Framework Improvements

Improvements we would like to make on the general code framework.

These are the things we would like to implement:

• Add infrastructure for multiple agents that move independently #numsteps #infrastructure
• Automate benchmark experiments & analysis #infrastructure
• Add more wandb logging for learning from unsupervised #learning
• Add GPU support for Monty #speed
• Use State class inside of LMs #infrastructure
• Make configs easier to use #infrastructure
• Find faster alternative to KDTree search #speed

Please see the instructions here if you would like to tackle one of these tasks.