Uniform	AW	PF	DW+AW (ours)	DW+Uniform (ours)
D4RL MuJoCo	hopper-random-v2	9.2	7.9	7.8	6.5	9.6
hopper-medium-expert-v2	104.5	104.6	107.8	104.9	92.9
hopper-medium-replay-v2	85.9	97.0	91.2	97.3	88.6
hopper-full-replay-v2	100.5	101.2	102.1	101.4	99.7
hopper-medium-v2	62.1	67.7	65.7	65.2	66.1
hopper-expert-v2	107.2	108.2	108.6	108.0	105.4
halfcheetah-medium-v2	21.4	16.3	3.0	11.1	12.5
halfcheetah-medium-expert-v2	71.2	89.4	73.4	88.8	86.1
halfcheetah-medium-replay-v2	45.3	44.7	42.2	44.3	45.1
halfcheetah-full-replay-v2	75.1	76.7	75.0	78.3	77.1
halfcheetah-medium-v2	46.5	46.5	45.4	46.6	46.5
halfcheetah-expert-v2	81.3	87.6	65.2	22.0	57.1
ant-random-v2	7.6	7.7	7.1	29.5	32.4
ant-medium-expert-v2	128.8	129.9	127.8	131.3	118.1
ant-medium-replay-v2	96.0	88.6	82.7	85.9	95.3
ant-full-replay-v2	129.3	124.5	127.5	128.4	129.1
ant-medium-v2	100.0	92.3	94.0	91.9	97.9
ant-expert-v2	124.5	132.0	130.0	127.2	129.6
walker2d-random-v2	6.1	4.8	13.2	7.8	8.6
walker2d-medium-expert-v2	109.6	109.3	108.9	109.4	109.7
walker2d-medium-replay-v2	74.4	78.1	71.9	78.4	75.3
walker2d-full-replay-v2	91.2	88.5	90.5	92.7	90.8
walker2d-medium-v2	82.3	81.3	78.2	81.9	82.1
walker2d-expert-v2	108.9	108.5	109.0	108.8	108.1
D4RL Antmaze	antmazate-umaze-v0	76.0	77.3	69.3	76.7	72.7
antmazate-umaze-diverse-v0	48.0	36.0	24.8	40.0	34.0
antmazate-medium-diverse-v0	0.0	6.0	0.0	5.3	4.0
antmazate-medium-play-v0	2.4	10.7	0.0	8.7	1.3
antmazate-large-diverse-v0	0.0	2.0	2.7	1.3	2.0
antmazate-large-play-v0	0.4	1.3	0.0	0.7	0.0
D4RL Kitchen	kitchen-complete-v0	27.8	30.2	9.5	9.5	16.5
kitchen-partial-v0	45.0	36.0	50.8	54.0	30.0
kitchen-mixed-v0	41.5	50.5	52.0	47.5	43.8
D4RL Adroit	pen-human-v1	1.6	-3.0	2.6	-4.6	46.9
pen-cloned-v1	-1.3	-2.5	8.6	-3.6	9.1
hammer-human-v1	-7.0	-7.0	-6.9	-7.0	-7.0
hammer-cloned-v1	-7.0	-7.0	-7.0	-6.9	-6.9
door-human-v1	-9.4	-9.4	-5.1	-9.4	-9.4
door-cloned-v1	-9.4	-9.4	21.6	-9.4	-9.4
relocate-human-v1	2.1	-2.1	-0.8	-2.1	-2.1
relocate-cloned-v1	-2.3	-2.4	0.2	-2.1	-2.0
Mixed	ant-random-medium-1%-v2	37.1	73.6	6.7	71.5	62.1
ant-random-medium-5%-v2	53.1	86.1	76.6	90.2	90.0
ant-random-medium-10%-v2	82.8	88.1	93.1	90.3	86.7
ant-random-medium-50%-v2	97.4	94.5	95.7	97.4	97.2
ant-random-expert-1%-v2	10.0	77.7	5.0	66.1	42.5
ant-random-expert-5%-v2	35.2	114.8	65.0	115.5	96.3
ant-random-expert-10%-v2	48.3	120.0	110.0	126.3	110.4
ant-random-expert-50%-v2	117.3	130.6	125.5	132.7	115.6
hopper-random-medium-1%-v2	0.6	55.1	62.2	57.2	68.7
hopper-random-medium-5%-v2	1.5	62.1	42.6	63.1	63.0
hopper-random-medium-10%-v2	1.6	66.6	66.8	69.2	60.7
hopper-random-medium-50%-v2	22.6	46.7	66.9	64.4	64.5
hopper-random-expert-1%-v2	17.5	59.6	17.4	86.1	21.3
hopper-random-expert-5%-v2	16.3	99.7	40.1	107.3	59.7
hopper-random-expert-10%-v2	14.9	109.7	46.6	109.3	55.1
hopper-random-expert-50%-v2	100.6	109.6	108.5	106.7	84.2
halfcheetah-random-medium-1%-v2	37.1	39.8	18.9	39.6	36.9
halfcheetah-random-medium-5%-v2	41.1	45.4	42.6	45.4	43.9
halfcheetah-random-medium-10%-v2	44.6	45.8	45.0	45.8	42.2
halfcheetah-random-medium-50%-v2	46.6	46.5	45.1	46.5	46.5
halfcheetah-random-expert-1%-v2	21.4	26.4	5.1	18.9	18.8
halfcheetah-random-medium-5%-v2	24.8	66.2	7.9	69.7	20.6
halfcheetah-random-expert-10%-v2	31.7	72.6	75.4	77.9	29.3
halfcheetah-random-expert-50%-v2	58.7	80.7	61.5	86.3	52.8
walker2d-random-medium-1%-v2	2.9	41.9	3.3	51.5	0.8
walker2d-random-medium-5%-v2	0.0	75.0	46.8	75.2	15.9
walker2d-random-medium-10%-v2	0.6	74.6	74.0	79.9	69.2
walker2d-random-medium-50%-v2	76.9	82.0	82.1	81.1	79.5
walker2d-random-expert-1%-v2	4.0	66.3	5.7	89.1	-0.1
walker2d-random-expert-5%-v2	0.2	107.7	32.7	108.3	21.3
walker2d-random-expert-10%-v2	3.1	108.1	34.3	108.6	0.8
walker2d-random-expert-50%-v2	0.8	108.6	108.2	108.8	96.2
Mixed (diverse)	ant-random-medium-diverse-1%-v2	9.6	20.7	5.9	74.1	35.5
ant-random-medium-diverse-5%-v2	53.3	85.4	39.5	85.1	78.4
ant-random-medium-diverse-10%-v2	78.0	89.9	93.2	95.7	93.8
ant-random-medium-diverse-50%-v2	101.9	91.3	93.7	97.7	102.4
ant-random-expert-diverse-1%-v2	7.5	9.8	6.2	33.5	13.6
ant-random-expert-diverse-5%-v2	12.7	29.1	8.2	102.0	66.8
ant-random-expert-10%-v2	23.4	76.5	58.1	113.7	89.7
ant-random-expert-50%-v2	112.5	116.3	121.3	126.8	123.9
hopper-random-medium-diverse-1%-v2	3.9	21.1	52.5	61.1	13.8
hopper-random-medium-diverse-5%-v2	24.5	24.5	55.5	65.7	73.0
hopper-random-medium-diverse-10%-v2	7.2	7.9	68.8	65.3	64.8
hopper-random-medium-diverse-50%-v2	32.4	62.0	58.7	61.5	63.2
hopper-random-expert-diverse-1%-v2	12.0	20.0	3.6	21.1	4.3
hopper-random-expert-diverse-5%-v2	5.2	10.3	27.7	60.0	37.0
hopper-random-expert-10%-v2	5.4	61.1	24.5	60.9	80.2
hopper-random-expert-50%-v2	96.8	107.4	92.3	109.2	105.5
halfcheetah-medium-diverse-1%-v2	39.6	41.2	32.7	26.0	41.1
halfcheetah-medium-diverse-5%-v2	44.5	44.2	44.7	39.8	45.5
halfcheetah-medium-diverse-10%-v2	43.7	45.3	44.9	45.2	46.2
halfcheetah-medium-diverse-50%-v2	46.8	46.8	45.7	45.4	46.5
halfcheetah-medium-expert-1%-v2	11.8	22.0	7.5	2.9	17.0
halfcheetah-medium-expert-10%-v2	29.4	35.4	10.6	7.0	25.7
halfcheetah-medium-expert-10%-v2	24.1	39.5	20.3	16.4	18.7
halfcheetah-medium-diverse-50%-v2	53.3	69.1	8.9	52.2	71.2
walker2d-medium-diverse-1%-v2	2.6	2.5	26.8	3.1	3.0
walker2d-medium-diverse-5%-v2	0.7	8.4	47.3	52.1	18.0
walker2d-medium-diverse-10%-v2	0.6	24.7	57.8	75.5	71.7
walker2d-medium-diverse-50%-v2	76.9	80.0	77.5	78.4	79.0
walker2d-medium-expert-1%-v2	12.3	6.1	0.0	9.1	9.7
walker2d-medium-expert-5%-v2	1.1	3.7	85.3	0.7	5.0
walker2d-medium-expert-10%-v2	1.7	3.2	49.9	0.9	33.9
walker2d-medium-expert-50%-v2	7.9	1.7	79.2	95.9	108.3
Mixed (small)	ant-random-medium-10%-small-v2	6.2	29.9	6.7	19.0	43.9
ant-random-expert-10%-small-v2	6.2	34.9	6.8	11.8	20.7
hopper-medium-10%-small-v2	39.7	4.8	46.0	55.6	51.5
hopper-medium-replay-v2	20.4	10.1	18.4	56.7	47.2
halfcheetah-medium-10%-small-v2	11.2	24.6	30.8	25.6	25.4
halfcheetah-medium-replay-v2	2.2	3.5	3.2	4.5	4.0
walker2d-medium-10%-small-v2	2.2	0.7	0.6	41.2	42.7
walker2d-medium-replay-v2	13.6	-0.0	0.2	38.5	56.7