Remi Cadene d4e0849970 Refactor datasets with abstract class

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..

__init__.py

Eval reproduced! Train running (but not reproduced)

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abstract.py

Refactor datasets with abstract class

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factory.py

Refactor datasets with abstract class

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pusht.py

Refactor datasets with abstract class

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simxarm.py

Refactor datasets with abstract class

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utils.py

pre-commit run -a

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