Fix/ part of #115 compute planner loss - #172

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restore/pr-124-compute-planner-loss

Commits on Jul 27, 2026

feat(trajectory_planning): wire compute_planner_loss, dict-shaped (#115)
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fix(trajectory_planning): restore ReasoningCoupling, zero-init, initial_noise lost in sync
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feat(training): wire compute_planner_loss into train_il (#115, #124)
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Commits on Jul 29, 2026

Fix FlowMatchingPlanner training to use compute_planner_loss
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