Uniform	AW	PF	DW+AW (ours)	DW+Uniform (ours)
D4RL MuJoCo	hopper-random-v2	8.5	9.0	7.5	6.4	8.5
hopper-medium-expert-v2	95.4	105.6	106.5	108.8	97.5
hopper-medium-replay-v2	64.2	96.8	83.4	89.3	56.2
hopper-full-replay-v2	70.4	105.6	102.9	103.3	75.5
hopper-medium-v2	59.8	63.8	65.2	60.6	57.9
hopper-expert-v2	110.5	111.5	101.5	110.0	107.5
halfcheetah-medium-v2	12.3	11.3	10.3	10.1	12.0
halfcheetah-medium-expert-v2	88.9	97.7	88.0	96.8	96.0
halfcheetah-medium-replay-v2	44.7	45.1	29.6	45.0	44.9
halfcheetah-full-replay-v2	74.1	77.7	75.4	75.7	75.2
halfcheetah-medium-v2	48.4	48.6	48.3	48.0	48.3
halfcheetah-expert-v2	96.4	97.5	78.4	97.4	97.8
ant-random-v2	35.2	11.5	-0.1	43.8	37.6
ant-medium-expert-v2	113.2	135.5	121.4	130.5	120.2
ant-medium-replay-v2	104.1	100.9	50.0	109.2	80.3
ant-full-replay-v2	136.3	139.7	131.1	139.9	134.2
ant-medium-v2	122.9	120.1	95.3	115.0	119.0
ant-expert-v2	105.4	124.9	94.4	123.1	116.7
walker2d-random-v2	1.2	2.5	2.5	5.3	2.6
walker2d-medium-expert-v2	110.0	110.2	110.5	110.3	110.0
walker2d-medium-replay-v2	80.2	80.8	72.4	81.1	77.4
walker2d-full-replay-v2	93.3	96.2	96.0	95.7	93.6
walker2d-medium-v2	84.4	82.3	76.0	82.6	83.2
walker2d-expert-v2	110.2	110.3	110.2	110.3	110.2
D4RL Antmaze	antmazate-umaze-v0	17.3	32.3	53.7	46.3	85.0
antmazate-umaze-diverse-v0	64.7	67.3	29.0	66.3	40.3
antmazate-medium-diverse-v0	3.7	10.7	3.3	4.0	1.0
antmazate-medium-play-v0	0.0	1.0	2.0	0.0	0.3
antmazate-large-diverse-v0	0.0	0.3	0.0	3.0	0.0
antmazate-large-play-v0	0.0	0.0	0.0	0.0	0.0
D4RL Kitchen	kitchen-complete-v0	0.0	0.0	0.0	0.0	0.0
kitchen-partial-v0	0.0	0.8	0.0	9.6	17.8
kitchen-mixed-v0	0.0	9.8	1.9	24.5	17.0
D4RL Adroit	pen-human-v1	3.1	1.5	8.8	-2.5	29.0
pen-cloned-v1	11.9	2.2	17.1	-1.1	33.4
hammer-human-v1	1.1	0.8	0.4	1.2	1.3
hammer-cloned-v1	0.2	0.4	0.4	0.3	0.2
door-human-v1	-0.3	-0.3	-0.3	-0.3	-0.3
door-cloned-v1	-0.3	-0.3	-0.3	-0.3	-0.3
relocate-human-v1	-0.3	-0.3	-0.3	-0.3	-0.3
relocate-cloned-v1	-0.3	-0.2	-0.3	-0.4	-0.4
Mixed	ant-random-medium-1%-v2	41.2	21.6	-0.5	21.6	47.2
ant-random-medium-5%-v2	41.9	84.2	0.9	76.1	68.8
ant-random-medium-10%-v2	55.6	84.5	29.2	84.6	75.2
ant-random-medium-50%-v2	85.2	114.5	111.5	120.0	108.2
ant-random-expert-1%-v2	18.7	14.0	0.3	16.6	16.7
ant-random-expert-5%-v2	27.8	39.6	4.8	47.6	71.0
ant-random-expert-10%-v2	44.0	65.9	13.6	83.5	79.5
ant-random-expert-50%-v2	31.6	97.8	96.3	117.7	63.2
hopper-random-medium-1%-v2	25.7	49.1	13.4	51.3	20.3
hopper-random-medium-5%-v2	41.2	58.0	49.8	51.7	45.8
hopper-random-medium-10%-v2	29.4	56.4	50.9	53.8	55.9
hopper-random-medium-50%-v2	55.8	64.7	53.7	61.1	51.9
hopper-random-expert-1%-v2	21.3	36.3	10.5	17.3	26.7
hopper-random-expert-5%-v2	31.0	97.3	37.6	93.3	67.6
hopper-random-expert-10%-v2	52.0	107.7	84.4	91.3	95.4
hopper-random-expert-50%-v2	87.2	106.5	107.9	110.3	108.3
halfcheetah-medium-medium-1%-v2	15.8	14.8	27.4	16.5	40.9
halfcheetah-medium-medium-5%-v2	21.0	46.9	44.0	46.8	45.8
halfcheetah-medium-medium-10%-v2	36.2	47.8	47.8	48.3	46.8
halfcheetah-medium-medium-50%-v2	48.5	48.3	48.0	48.7	48.2
halfcheetah-medium-expert-1%-v2	2.7	3.6	8.2	3.1	14.3
halfcheetah-medium-5%-v2	20.6	50.2	5.7	44.8	58.8
halfcheetah-medium-expert-10%-v2	25.9	78.4	82.6	70.9	69.4
halfcheetah-medium-50%-v2	85.8	96.0	70.0	95.2	91.8
walker2d-random-medium-1%-v2	6.0	-0.2	7.8	29.9	5.2
walker2d-random-medium-5%-v2	14.5	74.7	1.9	70.5	1.7
walker2d-random-medium-10%-v2	9.9	74.2	2.3	75.3	3.6
walker2d-random-medium-50%-v2	21.9	78.2	14.7	78.5	10.8
walker2d-random-expert-1%-v2	5.3	15.4	0.3	4.2	-0.3
walker2d-random-expert-5%-v2	6.4	73.1	3.5	109.9	1.9
walker2d-random-expert-10%-v2	3.0	110.1	1.5	110.0	2.7
walker2d-random-expert-50%-v2	8.7	110.3	0.8	110.1	2.4
Mixed (diverse)	ant-random-medium-diverse-1%-v2	40.5	43.9	5.7	84.3	64.1
ant-random-medium-diverse-5%-v2	32.6	76.8	3.4	100.8	97.1
ant-random-medium-diverse-10%-v2	44.5	105.3	3.8	96.7	48.6
ant-random-medium-diverse-50%-v2	95.7	118.3	110.8	115.8	107.2
ant-random-expert-diverse-1%-v2	23.7	24.5	6.0	30.3	22.2
ant-random-expert-diverse-5%-v2	23.5	63.6	1.1	59.0	69.9
ant-random-expert-10%-v2	28.9	76.6	3.4	85.0	81.2
ant-random-expert-50%-v2	28.2	69.6	63.9	87.0	76.0
hopper-random-medium-diverse-1%-v2	25.9	16.2	24.4	37.1	8.9
hopper-random-medium-diverse-5%-v2	38.5	43.7	49.3	37.5	37.3
hopper-random-medium-diverse-10%-v2	29.7	30.0	36.7	43.9	41.5
hopper-random-medium-diverse-50%-v2	54.4	50.3	50.9	48.4	47.2
hopper-random-expert-diverse-1%-v2	15.2	13.7	13.2	32.6	10.3
hopper-random-expert-diverse-5%-v2	11.7	57.6	37.7	84.8	58.1
hopper-random-expert-10%-v2	48.2	76.6	75.5	41.2	86.6
hopper-random-expert-50%-v2	90.9	95.3	40.8	109.2	75.4
halfcheetah-medium-medium-diverse-1%-v2	39.5	15.1	27.7	33.5	39.7
halfcheetah-medium-medium-diverse-5%-v2	18.3	36.8	46.0	46.9	44.8
halfcheetah-medium-medium-10%-v2	20.4	23.2	46.6	47.4	45.5
halfcheetah-medium-medium-50%-v2	48.2	15.9	48.4	45.0	46.8
halfcheetah-medium-expert-1%-v2	3.4	2.3	5.7	10.2	11.9
halfcheetah-medium-expert-5%-v2	4.4	15.9	12.2	45.8	62.3
halfcheetah-medium-expert-10%-v2	6.3	13.5	12.3	64.6	80.2
halfcheetah-medium-expert-50%-v2	82.1	49.6	14.2	86.3	93.4
walker2d-random-medium-1%-v2	-0.4	5.1	7.9	2.1	8.9
walker2d-random-medium-5%-v2	4.8	5.8	1.6	0.4	0.2
walker2d-random-medium-10%-v2	4.7	10.6	15.0	4.5	0.3
walker2d-random-medium-50%-v2	12.1	47.4	78.5	13.2	9.9
walker2d-random-expert-1%-v2	4.4	2.1	1.5	5.5	2.2
walker2d-random-expert-5%-v2	5.6	11.3	1.9	8.3	-0.3
walker2d-random-expert-10%-v2	5.5	4.5	1.0	7.6	8.2
walker2d-random-expert-50%-v2	6.1	106.1	15.0	0.6	6.1
Mixed (small)	ant-random-medium-10%-small-v2	9.3	20.0	4.3	15.8	17.2
ant-random-expert-10%-small-v2	9.3	15.2	0.4	18.2	17.1
hopper-medium-10%-small-v2	6.4	46.7	2.5	43.7	20.2
hopper-medium-replay-v2	5.8	13.3	4.1	20.4	18.0
halfcheetah-medium-medium-10%-small-v2	21.5	11.9	6.5	4.0	23.2
halfcheetah-medium-replay-v2	6.5	5.4	-1.1	6.8	7.3
walker2d-medium-10%-small-v2	1.8	12.9	0.9	6.4	6.3
walker2d-medium-replay-v2	0.9	-0.3	0.2	0.4	1.6