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Refactored generate_support, restricted typeguard (#18)
After merging #16, the tests began failing due to a typeguard error checking that a dictionary actually produces key, val pairs as a returned item in `generate_support` in `utils.py`. I used the opportunity to refactor that call to only ever return a dict by making it optional to pass in the shuffled indexes (only used internally in generate_episode, anyway), saving a second call to `torch.unique`. Upon finding an issue in typeguard that appeared at the same time as their upstream release and our error, I restricted the typeguard version to be 4.0 or lower. Refs #17
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