diff(device, l1.biases, l2.biases);
+        acc += abs_diff(device, l1.norm, l2.norm);
+        return acc;
+    }
+    template <typename DEVICE, typename SPEC_1, typename SPEC_2>
+    RL_TOOLS_FUNCTION_PLACEMENT typename SPEC_1::TYPE_POLICY::DEFAULT abs_diff(DEVICE& device, const rl_tools::nn::layers::conv2d::LayerBackward<SPEC_1>& l1, const rl_tools::nn::layers::conv2d::LayerBackward<SPEC_2>& l2) {
+        static_assert(nn::layers::conv2d::check_spec_memory<SPEC_1, SPEC_2>);
+        using T = typename SPEC_1::TYPE_POLICY::DEFAULT;
+        T acc = abs_diff(device, static_cast<const rl_tools::nn::layers::conv2d::LayerForward<SPEC_1>&>(l1), static_cast<const rl_tools::nn::layers::conv2d::LayerForward<SPEC_2>&>(l2));
+        acc += abs_diff(device, l1.pre_activations, l2.pre_activations);
+        return acc;
+    }
+    template <typename DEVICE, typename SPEC_1, typename SPEC_2>
+    RL_TOOLS_FUNCTION_PLACEMENT typename SPEC_1::TYPE_POLICY::DEFAULT abs_diff(DEVICE& device, const rl_tools::nn::layers::conv2d::LayerGradient<SPEC_1>& l1, const rl_tools::nn::layers::conv2d::LayerGradient<SPEC_2>& l2) {
+        static_assert(nn::layers::conv2d::check_spec_memory<SPEC_1, SPEC_2>);
+        using T = typename SPEC_1::TYPE_POLICY::DEFAULT;
+        T acc = abs_diff(device, static_cast<const rl_tools::nn::layers::conv2d::LayerBackward<SPEC_1>&>(l1), static_cast<const rl_tools::nn::layers::conv2d::LayerBackward<SPEC_2>&>(l2));
+        acc += abs_diff(device, l1.output, l2.output);
+        return acc;
+    }
+    template <typename DEVICE>
+    RL_TOOLS_FUNCTION_PLACEMENT auto abs_diff(DEVICE& device, const rl_tools::nn::layers::conv2d::State& s1, const rl_tools::nn::layers::conv2d::State& s2) {
+        return 0;
+    }
+
+    // ======================== reset_forward_state ========================
+    template <typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void reset_forward_state(DEVICE& device, rl_tools::nn::layers::conv2d::LayerBackward<SPEC>& l) {
+        set_all(device, l.pre_activations, 0);
+    }
+    template <typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT void reset_forward_state(DEVICE& device, rl_tools::nn::layers::conv2d::LayerGradient<SPEC>& l) {
+        reset_forward_state(device, static_cast<rl_tools::nn::layers::conv2d::LayerBackward<SPEC>&>(l));
+        set_all(device, l.output, 0);
+    }
+
+    // ======================== is_nan ========================
+    template <typename DEVICE, typename SPEC, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT bool is_nan(DEVICE& device, const rl_tools::nn::layers::conv2d::LayerForward<SPEC>& l, const Mode<MODE>& mode = Mode<mode::Default<>>{}){
+        return is_nan(device, l.weights, mode) || is_nan(device, l.biases, mode) || is_nan(device, l.norm, mode);
+    }
+    template <typename DEVICE, typename SPEC, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT bool is_nan(DEVICE& device, const rl_tools::nn::layers::conv2d::LayerBackward<SPEC>& l, const Mode<MODE>& mode = Mode<mode::Default<>>{}) {
+        bool upstream_nan = is_nan(device, static_cast<const rl_tools::nn::layers::conv2d::LayerForward<SPEC>&>(l), mode);
+        if(mode::is<MODE, nn::parameters::mode::ParametersOnly>){
+            return upstream_nan;
+        }
+        return upstream_nan || is_nan(device, l.pre_activations, mode);
+    }
+    template <typename DEVICE, typename SPEC, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT bool is_nan(DEVICE& device, const rl_tools::nn::layers::conv2d::LayerGradient<SPEC>& l, const Mode<MODE>& mode = Mode<mode::Default<>>{}){
+        bool upstream_nan = is_nan(device, static_cast<const rl_tools::nn::layers::conv2d::LayerBackward<SPEC>&>(l), mode);
+        if constexpr(mode::is<MODE, nn::parameters::mode::ParametersOnly>){
+            return upstream_nan;
+        }
+        return upstream_nan || is_nan(device, l.output, mode);
+    }
+    template<typename DEVICE, typename MODE = mode::Default<>>
+    RL_TOOLS_FUNCTION_PLACEMENT bool is_nan(DEVICE& device, nn::layers::conv2d::State& state, const Mode<MODE>& mode = Mode<mode::Default<>>{}){
+        return false;
+    }
+
+    // ======================== output ========================
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT auto output(DEVICE& device, nn::layers::conv2d::LayerGradient<SPEC>& l){
+        return view_memory<typename SPEC::OUTPUT_SHAPE>(device, l.output);
+    }
+
+    // ======================== gradient_norm ========================
+    template<typename DEVICE, typename SPEC>
+    RL_TOOLS_FUNCTION_PLACEMENT auto gradient_norm(DEVICE& device, const nn::layers::conv2d::LayerGradient<SPEC>& layer) {
+        auto acc = gradient_norm(device, layer.weights) + gradient_norm(device, layer.biases);
+        if constexpr(SPEC::NORMALIZATION != nn::layers::conv2d::Normalization::NONE) {
+            acc += gradient_norm(device, layer.norm.gamma) + gradient_norm(device, layer.norm.beta);
+        }
+        return acc;
+    }
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+
+#endif