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[FIX] Address PR review: recurse=False, isinstance lookup, fix docstring

- Use recurse=False in named_parameters to avoid submodule params
- Use isinstance-based lookup for _module_info to support subclasses
- Fix stale docstring in EKFACComputer.compute()

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>