415d4e373880cdc5f7e5fb55efbb13a451197b96
Implements sacUpdate with burn-in LSTM warm-up, twin-critic TD update, actor reparameterization gradient, auto-alpha, and soft target update. Manual backprop (linear + LSTM single-step, truncated BPTT). 11 new tests all green; full regression suite (57+ tests) unaffected. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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