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large merge of master into multinode, including multiple fixes for tests etc #260

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Here I'm trying to update the multinode branch to match master, but I've uncovered a few big outstanding issues, which can be found as the TOODs in test_scripts.py.

For example:

# TODO: "FM" & replay buffer are broken due to the implementation of StatePairs.

This appears to be due to a design flaw in StatePairs. To be discussed during our standup tomorrow.

@josephdviviano josephdviviano self-assigned this Mar 11, 2025
@josephdviviano josephdviviano changed the base branch from multinode to master March 11, 2025 15:45
@josephdviviano josephdviviano marked this pull request as draft March 11, 2025 15:46
@josephdviviano josephdviviano changed the base branch from master to multinode March 11, 2025 18:23
@josephdviviano josephdviviano marked this pull request as ready for review March 12, 2025 03:54
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@sanchit-misra @hyeok9855 @saleml

This is now ready to review. I realize the size of this PR is so large that it's not really practical to review, but I wanted to give you all the opportunity (and I need one of you to approve).

I'll verify all tests pass in the AM tomorrow.

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