Replicate results of the paper with Sample-Factory 2 and compare with and without input normalization

Comparison between CleanRL and Sample-Factory for sample efficiency and wall time. All runs were done on a 16 core machine with 1 GPU. Comparisons between CleanRL and Stable Baselines and EnvPool can be found here: https://wandb.ai/openrlbenchmark/envpool-cleanrl/reports/MuJoCo-CleanRL-EnvPool-vs-openai-baselines--VmlldzoyMjA2NjI2