Table 8: Meta-World V2 ML-45 success rate. We report the final success rates (\%) of baselines and our methods for training tasks and test tasks of the Meta-World ML-45 benchmark. All results are reported as the mean success rate  $\pm 95\%$  confidence interval of 8 seeds at 400M steps.
Index. Task	SDVT	SDVT-LW	SD	SD-LW	\( RL^2 \)	MAML	PEARL	VariBAD	LDM
1. Assembly	0.0±0.0	0.0±0.0	0.0±0.0	0.0±0.0	2.2±0.4	0.0±0.0	0.0±0.1	0.0±0.0	0.0±0.0
2. Basketball	24.8±17.7	3.0±3.6	23.8±19.2	24.2±13.6	21.0±9.8	0.0±0.0	0.0±0.0	19.8±13.7	10.2±8.9
3. Button-press-topdown	95.0±7.6	94.5±0.6	100.0±0.0	98.0±1.7	98.8±1.0	78.2±21.2	7.5±8.6	99.5±0.6	82.5±18.7
4. Button-press-topdown-wall	94.0±7.9	96.5±0.6	99.0±1.4	99.5±0.6	98.5±1.5	78.2±21.6	9.5±10.6	99.8±0.5	86.2±15.6
5. Button-press	93.2±3.3	96.5±0.6	89.0±8.1	99.0±0.7	84.2±3.2	95.5±1.9	26.8±11.3	98.0±1.0	93.5±8.0
6. Button-press-wall	86.0±11.6	68.0±4.0	80.5±8.7	75.5±9.4	67.0±4.8	71.2±10.6	20.2±8.3	74.5±8.3	56.0±11.3
7. Coffee-button	100.0±0.0	100.0±0.0	100.0±0.0	97.5±2.3	97.5±1.6	92.0±4.9	2.8±1.3	78.0±14.7	100.0±0.0
8. Coffee-pull	37.2±19.1	33.2±12.2	45.5±23.4	46.5±22.0	65.0±4.3	0.5±0.3	0.0±0.1	52.5±10.5	48.8±12.9
9. Coffee-push	64.8±6.5	37.0±15.8	56.8±2.7	67.8±12.6	60.8±9.0	22.0±10.6	3.0±2.4	76.5±10.8	81.8±5.8
10. Dial-turn	87.2±4.4	86.2±2.9	82.8±7.9	67.2±11.9	14.5±8.3	81.2±8.8	9.8±7.7	44.0±13.9	60.8±5.9
11. Disassemble	59.5±32.0	32.0±14.7	87.8±6.2	74.0±10.9	23.2±27.1	0.0±0.1	0.2±0.2	44.5±21.8	65.5±18.5
12. Door-close	100.0±0.0	100.0±0.0	99.5±0.6	97.0±3.6	98.2±1.2	100.0±0.0	52.2±21.2	100.0±0.0	99.2±1.0
13. Door-open	56.2±31.2	56.0±24.3	99.8±0.5	64.8±26.9	54.0±23.8	6.8±11.9	0.5±0.3	98.0±1.4	96.2±3.6
14. Drawer-close	100.0±0.0	99.0±1.2	97.2±2.2	100.0±0.0	98.5±0.5	100.0±0.1	96.5±2.9	99.2±0.7	96.5±4.0
15. Drawer-open	96.5±1.1	83.8±16.3	96.0±4.8	87.2±13.8	83.5±8.4	0.0±0.0	2.5±1.3	100.0±0.0	93.2±6.6
16. Faucet-open	99.5±0.6	82.5±21.0	99.2±1.0	100.0±0.0	86.8±9.7	70.5±19.1	28.8±11.7	95.5±1.7	98.2±1.5
17. Faucet-close	97.0±5.5	77.0±18.3	99.2±0.7	97.0±2.3	56.8±16.8	52.8±22.5	15.0±6.3	99.5±0.6	99.2±1.0
18. Hammer	2.0±3.7	0.0±0.0	0.0±0.0	1.5±1.8	12.8±15.4	6.8±5.8	2.2±1.3	0.0±0.0	0.0±0.0
19. Handle-press-side	97.8±4.1	100.0±0.0	100.0±0.0	100.0±0.0	99.8±0.1	83.2±12.2	12.8±11.8	100.0±0.0	99.8±0.5
20. Handle-press	98.5±1.1	99.0±1.2	100.0±0.0	100.0±0.0	99.8±0.1	72.0±20.2	66.8±19.8	100.0±0.0	100.0±0.0
21. Handle-pull-side	40.0±22.3	5.2±5.2	50.5±25.2	39.5±24.1	83.2±4.3	13.8±15.5	0.8±0.7	41.2±23.3	31.8±28.5
22. Handle-pull	0.0±0.0	1.0±1.2	35.2±31.5	3.8±2.6	0.2±0.2	49.0±18.9	0.8±0.4	1.0±0.7	1.0±1.0
23. Lever-pull	10.0±9.8	16.0±4.4	11.5±6.8	23.2±16.6	1.0±0.8	3.2±3.9	0.0±0.0	20.0±11.3	6.0±3.9
24. Peg-insert-side	1.0±0.7	0.0±0.0	0.8±0.7	0.5±0.6	19.5±5.8	0.0±0.0	0.0±0.0	0.0±0.0	2.2±2.7
25. Pick-place-wall	30.0±16.7	29.5±9.8	48.5±3.7	41.2±11.7	42.5±4.0	6.5±6.0	0.0±0.0	35.5±4.6	31.2±15.9
26. Pick-out-of-hole	26.8±16.4	23.2±12.0	53.0±7.0	43.8±8.4	5.5±2.7	0.0±0.0	0.0±0.0	32.0±20.8	34.0±11.4
27. Reach	31.5±6.7	13.5±4.0	36.0±8.7	25.5±6.7	45.8±8.4	18.8±10.6	13.5±7.2	27.0±4.7	28.5±3.2
28. Push-back	40.8±21.3	31.0±11.9	76.0±5.3	44.5±9.3	77.8±4.6	0.0±0.0	0.0±0.0	41.5±24.1	49.5±10.5
29. Push	50.5±5.7	62.8±5.1	36.2±14.3	29.2±18.3	58.5±1.6	16.8±14.9	1.8±1.4	45.0±9.5	35.2±11.7
30. Pick-place	28.2±13.5	26.2±6.5	57.5±9.1	36.8±3.9	43.5±1.8	4.8±5.3	0.0±0.0	34.8±3.9	44.0±5.2
31. Plate-slide	75.8±5.7	56.5±6.9	58.2±10.8	60.2±10.4	20.5±14.4	17.0±15.2	9.5±10.6	55.2±6.8	57.0±7.3
32. Plate-slide-side	81.8±0.8	1.0±0.7	97.0±3.6	87.0±3.2	70.8±5.1	2.0±3.6	0.2±0.3	89.5±13.6	59.5±24.2
33. Plate-slide-back	82.0±6.2	86.0±9.7	83.5±4.2	76.5±10.8	90.0±3.9	0.0±0.0	0.8±0.8	84.0±6.1	80.2±7.9
34. Plate-slide-back-side	71.8±5.6	59.0±4.5	60.8±11.2	73.5±10.8	81.5±1.9	5.5±5.7	0.5±0.6	73.5±2.4	80.8±8.0
35. Peg-unplug-side	40.0±17.2	50.8±12.0	54.0±5.1	47.8±17.8	54.0±3.7	13.0±3.4	3.5±2.1	60.5±5.8	48.8±9.1
36.Soccer	29.8±7.2	25.5±8.8	16.0±2.7	24.5±16.9	37.8±4.7	14.5±12.7	2.5±1.8	20.2±5.4	15.2±2.5
37.Stick-push	0.0±0.0	47.5±32.9	0.0±0.0	20.5±24.6	88.2±3.4	0.0±0.1	0.0±0.0	0.0±0.0	0.0±0.0
38.Stick-pull	0.0±0.0	15.0±10.4	0.0±0.0	12.0±14.4	4.5±3.6	0.0±0.0	0.0±0.0	0.0±0.0	0.0±0.0
39.Push-wall	51.0±4.9	50.0±25.4	62.8±21.7	27.5±20.8	72.5±5.4	18.2±16.5	0.2±0.2	63.8±15.7	44.0±20.5
40.Reach-wall	16.2±5.9	7.0±4.9	27.0±8.1	28.0±7.3	65.0±5.6	35.2±20.2	15.0±6.9	18.0±3.6	13.8±9.1
41.Shelf-place	0.0±0.0	0.5±0.6	0.8±0.7	0.0±0.0	3.8±2.9	0.0±0.0	0.0±0.0	4.5±4.6	0.8±1.0
42.Sweep-into	92.8±3.2	91.0±2.9	90.5±5.8	90.2±8.6	87.5±1.5	23.8±21.3	4.8±3.2	97.8±2.6	98.5±1.3
43.Sweep	11.8±10.1	27.0±17.4	33.0±17.7	20.0±23.2	41.5±21.1	0.0±0.0	0.0±0.0	40.5±28.1	5.5±6.5
44.Wind-open	99.5±0.6	100.0±0.0	100.0±0.0	100.0±0.0	97.8±1.0	91.5±6.6	27.5±11.4	98.2±1.6	98.8±2.3
45.Wind-close	100.0±0.0	99.0±1.2	100.0±0.0	100.0±0.0	95.2±3.3	97.0±1.9	27.2±11.0	100.0±0.0	99.8±0.5
Train mean	55.6±4.2	50.4±4.1	61.0±1.7	56.7±1.5	58.0±0.4	32.0±1.4	10.3±2.4	57.0±1.2	54.1±0.9
46.Bin-picking	0.0±0.0	1.5±1.8	2.2±1.1	1.2±1.0	1.2±0.9	0.0±0.0	0.0±0.0	1.8±1.1	0.5±0.9
47.Box-close	0.5±0.6	0.0±0.0	0.5±0.6	0.0±0.0	0.5±0.3	0.0±0.0	0.0±0.0	5.5±4.6	0.0±0.0
48.Hand-insert	2.2±2.3	3.8±3.1	1.0±1.2	1.5±1.8	5.2±3.0	23.0±15.8	0.0±0.0	1.5±1.1	0.8±1.0
49.Door-lock	59.2±9.1	74.8±7.5	49.8±15.5	51.5±9.5	14.0±8.2	11.2±10.5	8.2±10.0	37.5±20.3	59.2±9.6
50.Door unlock	78.5±7.9	75.8±9.1	61.8±10.2	72.5±9.5	38.0±11.3	64.5±19.2	25.0±19.2	64.2±4.3	63.2±6.9
Test mean	28.1±3.2	31.2±1.2	23.0±5.1	25.4±2.9	11.8±3.2	19.8±6.3	6.7±3.3	22.1±3.5	24.8±2.9