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Implement wrappers for residual learning - #9
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This PR introduces a few wrappers for residual learning, including a generic wrapper, a wrapper for SPD matrix residual learning and PSD matrix residual learning. The generic wrapper is best used when learning e.g. grey-box models where the nominal model is a physics prior and the residual is a correction. Similarly, the SPD and PSD variants can be used to learn corrections to coefficient matrices like mass or drag matrices.