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Refactor reward signals into separate class #2144
Refactors the reward signals (extrinsic and curiosity) into separate class that inherits from RewardSignal. The Trainer is now reward signal agnostic, and doesn't check the config whether or not each type exists - it just instantiates all of the classes declared.
This is in preparation for additional reward signals (e.g. GAIL) as well as reuse across different trainers.
Also, it is equivalent to the IRL PR but without the new features (GAIL and PreTraining). We're breaking up this PR into two to make it easier to review.