domains: >
  bridge_data_v2,
  fractal20220817_data,
  language_table,
  ucsd_pick_and_place_dataset_converted_externally_to_rlds,
  kaist_nonprehensile_converted_externally_to_rlds,
  ucsd_kitchen_dataset_converted_externally_to_rlds,
  berkeley_fanuc_manipulation,
  bc_z,
  cmu_play_fusion,
  kuka