Visualize output of forward and select_action

[Cadene]

What this does

• Add lerobot/scripts/save_inference.py to save outputs of the forward pass or select_action in a directory
• Add --inference-dir to lerobot/scripts/visualize_dataset_html.py to load these outputs and visualize them

TODO:

• display loss information
• save+display predicted actions (action t+1 and chunk)
• manually adjust shift and scaling of every modality
• save changes to the visualization to not have to re-do them when changing episodes
• add a reset changes button
• fix bug when going down and up episode with arrow keys, which just do +1 on episode index instead of finding the next episode index

How it was tested

Ran commands + manually visualized

How to checkout & try? (for the reviewer)

python lerobot/scripts/save_inference.py \
--dataset.repo_id=pepijn223/mobileso100_drive_forward6 \
--dataset.episodes='[0,1,2,4,10,11,12,20,21,22,30,31,32]' \
--policy.path=pepijn223/mobile_so100_test_100000 \
--output_dir=outputs/save_inference/pepijn223/mobileso100_drive_forward6/pepijn223/mobile_so100_test_100000

python lerobot/scripts/visualize_dataset_html.py \
--repo-id pepijn223/mobileso100_drive_forward6 \
--inference-dir outputs/save_inference/pepijn223/mobileso100_drive_forward6/pepijn223/mobile_so100_test_100000 \
--episodes 0 1 2 4 10 11 12 20 21 22 30 31 32