Please check the option that best describes this PR:

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Documentation update
• Code refactoring (no functional changes)
• Performance improvement
• Test additions or updates
• Other (please describe):

Fixes # Relates to #

• Change 1
• Change 2
• Change 3

• OS: [e.g., Ubuntu 22.04]
• Python version: [e.g., 3.9.0]
• PyTorch version: [e.g., 2.0.1]
• CUDA version: [e.g., 11.8]
• GPU model: [e.g., NVIDIA RTX 4090]

• Ran scripts/closed_loop_test.sh successfully
• Ran scripts/multigpu_closed_loop_test.sh successfully (if applicable)
• Added new unit tests
• All existing tests pass
• Manual testing performed

Paste relevant test output here

• No performance impact
• Performance improved (please describe)
• Performance may be affected (please describe)
• Performance testing not applicable

• Documentation has been updated (if needed)
• Code comments added/updated (if needed)
• CHANGELOG.md updated
• README.md updated (if needed)

• My code follows the project's style guidelines
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes

• This PR introduces breaking changes
  • Breaking change 1: ...
  • Migration path: ...

• This PR adds new dependencies
  • Dependency name and version:
  • Reason for adding:

• I have read the Contributing Guidelines
• I have read the Code of Conduct
• My commits follow the project's commit message conventions
• I have rebased my branch on the latest main branch
• I have resolved all merge conflicts
• I am willing to make changes based on reviewer feedback

• Code quality and style
• Test coverage
• Documentation completeness
• Performance considerations
• Security implications
• Breaking changes properly documented
• CHANGELOG.md updated