Improve bilevel planning infrastructure

[yichao-liang]

Summary

• Better logging for bilevel refinement: adds detailed option execution logging including option name, step count, and termination status
• Option termination logging: logs when options terminate and why (initiable check, terminal check)
• Terminate Wait option on atom change: WaitOptionModel now detects when abstract state atoms change and terminates accordingly
• Forward validation improvements: properly handles terminal conditions during forward validation of option plans
• Retry count fix: corrects retry count tracking in bilevel planning refinement loop

Test plan

• Verify bilevel planning refinement logging output is correct
• Confirm Wait option terminates on atom changes
• Check forward validation handles terminal states properly