feat(off-policy): support off-policy pid and update performance for navigation

[Gaiejj]

Description

• support off-policy pid algorithms.
• update off-policy navigation tasks performance.
• refactor CRPO file layer.

Types of changes

What types of changes does your code introduce? Put an x in all the boxes that apply:

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds core functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation (update in the documentation)

Checklist

Go over all the following points, and put an x in all the boxes that apply.
If you are unsure about any of these, don't hesitate to ask. We are here to help!

• I have read the CONTRIBUTION guide. (required)
• My change requires a change to the documentation.
• I have updated the tests accordingly. (required for a bug fix or a new feature)
• I have updated the documentation accordingly.
• I have reformatted the code using make format. (required)
• I have checked the code using make lint. (required)
• I have ensured make test pass. (required)

[codecov-commenter]

Codecov Report

Merging #245 (abf9a0b) into main (74e9527) will increase coverage by 0.02%.
The diff coverage is 100.00%.

❗ Current head abf9a0b differs from pull request most recent head 30c0bb1. Consider uploading reports for the commit 30c0bb1 to get more accurate results

❗ Your organization is not using the GitHub App Integration. As a result you may experience degraded service beginning May 15th. Please install the Github App Integration for your organization. Read more.

@@            Coverage Diff             @@
##             main     #245      +/-   ##
==========================================
+ Coverage   97.00%   97.01%   +0.02%     
==========================================
  Files         134      138       +4     
  Lines        6891     6994     +103     
==========================================
+ Hits         6684     6785     +101     
- Misses        207      209       +2     

Impacted Files	Coverage Δ
omnisafe/__init__.py	100.00% <ø> (ø)
omnisafe/adapter/early_terminated_adapter.py	100.00% <ø> (ø)
omnisafe/adapter/offline_adapter.py	100.00% <ø> (ø)
omnisafe/adapter/online_adapter.py	100.00% <ø> (ø)
omnisafe/adapter/saute_adapter.py	100.00% <ø> (ø)
omnisafe/adapter/simmer_adapter.py	100.00% <ø> (ø)
omnisafe/algorithms/model_based/__init__.py	100.00% <ø> (ø)
omnisafe/algorithms/model_based/base/__init__.py	100.00% <ø> (ø)
...mnisafe/algorithms/model_based/planner/__init__.py	100.00% <ø> (ø)
omnisafe/algorithms/off_policy/sac.py	100.00% <ø> (ø)
... and 88 more

📣 We’re building smart automated test selection to slash your CI/CD build times. Learn more

[muchvo]

LGTM.