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,
  berkeley_rpt_converted_externally_to_rlds,
  cmu_play_fusion,
  iamlab_cmu_pickup_insert_converted_externally_to_rlds,
  qut_dexterous_manpulation,
  robo_net,
  furniture_bench_dataset_converted_externally_to_rlds,
  dlr_sara_grid_clamp_converted_externally_to_rlds,
  cmu_stretch,
  spoc,
  columbia_cairlab_pusht_real,
  droid,
  toto,
  io_ai_tech,
  conq_hose_manipulation,
  dobbe,
  berkeley_gnm_cory_hall,
  plex_robosuite,
  usc_cloth_sim_converted_externally_to_rlds,
  berkeley_cable_routing,
  imperial_wrist_dataset,
  bc_z,
  kuka,
  roboturk,
  metaworld,
  robomimic,
  epic_kitchen,
  ego4d,
  nyu_door_opening_surprising_effectiveness