dataset:
  name: ogbench/cube_single_expert
  num_steps: ${eval:'${wm.num_preds} + ${wm.history_size}'}
  frameskip: 5
  keys_to_load:
    - pixels
    - action
    - observation
  keys_to_cache:
    - action
    - observation
  keys_to_merge:
    proprio: proprio