- Pre-training: 50 batch supervised direction init at epoch 0 (exposure branch)
- Exposure aux targets: DtoD copy from collector to fused context after experience collection
- PopArt: normalize_rewards_popart_inplace in fused training step (disabled by default)
- TD(λ): stub with debug log (kernel loaded, awaiting V(s) estimates for full wiring)
- Hindsight/curriculum: stubs with config guards (disabled by default)
- Added rewards_buf_mut() and normalize_rewards_popart_inplace() to GpuDqnTrainer
- Added run_pretrain_step() and replay_adam_and_readback_pretrain() wrappers to FusedTrainingCtx
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>