- Add NuconGoalEnv for goal-conditioned HER training (SAC + HER)
- Add UncertaintyPenalty and UncertaintyAbort composable callables;
SIM_UNCERTAINTY injected into obs dict when simulator is active
- Fix rl.py: str-typed params crash, missing Enum import, write-only
params in action space, broken step() iteration order
- Remove uncertainty state from sim (return value from update() instead)
- Rename kNN -> kNN-GP throughout README; add model selection note
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
dodoxandClaude Sonnet 4.6
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