config/train/data/pusht.yaml

dataset:
  num_steps: ${eval:'${wm.num_preds} + ${wm.history_size}'}
  frameskip: 5
  name: pusht_expert_train
  keys_to_load:
    - pixels
    - action
    - proprio
    - state
  keys_to_cache:
    - action
    - proprio
    - state