NOTE TO SELF: make task names consistent with what's in the paper!

[DanielTakeshi]

The code internally has some different task names than what we reported in the paper, since we were changing what the paper reports for ease of readability, but changing task names in the code requires a little more care. To be specific:

• The three "fabric" tasks in the paper have "cloth" instead, e.g., "fabric-flat" in the paper is "cloth-flat" in this code.
• The "bag-items-1" and "bag-items-2" in the paper are referred to as "bag-items-easy" and "bag-items-hard" in the code.
• The "block-notarget" task in the paper (see the appendix) is referred to as "insertion-goal" in the code.

Complicating matters is that there are a few places in the code which check by detecting if a task name has 'cloth' in it, etc.