Refactor: Modularize Control and Reward Strategies, Clean up Single Pendulum Env, Fix Bugs in Training Pipeline

Save state before switching to Velocity Control

Refine README, update references, and clear logs for new physics

Update visualization pipeline, fix physics (1.0m), and update docs

feat: Implement Ratchet Curriculum and Exponential Reward

Implement Reward Annealing (Curriculum Learning) and fix Visualizer

Docs: Add final run and overlay montage videos

Feat: Refine reward plot (top-right, labels)

Feat: Add real-time reward plot overlay to simulation

Docs: Update learning curve (Episode 4300)

Feat: Implement MP4 visualization and add final run video

Docs: Detail Phase 5 equilibria and transition goals

Feat: Implement hybrid reward (Energy Shaping + Spatial)

Fix: Correct gravity signs in LQR dynamics (Up is unstable)

Docs: Add Phase 5 (Multi-Equilibrium Cycling) to project plan