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diff --git a/pi0/perturbation/kitchenl/put_bottle_in_fridge/_episodes.jsonl b/pi0/perturbation/kitchenl/put_bottle_in_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d94c89fbf25a37bd12909fe957f2f761fad34413
--- /dev/null
+++ b/pi0/perturbation/kitchenl/put_bottle_in_fridge/_episodes.jsonl
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diff --git a/pi0/perturbation/kitchenl/put_can_in_cabinet/_episodes.jsonl b/pi0/perturbation/kitchenl/put_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..876bd8df6c84a3afc5d115fbca36c5368f2f511a
--- /dev/null
+++ b/pi0/perturbation/kitchenl/put_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,120 @@
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+{"config": "reasoning_chain", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40009, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40010, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40011, "success": true, "hard_success": false, "collision": true}
+{"config": "reasoning_chain", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40013, "success": false, "hard_success": false, "collision": true}
+{"config": "reasoning_chain", "seed": 40014, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40016, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40022, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40025, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40026, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40030, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40031, "success": true, "hard_success": false, "collision": true}
+{"config": "reasoning_chain", "seed": 40033, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40034, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40037, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40004, "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": false, "hard_success": false, "collision": false}
+{"config": "vision_blur", "seed": 40012, "success": true, "hard_success": false, "collision": true}
+{"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": 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": false}
+{"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": true, "hard_success": false, "collision": true}
+{"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": false, "hard_success": false, "collision": true}
diff --git a/pi0/perturbation/pi0_perturbation.csv b/pi0/perturbation/pi0_perturbation.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88f6f3e9f3237cd13b6a5514a5dc6fb3e699b4a7
--- /dev/null
+++ b/pi0/perturbation/pi0_perturbation.csv
@@ -0,0 +1,13 @@
+scene,task,n,SR,HSR,CR
+kitchenl,put_bottle_in_basket,120,12.5,12.5,40.8
+kitchenl,put_bottle_in_fridge,120,14.2,14.2,4.2
+kitchenl,put_can_in_cabinet,120,74.2,64.2,17.5
+kitchens,drop_apple_in_bin_ks,120,72.5,68.3,5.0
+kitchens,move_hamburger_onto_plate_ks,120,46.7,45.0,4.2
+kitchens,place_bowl_in_dishrack_ks,120,84.2,84.2,0.0
+office,put_mouse_on_pad,120,23.3,23.3,5.0
+office,put_rubikscube_in_drawer,120,40.8,39.2,25.8
+office,put_stapler_next_to_mouse,120,46.7,46.7,5.0
+study,move_cup,120,88.3,88.3,0.8
+study,move_pen_to_box,66,57.6,57.6,0.0
+study,move_seal_next_to_pencup,120,90.8,90.8,0.0
diff --git a/pi0/perturbation/study/move_cup/_episodes.jsonl b/pi0/perturbation/study/move_cup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..824bfac7bfc3d234b29adb65449ba38ebf7c9747
--- /dev/null
+++ b/pi0/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": 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": "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": true, "hard_success": true, "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": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "distractor_context", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"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}
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+{"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}
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+{"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/pi0/perturbation/study/move_pen_to_box/_episodes.jsonl b/pi0/perturbation/study/move_pen_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..060ad9aaf7f9b48331e7e11144552559dd4375de
--- /dev/null
+++ b/pi0/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": false, "hard_success": false, "collision": false}
+{"config": "colloquial_polite", "seed": 40005, "success": false, "hard_success": false, "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": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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diff --git a/pi0/perturbation/study/move_seal_next_to_pencup/_episodes.jsonl b/pi0/perturbation/study/move_seal_next_to_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38ff35b0f5e47962fffcc58f82da368f7c6698de
--- /dev/null
+++ b/pi0/perturbation/study/move_seal_next_to_pencup/_episodes.jsonl
@@ -0,0 +1,120 @@
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