diff --git a/pi0/clean/kitchenl/pick_can_from_basket/_episodes.jsonl b/pi0/clean/kitchenl/pick_can_from_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f7ca08952f50f828bdf784e372cbbda5c69a4ac
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+{"config": "clean", "seed": 40008, "success": true, "hard_success": false, "collision": true}
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+{"config": "clean", "seed": 40011, "success": true, "hard_success": false, "collision": true}
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+{"config": "clean", "seed": 40013, "success": false, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40020, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40022, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40023, "success": false, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40024, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40025, "success": false, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40027, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40029, "success": false, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40030, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40031, "success": false, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40032, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40033, "success": false, "hard_success": false, "collision": true}
diff --git a/pi0/clean/kitchenl/put_can_in_cabinet/_episodes.jsonl b/pi0/clean/kitchenl/put_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..045dffa10ec8c73293375ca449d9c94f12f2af96
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@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40004, "success": true, "hard_success": true, "collision": false}
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diff --git a/pi0/clean/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl b/pi0/clean/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54c2ccd961bab2d6c5ade2255521cfd8aa909984
--- /dev/null
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@@ -0,0 +1,20 @@
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diff --git a/pi0/clean/pi0_clean.csv b/pi0/clean/pi0_clean.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6154b4773dc4e4f2a4f1ffaf0a08f3494ff2def
--- /dev/null
+++ b/pi0/clean/pi0_clean.csv
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+scene,task,n,SR,HSR,CR
+kitchenl,move_bottle,20,50.0,50.0,30.0
+kitchenl,move_bottle_from_fridge_next_to_can,20,80.0,80.0,0.0
+kitchenl,move_can_from_cabinet_to_basket,20,50.0,45.0,35.0
+kitchenl,move_milk_close_fridge,20,50.0,50.0,15.0
+kitchenl,pick_bottle_from_fridge,20,100.0,100.0,0.0
+kitchenl,pick_boxdrink_from_basket,20,5.0,5.0,55.0
+kitchenl,pick_can_from_basket,20,70.0,25.0,75.0
+kitchenl,pick_can_from_cabinet,20,100.0,85.0,15.0
+kitchenl,pick_milk_box_from_fridge,20,95.0,95.0,0.0
+kitchenl,pick_sauce_can_from_cabinet,20,95.0,95.0,0.0
+kitchenl,put_bottle_in_basket,20,60.0,55.0,25.0
+kitchenl,put_bottle_in_fridge,20,75.0,75.0,0.0
+kitchenl,put_can_close_cabinet,20,80.0,80.0,5.0
+kitchenl,put_can_in_cabinet,20,85.0,80.0,10.0
+kitchenl,put_can_infront_of_microwave,20,70.0,70.0,10.0
+kitchenl,put_can_next_to_basket,20,40.0,25.0,25.0
+kitchenl,put_milk_box_in_fridge,20,55.0,40.0,25.0
+kitchenl,put_sauce_can_in_basket,20,70.0,45.0,55.0
+kitchenl,put_sauce_can_in_cabinet,20,65.0,65.0,10.0
+kitchenl,switch_can_with_bottle_in_basket,20,30.0,5.0,90.0
+kitchens,chain_apple_bin_bowl_rack_spoon_sink_ks,20,0.0,0.0,5.0
+kitchens,chain_apple_sink_plate_bread_board_ks,20,90.0,80.0,10.0
+kitchens,chain_bowl_rack_apple_sink_ks,20,0.0,0.0,85.0
+kitchens,chain_heat_hamburger_ks,20,55.0,55.0,0.0
+kitchens,chain_serve_hamburger_ks,20,40.0,40.0,5.0
+kitchens,close_microwave_ks,20,80.0,80.0,0.0
+kitchens,drop_apple_in_bin_ks,20,80.0,80.0,0.0
+kitchens,move_hamburger_onto_plate_ks,20,40.0,40.0,0.0
+kitchens,pick_apple_from_bowl_ks,20,90.0,10.0,85.0
+kitchens,pick_apple_from_sink_ks,20,95.0,90.0,10.0
+kitchens,pick_fork_from_sink_ks,20,90.0,80.0,10.0
+kitchens,pick_hamburger_from_microwave_ks,20,75.0,75.0,0.0
+kitchens,place_bowl_in_dishrack_ks,20,85.0,85.0,0.0
+kitchens,put_bowl_in_sink_ks,20,0.0,0.0,10.0
+kitchens,put_bread_on_board_ks,20,95.0,95.0,0.0
+kitchens,put_hamburger_in_microwave_ks,20,75.0,75.0,0.0
+kitchens,put_plate_in_sink_ks,20,65.0,65.0,20.0
+kitchens,put_spoon_in_dishrack_ks,20,80.0,80.0,0.0
+kitchens,put_spoon_in_sink_ks,20,70.0,70.0,0.0
+kitchens,put_spoon_on_plate_ks,20,15.0,15.0,0.0
+office,close_drawer,20,100.0,100.0,0.0
+office,move_items_around,20,5.0,5.0,40.0
+office,open_drawer,20,70.0,70.0,5.0
+office,organize_table,20,0.0,0.0,10.0
+office,put_book_in_fileholder,20,20.0,20.0,30.0
+office,put_book_on_book,20,65.0,65.0,0.0
+office,put_milktea_next_to_laptop,20,30.0,30.0,0.0
+office,put_milktea_on_shelf,20,25.0,25.0,10.0
+office,put_mouse_next_to_stapler,20,60.0,60.0,25.0
+office,put_mouse_on_pad,20,25.0,25.0,0.0
+office,put_phone_next_to_cube,20,25.0,25.0,15.0
+office,put_phone_on_holder,20,50.0,50.0,15.0
+office,put_rubikscube_in_drawer,20,40.0,40.0,25.0
+office,put_rubikscube_next_to_milktea,20,25.0,25.0,40.0
+office,put_stapler_in_drawer,20,50.0,35.0,25.0
+office,put_stapler_next_to_mouse,20,45.0,45.0,5.0
+office,put_stapler_on_book,20,85.0,85.0,0.0
+office,set_up_table,20,0.0,0.0,35.0
+office,store_rubikscube_on_shelf,20,25.0,20.0,40.0
+office,store_stapler_in_drawer,20,40.0,40.0,35.0
+study,empty_box,20,100.0,100.0,0.0
+study,move_book_onto_table,20,95.0,95.0,5.0
+study,move_cup,20,90.0,90.0,0.0
+study,move_cup_next_to_book,20,45.0,45.0,0.0
+study,move_cup_onto_table,20,65.0,65.0,0.0
+study,move_cup_put_pen_in_cup,20,60.0,60.0,0.0
+study,move_cups_into_box,20,65.0,65.0,0.0
+study,move_pen_to_box,20,75.0,75.0,0.0
+study,move_seal_cup_next_to_box,20,70.0,70.0,0.0
+study,move_seal_next_to_box,20,95.0,95.0,0.0
+study,move_seal_next_to_pencup,20,85.0,85.0,0.0
+study,move_seal_onto_book,20,85.0,65.0,25.0
+study,move_seal_onto_table,20,100.0,100.0,0.0
+study,put_cup_in_box,20,85.0,85.0,0.0
+study,put_cup_on_coaster,20,15.0,15.0,0.0
+study,put_cup_on_table,20,60.0,60.0,0.0
+study,put_glue_in_box,20,65.0,50.0,25.0
+study,put_pen_in_box,20,95.0,95.0,0.0
+study,put_pen_in_pencup,20,25.0,10.0,45.0
+study,put_seal_in_box,20,100.0,100.0,0.0
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diff --git a/pi05/perturbation/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl b/pi05/perturbation/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fb5f85453e1625ef6fa02e7c2ecffd8a742e63e
--- /dev/null
+++ b/pi05/perturbation/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl
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diff --git a/pi05/perturbation/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl b/pi05/perturbation/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9d388f8bbbec486c32a2d7a76ef997baa2f1ecd
--- /dev/null
+++ b/pi05/perturbation/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
@@ -0,0 +1,120 @@
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diff --git a/pi05/perturbation/office/put_mouse_on_pad/_episodes.jsonl b/pi05/perturbation/office/put_mouse_on_pad/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..41791d6ab32c2d35d8ea60513af404a4ae4f12f4
--- /dev/null
+++ b/pi05/perturbation/office/put_mouse_on_pad/_episodes.jsonl
@@ -0,0 +1,120 @@
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diff --git a/pi05/perturbation/office/put_rubikscube_in_drawer/_episodes.jsonl b/pi05/perturbation/office/put_rubikscube_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffb5b3e1040f9c795990fa71a1dc771d6ae25ae0
--- /dev/null
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diff --git a/pi05/perturbation/office/put_stapler_next_to_mouse/_episodes.jsonl b/pi05/perturbation/office/put_stapler_next_to_mouse/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa79b03db0fd1ae9ece28fe4968624b36eb08052
--- /dev/null
+++ b/pi05/perturbation/office/put_stapler_next_to_mouse/_episodes.jsonl
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