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, iamlab_cmu_pickup_insert_converted_externally_to_rlds, robo_net, furniture_bench_dataset_converted_externally_to_rlds, dlr_sara_grid_clamp_converted_externally_to_rlds, cmu_stretch, droid, toto, io_ai_tech, bc_z, roboturk, cmu_franka_exploration_dataset_converted_externally_to_rlds, nyu_door_opening_surprising_effectiveness, kuka