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@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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+{"config": "d6", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40003, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/move_bottle_from_fridge_next_to_can/_episodes.jsonl b/xvla/clutter/kitchenl/move_bottle_from_fridge_next_to_can/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35410375f9c2eeee617edba8b07bc332c44ad3b9
--- /dev/null
+++ b/xvla/clutter/kitchenl/move_bottle_from_fridge_next_to_can/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchenl/move_can_from_cabinet_to_basket/_episodes.jsonl b/xvla/clutter/kitchenl/move_can_from_cabinet_to_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2d5988231676f2e50d434b12089ff9e6af90f3a
--- /dev/null
+++ b/xvla/clutter/kitchenl/move_can_from_cabinet_to_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40014, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40026, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40026, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40009, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40026, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40030, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40019, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40009, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40009, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40014, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchenl/move_milk_close_fridge/_episodes.jsonl b/xvla/clutter/kitchenl/move_milk_close_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..374ac373a2b6e0345707a5960699b97c55a91ed1
--- /dev/null
+++ b/xvla/clutter/kitchenl/move_milk_close_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40006, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40003, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchenl/pick_bottle_from_fridge/_episodes.jsonl b/xvla/clutter/kitchenl/pick_bottle_from_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d13e2327411e5a13705ab914a45e47d5a0863470
--- /dev/null
+++ b/xvla/clutter/kitchenl/pick_bottle_from_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40022, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40025, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40025, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40035, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40022, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40025, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40022, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40025, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40048, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40049, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40025, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40048, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40017, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40018, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40021, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40018, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40021, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40021, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40022, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchenl/pick_boxdrink_from_basket/_episodes.jsonl b/xvla/clutter/kitchenl/pick_boxdrink_from_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d8d24bf7230519c234cb11892866bd73a598461f
--- /dev/null
+++ b/xvla/clutter/kitchenl/pick_boxdrink_from_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40009, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40009, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40004, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40004, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40005, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40004, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40005, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40008, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/pick_can_from_basket/_episodes.jsonl b/xvla/clutter/kitchenl/pick_can_from_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65ccda31ab30fac5bfafd5241993aab4925b9cde
--- /dev/null
+++ b/xvla/clutter/kitchenl/pick_can_from_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40012, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40012, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40012, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40016, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40012, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40016, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40012, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40016, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40012, "success": true, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/pick_can_from_cabinet/_episodes.jsonl b/xvla/clutter/kitchenl/pick_can_from_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98dec1f83a1e4f77b7a410526afa8422b15e6a72
--- /dev/null
+++ b/xvla/clutter/kitchenl/pick_can_from_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40013, "success": false, "hard_success": false, "collision": true}
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+{"config": "d12", "seed": 40013, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40013, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40015, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40013, "success": false, "hard_success": false, "collision": true}
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+{"config": "d15", "seed": 40013, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40003, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40012, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40003, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40012, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40013, "success": true, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl b/xvla/clutter/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8451f7ea43ae12c183cb9c471c6f7388594a9c16
--- /dev/null
+++ b/xvla/clutter/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl b/xvla/clutter/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3fd3d9296082792803d421f11924a34edd001af1
--- /dev/null
+++ b/xvla/clutter/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/put_bottle_in_basket/_episodes.jsonl b/xvla/clutter/kitchenl/put_bottle_in_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2fa2fca0707f0a48964c3892fb84922d40a2954d
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_bottle_in_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/put_bottle_in_fridge/_episodes.jsonl b/xvla/clutter/kitchenl/put_bottle_in_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..824cdb0949393b93acd0669cfb95e9f039c6f5a6
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_bottle_in_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40005, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchenl/put_can_close_cabinet/_episodes.jsonl b/xvla/clutter/kitchenl/put_can_close_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..965b31e375061f1b86deac104e4c52cb13ff6fb4
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_can_close_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40006, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40008, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40006, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40008, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40006, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40007, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40013, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/put_can_in_cabinet/_episodes.jsonl b/xvla/clutter/kitchenl/put_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b9a47e53f966cb36c99a1db6000090d2eadff43
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40006, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/put_can_infront_of_microwave/_episodes.jsonl b/xvla/clutter/kitchenl/put_can_infront_of_microwave/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..756a320c40c8b65ee085149d45193ed88304d5e1
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_can_infront_of_microwave/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/put_can_next_to_basket/_episodes.jsonl b/xvla/clutter/kitchenl/put_can_next_to_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e7488c37cae097e4fa5e56137ab6260d2fcf9f1a
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_can_next_to_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchenl/put_milk_box_in_fridge/_episodes.jsonl b/xvla/clutter/kitchenl/put_milk_box_in_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..590806fd50ed4a6aa5eb56f6ff275bca80455064
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_milk_box_in_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40010, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40019, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40014, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40005, "success": true, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/put_sauce_can_in_basket/_episodes.jsonl b/xvla/clutter/kitchenl/put_sauce_can_in_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ed3979c3585af6e2fcf7b389091d729099ccd672
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_sauce_can_in_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl b/xvla/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6230f6dd78b8ec01bb2e1fff326f1608cbffe4b
--- /dev/null
+++ b/xvla/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40010, "success": true, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40013, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40009, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40016, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40017, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40017, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40010, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40022, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40010, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40022, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40010, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40013, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl b/xvla/clutter/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38f6cf6a174a428b093bc22f1a0a21fd33571c26
--- /dev/null
+++ b/xvla/clutter/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40013, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40013, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40025, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40018, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": false, "collision": true}
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diff --git a/xvla/clutter/study/move_book_onto_table/_episodes.jsonl b/xvla/clutter/study/move_book_onto_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4aa07aa214a6c5d38859fece889681673f0d9911
--- /dev/null
+++ b/xvla/clutter/study/move_book_onto_table/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clutter/study/move_cup/_episodes.jsonl b/xvla/clutter/study/move_cup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9f4a349101db357df960372e547a5d20f1af46
--- /dev/null
+++ b/xvla/clutter/study/move_cup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clutter/study/move_cup_onto_table/_episodes.jsonl b/xvla/clutter/study/move_cup_onto_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f467cfdab4ade8d8f49182f02f815f4cf524cc9e
--- /dev/null
+++ b/xvla/clutter/study/move_cup_onto_table/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/study/move_cup_put_pen_in_cup/_episodes.jsonl b/xvla/clutter/study/move_cup_put_pen_in_cup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d2ca578a69dafb03e7f9a3421d32ece6e155fd8a
--- /dev/null
+++ b/xvla/clutter/study/move_cup_put_pen_in_cup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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diff --git a/xvla/clutter/study/move_seal_cup_next_to_box/_episodes.jsonl b/xvla/clutter/study/move_seal_cup_next_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fda08479d9b415a59e0b9e63956b07f69a7d0b27
--- /dev/null
+++ b/xvla/clutter/study/move_seal_cup_next_to_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clutter/study/move_seal_next_to_box/_episodes.jsonl b/xvla/clutter/study/move_seal_next_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe44df26b6327ab49623297e00f1164023e4132c
--- /dev/null
+++ b/xvla/clutter/study/move_seal_next_to_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clutter/study/move_seal_next_to_pencup/_episodes.jsonl b/xvla/clutter/study/move_seal_next_to_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8479134c5cc45e5e6f4a06bd1f16a212d0c24161
--- /dev/null
+++ b/xvla/clutter/study/move_seal_next_to_pencup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clutter/study/move_seal_onto_book/_episodes.jsonl b/xvla/clutter/study/move_seal_onto_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f30cb6190afd681d101065f7bf10e7e59c1dd891
--- /dev/null
+++ b/xvla/clutter/study/move_seal_onto_book/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clutter/study/move_seal_onto_table/_episodes.jsonl b/xvla/clutter/study/move_seal_onto_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..316fe3b5acdfa04555afb14d88ee74da20896f92
--- /dev/null
+++ b/xvla/clutter/study/move_seal_onto_table/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clutter/study/put_cup_in_box/_episodes.jsonl b/xvla/clutter/study/put_cup_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ff9951356dccfd8d6eb685407ee9bba67db11a9
--- /dev/null
+++ b/xvla/clutter/study/put_cup_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/study/put_cup_on_coaster/_episodes.jsonl b/xvla/clutter/study/put_cup_on_coaster/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc24d20fbfe22738ce8be843f6c97c021ebbb08f
--- /dev/null
+++ b/xvla/clutter/study/put_cup_on_coaster/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/study/put_glue_in_box/_episodes.jsonl b/xvla/clutter/study/put_glue_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e3fd89175b22d60644840115134c9c338c5395b
--- /dev/null
+++ b/xvla/clutter/study/put_glue_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/study/put_pen_in_box/_episodes.jsonl b/xvla/clutter/study/put_pen_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..810331daa0caf1678231d684e7562f4588bba845
--- /dev/null
+++ b/xvla/clutter/study/put_pen_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40007, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/study/put_pen_in_pencup/_episodes.jsonl b/xvla/clutter/study/put_pen_in_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8fbe1b3be0314a586308c6e304a8c8eddce1ca5
--- /dev/null
+++ b/xvla/clutter/study/put_pen_in_pencup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40017, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40040, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40007, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/study/put_seal_in_box/_episodes.jsonl b/xvla/clutter/study/put_seal_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8f01d49a1e487c75a421fd93930db9344fc18d7
--- /dev/null
+++ b/xvla/clutter/study/put_seal_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/xvla_clutter.csv b/xvla/clutter/xvla_clutter.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ea39fa1acfb823c461bb35399511d453d80e5f7
--- /dev/null
+++ b/xvla/clutter/xvla_clutter.csv
@@ -0,0 +1,81 @@
+scene,task,n,SR,HSR,CR
+kitchenl,move_bottle,20,20.0,0.0,90.0
+kitchenl,move_bottle_from_fridge_next_to_can,20,80.0,75.0,10.0
+kitchenl,move_can_from_cabinet_to_basket,20,60.0,55.0,35.0
+kitchenl,move_milk_close_fridge,20,25.0,25.0,40.0
+kitchenl,pick_bottle_from_fridge,20,95.0,30.0,65.0
+kitchenl,pick_boxdrink_from_basket,20,20.0,0.0,100.0
+kitchenl,pick_can_from_basket,20,90.0,25.0,75.0
+kitchenl,pick_can_from_cabinet,20,60.0,25.0,55.0
+kitchenl,pick_milk_box_from_fridge,20,100.0,95.0,5.0
+kitchenl,pick_sauce_can_from_cabinet,20,85.0,30.0,70.0
+kitchenl,put_bottle_in_basket,20,65.0,10.0,90.0
+kitchenl,put_bottle_in_fridge,20,40.0,40.0,60.0
+kitchenl,put_can_close_cabinet,20,70.0,15.0,70.0
+kitchenl,put_can_in_cabinet,20,100.0,50.0,50.0
+kitchenl,put_can_infront_of_microwave,20,65.0,65.0,10.0
+kitchenl,put_can_next_to_basket,20,25.0,20.0,45.0
+kitchenl,put_milk_box_in_fridge,20,80.0,0.0,95.0
+kitchenl,put_sauce_can_in_basket,20,60.0,40.0,55.0
+kitchenl,put_sauce_can_in_cabinet,20,90.0,30.0,70.0
+kitchenl,switch_can_with_bottle_in_basket,20,60.0,35.0,60.0
+kitchens,chain_apple_bin_bowl_rack_spoon_sink_ks,20,0.0,0.0,30.0
+kitchens,chain_apple_sink_plate_bread_board_ks,20,0.0,0.0,0.0
+kitchens,chain_bowl_rack_apple_sink_ks,22,0.0,0.0,36.4
+kitchens,chain_heat_hamburger_ks,19,0.0,0.0,21.1
+kitchens,chain_serve_hamburger_ks,15,0.0,0.0,13.3
+kitchens,close_microwave_ks,24,45.8,37.5,16.7
+kitchens,drop_apple_in_bin_ks,21,19.0,19.0,38.1
+kitchens,move_hamburger_onto_plate_ks,20,0.0,0.0,5.0
+kitchens,pick_apple_from_bowl_ks,20,30.0,25.0,55.0
+kitchens,pick_apple_from_sink_ks,22,0.0,0.0,0.0
+kitchens,pick_fork_from_sink_ks,20,0.0,0.0,45.0
+kitchens,pick_hamburger_from_microwave_ks,24,0.0,0.0,12.5
+kitchens,place_bowl_in_dishrack_ks,20,0.0,0.0,40.0
+kitchens,put_bowl_in_sink_ks,20,25.0,25.0,5.0
+kitchens,put_bread_on_board_ks,20,50.0,45.0,20.0
+kitchens,put_hamburger_in_microwave_ks,21,0.0,0.0,23.8
+kitchens,put_plate_in_sink_ks,20,10.0,10.0,15.0
+kitchens,put_spoon_in_dishrack_ks,20,5.0,5.0,20.0
+kitchens,put_spoon_in_sink_ks,20,20.0,15.0,5.0
+kitchens,put_spoon_on_plate_ks,20,10.0,0.0,25.0
+office,close_drawer,20,0.0,0.0,0.0
+office,move_items_around,20,0.0,0.0,60.0
+office,open_drawer,20,60.0,60.0,0.0
+office,organize_table,20,0.0,0.0,55.0
+office,put_book_in_fileholder,20,30.0,20.0,65.0
+office,put_book_on_book,20,85.0,85.0,5.0
+office,put_milktea_next_to_laptop,20,25.0,0.0,80.0
+office,put_milktea_on_shelf,20,20.0,20.0,50.0
+office,put_mouse_next_to_stapler,20,90.0,90.0,10.0
+office,put_mouse_on_pad,20,0.0,0.0,60.0
+office,put_phone_next_to_cube,20,0.0,0.0,60.0
+office,put_phone_on_holder,20,10.0,5.0,50.0
+office,put_rubikscube_in_drawer,20,50.0,45.0,35.0
+office,put_rubikscube_next_to_milktea,20,15.0,15.0,70.0
+office,put_stapler_in_drawer,20,65.0,40.0,50.0
+office,put_stapler_next_to_mouse,20,0.0,0.0,100.0
+office,put_stapler_on_book,20,90.0,90.0,0.0
+office,set_up_table,20,0.0,0.0,70.0
+office,store_rubikscube_on_shelf,20,0.0,0.0,0.0
+office,store_stapler_in_drawer,20,0.0,0.0,0.0
+study,empty_box,20,95.0,30.0,70.0
+study,move_book_onto_table,20,90.0,55.0,45.0
+study,move_cup,20,5.0,5.0,40.0
+study,move_cup_next_to_book,20,60.0,55.0,25.0
+study,move_cup_onto_table,20,55.0,55.0,40.0
+study,move_cup_put_pen_in_cup,20,20.0,15.0,70.0
+study,move_cups_into_box,20,50.0,40.0,50.0
+study,move_pen_to_box,19,78.9,52.6,47.4
+study,move_seal_cup_next_to_box,20,35.0,35.0,15.0
+study,move_seal_next_to_box,20,100.0,100.0,0.0
+study,move_seal_next_to_pencup,20,10.0,10.0,5.0
+study,move_seal_onto_book,20,85.0,65.0,20.0
+study,move_seal_onto_table,20,90.0,50.0,50.0
+study,put_cup_in_box,20,65.0,65.0,25.0
+study,put_cup_on_coaster,20,0.0,0.0,80.0
+study,put_cup_on_table,20,35.0,10.0,45.0
+study,put_glue_in_box,20,95.0,85.0,15.0
+study,put_pen_in_box,20,70.0,70.0,5.0
+study,put_pen_in_pencup,20,0.0,0.0,50.0
+study,put_seal_in_box,20,95.0,90.0,10.0