batch VLM classifier eval: add VLM predicate fields to state+obs, bui… #2305

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Job	Run time
isort (3.10.14)	11s
lint (3.10.14)	7m 44s
docformatter (3.10.14)	17s
static-type-checking (3.10.14)	3m 20s
unit-tests (3.10.14)	3m 9s
yapf (3.10.14)	50s
	15m 31s