Motivation

Implement PILCO (Probabilistic Inference for Learning Control), as requested in #509.

Solution

It uses Gaussian Processes to model dynamics and analytic moment matching to propagate uncertainty, allowing for direct gradient-based policy optimization.

Alternatives

NA

Additional context

Reference: PILCO: A Model-Based and Data-Efficient Approach to Policy Search

Checklist

• I have checked that there is no similar issue in the repo (required)