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,
  utokyo_xarm_bimanual_converted_externally_to_rlds,
  stanford_hydra_dataset_converted_externally_to_rlds,
  austin_sirius_dataset_converted_externally_to_rlds,
  berkeley_fanuc_manipulation,
  berkeley_mvp_converted_externally_to_rlds,
  cmu_play_fusion,
  robo_net,
  furniture_bench_dataset_converted_externally_to_rlds,
  dlr_sara_grid_clamp_converted_externally_to_rlds,
  cmu_stretch,
  droid,
  toto,
  bc_z,
  kuka