Reduced rate annealed, balance task w/3476, more

The reduced learning rate was not being annealed before.
The heading angle calculation used for generating rewards is now in
radian units (instead of randlov's invented units, this section has just
been commented out in tasks.py)
renamed the 3456 goto subclass to reflect the new number of states 3476
Added a balance task that uses 3476 states (including heading states).
Merge branch 'master' of https://github.com/chrisdembia/agent-bicycle

Conflicts:
	randlov1998/tasks.py