Uniform	AW	PF	DW+AW (ours)	DW+Uniform (ours)
D4RL MuJoCo	hopper-random-v2	7.6	6.8	8.0	6.4	8.5
hopper-medium-expert-v2	85.4	111.1	111.8	110.8	81.0
hopper-medium-replay-v2	86.7	98.1	96.0	99.9	79.7
hopper-full-replay-v2	108.1	102.1	88.2	107.5	99.8
hopper-medium-v2	65.7	58.3	64.5	61.7	62.5
hopper-expert-v2	109.7	111.0	110.3	105.7	108.2
halfcheetah-medium-v2	12.7	7.3	4.2	10.7	10.8
halfcheetah-medium-expert-v2	90.6	94.7	94.2	93.9	93.7
halfcheetah-medium-replay-v2	44.0	44.0	29.4	44.1	44.6
halfcheetah-full-replay-v2	73.5	76.3	72.3	76.4	75.9
halfcheetah-medium-v2	47.5	47.8	45.4	47.9	47.7
halfcheetah-expert-v2	94.9	95.3	73.8	95.2	95.1
ant-random-v2	11.9	12.2	8.3	15.8	16.3
ant-medium-expert-v2	133.3	131.9	133.2	129.3	130.1
ant-medium-replay-v2	93.8	82.9	71.4	86.8	89.8
ant-full-replay-v2	130.1	129.9	128.9	131.4	130.2
ant-medium-v2	100.0	98.9	96.2	98.1	99.6
ant-expert-v2	126.2	131.4	119.6	128.6	127.3
walker2d-random-v2	6.7	2.7	10.4	3.7	7.0
walker2d-medium-expert-v2	110.1	109.7	109.8	109.8	109.7
walker2d-medium-replay-v2	61.3	47.0	42.2	62.6	65.1
walker2d-full-replay-v2	86.8	84.5	85.6	80.6	95.0
walker2d-medium-v2	77.9	70.0	65.3	75.8	80.8
walker2d-expert-v2	109.9	109.9	109.6	109.5	109.4
D4RL Antmaze	antmaze-umaze-v0	88.0	90.7	0.0	89.3	81.3
antmaze-umaze-diverse-v0	67.3	75.3	0.0	72.0	61.0
antmaze-medium-diverse-v0	76.0	61.3	0.0	70.0	78.7
antmaze-medium-play-v0	72.0	22.0	0.0	30.0	64.7
antmaze-large-diverse-v0	36.7	23.3	0.0	20.7	40.0
antmaze-large-play-v0	43.3	9.3	0.0	10.0	42.0
D4RL Kitchen	kitchen-complete-v0	62.8	26.3	10.0	19.8	60.0
kitchen-partial-v0	47.7	73.2	72.3	66.3	57.0
kitchen-mixed-v0	49.8	47.8	52.2	24.3	36.7
pen-human-v1	80.4	83.2	36.3	88.3	74.9
pen-cloned-v1	82.9	89.2	53.8	84.4	91.5
hammer-human-v1	3.1	0.5	3.2	0.8	1.2
hammer-cloned-v1	1.1	1.4	1.0	2.3	1.4
door-human-v1	2.5	0.6	0.1	0.0	1.4
door-cloned-v1	0.0	0.6	2.4	-0.0	1.5
relocate-human-v1	0.5	0.0	-0.0	-0.0	0.1
relocate-cloned-v1	-0.0	0.1	0.0	0.0	-0.0
Mixed	ant-random-medium-1%-v2	17.5	56.0	5.1	58.5	55.3
ant-random-medium-5%-v2	68.1	83.3	15.4	87.6	89.3
ant-random-medium-10%-v2	82.0	88.8	40.2	91.3	88.6
ant-random-medium-50%-v2	93.7	101.4	96.8	94.3	98.9
ant-random-expert-1%-v2	13.7	28.5	5.5	31.5	43.5
ant-random-expert-5%-v2	36.3	100.9	5.5	95.2	105.4
ant-random-expert-10%-v2	73.7	126.0	14.0	125.4	115.0
ant-random-expert-50%-v2	122.5	128.2	127.7	130.3	125.4
hopper-random-medium-1%-v2	52.2	56.1	42.4	56.5	51.7
hopper-random-medium-5%-v2	59.0	57.1	63.4	46.2	59.8
hopper-random-medium-10%-v2	63.2	57.1	65.3	63.6	62.8
hopper-random-medium-50%-v2	50.6	56.2	57.2	61.2	61.9
hopper-random-expert-1%-v2	11.1	74.8	16.4	64.8	22.2
hopper-random-expert-5%-v2	22.7	111.3	24.9	110.0	22.4
hopper-random-expert-10%-v2	46.7	111.5	33.9	110.6	64.3
hopper-random-expert-50%-v2	88.0	111.7	92.2	109.4	105.1
halfcheetah-medium-1%-v2	31.0	13.9	3.0	22.0	7.2
halfcheetah-medium-medium-5%-v2	39.1	41.7	25.9	42.2	11.6
halfcheetah-medium-medium-10%-v2	40.3	43.1	45.3	45.0	45.1
halfcheetah-medium-medium-50%-v2	45.3	47.3	43.4	47.1	46.6
halfcheetah-medium-expert-1%-v2	4.2	3.8	2.3	2.8	3.6
halfcheetah-medium-5%-v2	9.1	74.0	4.4	48.7	55.4
halfcheetah-medium-expert-10%-v2	17.0	91.3	81.5	87.1	70.6
halfcheetah-medium-expert-50%-v2	83.7	94.8	32.0	94.4	93.8
walker2d-random-medium-1%-v2	54.6	45.4	39.4	49.4	61.8
walker2d-random-medium-5%-v2	66.2	62.8	47.3	67.8	67.9
walker2d-random-medium-10%-v2	63.4	65.8	62.6	62.8	74.3
walker2d-random-medium-50%-v2	70.7	70.0	69.6	75.6	74.1
walker2d-random-expert-1%-v2	20.0	9.6	11.4	9.8	35.9
walker2d-random-expert-5%-v2	25.3	108.6	93.5	104.3	65.0
walker2d-random-expert-10%-v2	64.4	109.3	107.2	109.1	58.1
walker2d-random-expert-50%-v2	109.2	109.4	109.6	109.3	109.4
Mixed (diverse)	ant-random-medium-diverse-1%-v2	12.6	29.4	11.7	40.8	24.1
ant-random-medium-diverse-5%-v2	29.1	83.7	24.8	88.1	73.3
ant-random-medium-diverse-10%-v2	61.0	91.8	54.6	89.3	89.3
ant-random-medium-diverse-50%-v2	91.2	98.0	89.0	97.0	96.8
ant-random-expert-diverse-1%-v2	12.4	20.0	10.1	30.4	20.7
ant-random-expert-diverse-5%-v2	17.1	77.4	10.9	86.2	71.5
ant-random-expert-diverse-10%-v2	27.9	101.1	22.9	100.5	93.8
ant-random-expert-diverse-50%-v2	101.9	123.3	122.8	127.7	126.9
hopper-random-medium-diverse-1%-v2	37.0	48.2	47.4	54.9	63.0
hopper-random-medium-diverse-5%-v2	46.7	44.7	49.3	48.6	49.0
hopper-random-medium-diverse-10%-v2	47.6	47.8	47.2	51.9	53.2
hopper-random-medium-diverse-50%-v2	51.2	48.7	53.6	54.6	52.1
hopper-random-expert-diverse-1%-v2	10.5	14.6	6.5	22.3	17.4
hopper-random-expert-diverse-5%-v2	17.1	59.0	31.4	78.7	41.0
hopper-random-expert-10%-v2	33.7	92.2	52.3	103.1	63.0
hopper-random-expert-50%-v2	90.1	106.8	22.7	98.9	109.4
halfcheetah-medium-diverse-1%-v2	14.4	2.7	8.0	2.2	14.4
halfcheetah-medium-medium-diverse-5%-v2	34.9	20.1	17.1	2.3	15.2
halfcheetah-medium-medium-diverse-10%-v2	39.7	39.7	24.0	30.9	24.3
halfcheetah-medium-medium-diverse-50%-v2	44.4	22.5	46.6	8.8	35.1
halfcheetah-medium-expert-diverse-1%-v2	5.6	4.5	5.7	3.2	4.6
halfcheetah-medium-diverse-5%-v2	4.8	8.5	3.6	9.9	10.3
halfcheetah-medium-expert-diverse-10%-v2	9.6	16.4	4.3	13.2	28.0
halfcheetah-medium-expert-1%-v2	36.0	33.3	14.6	61.3	85.0
walker2d-medium-diverse-1%-v2	66.4	70.7	-0.9	72.9	85.0
walker2d-medium-medium-diverse-5%-v2	67.5	61.7	64.8	67.9	55.3
walker2d-medium-medium-diverse-10%-v2	58.8	58.9	59.2	66.2	60.5
walker2d-medium-medium-diverse-50%-v2	66.8	49.4	74.6	63.7	64.0
walker2d-medium-diverse-1%-v2	10.5	13.0	1.6	31.0	26.4
walker2d-medium-diverse-5%-v2	19.2	33.1	7.7	66.4	76.4
walker2d-medium-diverse-10%-v2	49.9	61.2	8.5	73.1	86.4
walker2d-medium-diverse-50%-v2	64.1	108.8	15.3	108.1	108.6
Mixed (small)	ant-random-medium-10%-small-v2	8.5	53.2	4.5	52.7	21.7
ant-random-expert-10%-small-v2	8.1	27.8	4.0	24.0	13.9
hopper-medium-10%-small-v2	11.0	51.7	9.5	49.5	39.0
hopper-medium-replay-v2	3.5	20.6	4.0	29.9	8.0
halfcheetah-medium-10%-small-v2	3.7	15.0	22.6	14.6	7.3
halfcheetah-medium-replay-v2	2.4	3.1	-1.9	3.2	2.2
walker2d-medium-10%-small-v2	1.6	24.1	0.3	37.6	8.4
walker2d-medium-replay-v2	0.5	2.8	0.2	4.8	1.7