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diff --git a/pi05/clutter/office/put_book_on_book/_episodes.jsonl b/pi05/clutter/office/put_book_on_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d6c09c0b51a783eeaeee5a9f2f9fafeda39151a
--- /dev/null
+++ b/pi05/clutter/office/put_book_on_book/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/office/put_milktea_next_to_laptop/_episodes.jsonl b/pi05/clutter/office/put_milktea_next_to_laptop/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e046cb1a87c3250a50b107d5788e71078f05695
--- /dev/null
+++ b/pi05/clutter/office/put_milktea_next_to_laptop/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": false}
diff --git a/pi05/clutter/office/put_milktea_on_shelf/_episodes.jsonl b/pi05/clutter/office/put_milktea_on_shelf/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c6876645b2c327f07f7733c95daebb08cee7bff7
--- /dev/null
+++ b/pi05/clutter/office/put_milktea_on_shelf/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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diff --git a/pi05/clutter/office/put_mouse_next_to_stapler/_episodes.jsonl b/pi05/clutter/office/put_mouse_next_to_stapler/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..870478385142e8fb59cadbb3798cfa5ccf510890
--- /dev/null
+++ b/pi05/clutter/office/put_mouse_next_to_stapler/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/pi05/clutter/office/put_mouse_on_pad/_episodes.jsonl b/pi05/clutter/office/put_mouse_on_pad/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ecad49b5f243d4188a947a78cd7991abe09333f
--- /dev/null
+++ b/pi05/clutter/office/put_mouse_on_pad/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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diff --git a/pi05/clutter/office/put_phone_next_to_cube/_episodes.jsonl b/pi05/clutter/office/put_phone_next_to_cube/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce65100e213cae3d1ab99f58a40769c8c85f81f3
--- /dev/null
+++ b/pi05/clutter/office/put_phone_next_to_cube/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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diff --git a/pi05/clutter/office/put_phone_on_holder/_episodes.jsonl b/pi05/clutter/office/put_phone_on_holder/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..67d78b57f324281064f897549ca2df1b48661f17
--- /dev/null
+++ b/pi05/clutter/office/put_phone_on_holder/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clutter/office/put_rubikscube_in_drawer/_episodes.jsonl b/pi05/clutter/office/put_rubikscube_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ec3060211ae2ea79e6a81481683e272105ff0ec
--- /dev/null
+++ b/pi05/clutter/office/put_rubikscube_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/pi05/clutter/office/put_rubikscube_next_to_milktea/_episodes.jsonl b/pi05/clutter/office/put_rubikscube_next_to_milktea/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d19a68e3cec957bcdd80aae021bec8fa5c49a3ad
--- /dev/null
+++ b/pi05/clutter/office/put_rubikscube_next_to_milktea/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/pi05/clutter/office/put_stapler_in_drawer/_episodes.jsonl b/pi05/clutter/office/put_stapler_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f122fc5d6fcef87a5c77ede0bd56c6608ae9fbfc
--- /dev/null
+++ b/pi05/clutter/office/put_stapler_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/perturbation/kitchenl/put_can_in_cabinet/_episodes.jsonl b/pi05/perturbation/kitchenl/put_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..737a11ca2e471b65ae164065f2842995d7573a69
--- /dev/null
+++ b/pi05/perturbation/kitchenl/put_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,120 @@
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+{"config": "vision_blur", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40022, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40025, "success": false, "hard_success": false, "collision": true}
+{"config": "vision_blur", "seed": 40026, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40030, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40031, "success": false, "hard_success": false, "collision": false}
+{"config": "vision_blur", "seed": 40033, "success": false, "hard_success": false, "collision": false}
+{"config": "vision_blur", "seed": 40034, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40037, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/perturbation/pi05_perturbation.csv b/pi05/perturbation/pi05_perturbation.csv
new file mode 100644
index 0000000000000000000000000000000000000000..321ed98fae0a52847fc1b09873b7ba018c744cd2
--- /dev/null
+++ b/pi05/perturbation/pi05_perturbation.csv
@@ -0,0 +1,13 @@
+scene,task,n,SR,HSR,CR
+kitchenl,put_bottle_in_basket,120,20.0,20.0,12.5
+kitchenl,put_bottle_in_fridge,120,30.8,30.8,15.0
+kitchenl,put_can_in_cabinet,120,70.8,69.2,13.3
+kitchens,drop_apple_in_bin_ks,120,87.5,85.0,5.8
+kitchens,move_hamburger_onto_plate_ks,120,91.7,90.8,0.8
+kitchens,place_bowl_in_dishrack_ks,120,84.2,84.2,1.7
+office,put_mouse_on_pad,120,71.7,71.7,0.0
+office,put_rubikscube_in_drawer,120,62.5,62.5,12.5
+office,put_stapler_next_to_mouse,120,70.8,70.8,2.5
+study,move_cup,120,90.8,90.8,0.0
+study,move_pen_to_box,66,74.2,74.2,0.0
+study,move_seal_next_to_pencup,120,95.8,95.8,0.0
diff --git a/pi05/perturbation/study/move_cup/_episodes.jsonl b/pi05/perturbation/study/move_cup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3581944ed0ef1f1d0dd0170fdbbfcb59807ad258
--- /dev/null
+++ b/pi05/perturbation/study/move_cup/_episodes.jsonl
@@ -0,0 +1,120 @@
+{"config": "colloquial_polite", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40006, "success": false, "hard_success": false, "collision": false}
+{"config": "colloquial_polite", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40014, "success": false, "hard_success": false, "collision": false}
+{"config": "colloquial_polite", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40018, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40006, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40018, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40006, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "distractor_context", "seed": 40009, "success": false, "hard_success": false, "collision": false}
+{"config": "distractor_context", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40014, "success": true, "hard_success": true, "collision": false}
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+{"config": "distractor_context", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40018, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40006, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40010, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40018, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40006, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40008, "success": false, "hard_success": false, "collision": false}
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+{"config": "reasoning_chain", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40018, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40006, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40018, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40020, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/perturbation/study/move_pen_to_box/_episodes.jsonl b/pi05/perturbation/study/move_pen_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..28e1842505ac944f9a78cd589f7811128757e248
--- /dev/null
+++ b/pi05/perturbation/study/move_pen_to_box/_episodes.jsonl
@@ -0,0 +1,66 @@
+{"config": "colloquial_polite", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40005, "success": false, "hard_success": false, "collision": false}
+{"config": "colloquial_polite", "seed": 40006, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "colloquial_polite", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40006, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40009, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"config": "distractor_context", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40003, "success": true, "hard_success": true, "collision": false}
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+{"config": "multi_object_distraction", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40008, "success": true, "hard_success": true, "collision": false}
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+{"config": "multi_object_distraction", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "vision_blur", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "vision_blur", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"config": "vision_blur", "seed": 40007, "success": false, "hard_success": false, "collision": false}
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+{"config": "vision_blur", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40010, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/perturbation/study/move_seal_next_to_pencup/_episodes.jsonl b/pi05/perturbation/study/move_seal_next_to_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49a016b9c86a5a75342c57aa02befd0617dac123
--- /dev/null
+++ b/pi05/perturbation/study/move_seal_next_to_pencup/_episodes.jsonl
@@ -0,0 +1,120 @@
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