Fix benchmark configs

[ernestum]

Description

• Fixes issue with the benchmark config files
• Improves on the readability of the benchmark tests
• Adds missing imitation.algorithms.dagger.ExponentialBetaSchedule (@Rocamonde could you do this?)

More details in #664.

Fixes issue #664 which was introduced in #653.

Testing

Improved test for the benchmarks.

[Rocamonde]

(y) Will review tomorrow.

[Rocamonde]

LGTM.

[ernestum]

Thanks for the review @Rocamonde !
I still need the missing imitation.algorithms.dagger.ExponentialBetaSchedule file from you (see description of the PR). Otherwise the test can not pass.

[Rocamonde]

Unfortunately I don't really have this file! You should ping @taufeeque9 who ran the experiments & gave me the JSON's.

[ernestum]

All right then please @taufeeque9 please add the files to this PR when you get around to it.

[codecov]

Codecov Report

Merging #665 (8c67937) into master (5160179) will decrease coverage by 0.06%.
The diff coverage is 73.91%.

❗ Current head 8c67937 differs from pull request most recent head 49c2320. Consider uploading reports for the commit 49c2320 to get more accurate results

@@            Coverage Diff             @@
##           master     #665      +/-   ##
==========================================
- Coverage   97.57%   97.51%   -0.06%     
==========================================
  Files          89       87       -2     
  Lines        8602     8573      -29     
==========================================
- Hits         8393     8360      -33     
- Misses        209      213       +4     

Impacted Files	Coverage Δ
src/imitation/scripts/config/train_imitation.py	68.33% <ø> (+1.66%)	⬆️
src/imitation/scripts/train_imitation.py	95.71% <ø> (+3.06%)	⬆️
src/imitation/algorithms/dagger.py	97.79% <37.50%> (-2.21%)	⬇️
tests/test_benchmarking.py	95.00% <93.33%> (-5.00%)	⬇️
src/imitation/algorithms/adversarial/common.py	96.81% <0.00%> (-0.02%)	⬇️
tests/scripts/test_scripts.py	100.00% <0.00%> (ø)
tests/algorithms/test_adversarial.py	100.00% <0.00%> (ø)
src/imitation/scripts/ingredients/policy.py
...imitation/scripts/ingredients/policy_evaluation.py
src/imitation/scripts/ingredients/bc.py
... and 4 more

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[AdamGleave]

@Rocamonde I think this is ready for another review now that Taufeeque has added the missing beta scheduler

[Rocamonde]

LGTM, just some minor comments. please do take a look before merging