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Axis can be in [-rank - 1, rank + 1), but the original codes only verify [-rank, rank + 1).
https://github.com/tensorflow/tensorflow/blob/master/tensorflow/lite/kernels/pack.cc#L41-L47
The test case seems to be wrong. For rank 2 tensors, axis=-3 is equal to axis=0, axis=-2 is equal to axis=1.
https://colab.research.google.com/drive/1WRPjkdv70njl1uHlGAh_J7xp0v1QH11j?usp=sharing