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diff --git a/pi0/perturbation/office/put_rubikscube_in_drawer/_episodes.jsonl b/pi0/perturbation/office/put_rubikscube_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9aad5c386cdc4b2e9261da5ee6e467cee786a612
--- /dev/null
+++ b/pi0/perturbation/office/put_rubikscube_in_drawer/_episodes.jsonl
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diff --git a/xvla/clean/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl b/xvla/clean/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04899564955e99bf8018937d9ea5eccbe37c3cd1
--- /dev/null
+++ b/xvla/clean/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40019, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40023, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40028, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40040, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40047, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40053, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40054, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40057, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40074, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40084, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40090, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40092, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40093, "success": false, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40097, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40101, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40109, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40110, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40120, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clean/xvla_clean.csv b/xvla/clean/xvla_clean.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13de28da87d6ad007876837de6789402be861c9a
--- /dev/null
+++ b/xvla/clean/xvla_clean.csv
@@ -0,0 +1,81 @@
+scene,task,n,SR,HSR,CR
+kitchenl,move_bottle,20,80.0,75.0,25.0
+kitchenl,move_bottle_from_fridge_next_to_can,20,70.0,70.0,0.0
+kitchenl,move_can_from_cabinet_to_basket,20,50.0,50.0,10.0
+kitchenl,move_milk_close_fridge,20,50.0,50.0,0.0
+kitchenl,pick_bottle_from_fridge,20,100.0,100.0,0.0
+kitchenl,pick_boxdrink_from_basket,20,5.0,5.0,35.0
+kitchenl,pick_can_from_basket,20,80.0,30.0,60.0
+kitchenl,pick_can_from_cabinet,20,90.0,90.0,0.0
+kitchenl,pick_milk_box_from_fridge,20,65.0,65.0,0.0
+kitchenl,pick_sauce_can_from_cabinet,20,100.0,100.0,0.0
+kitchenl,put_bottle_in_basket,20,95.0,95.0,5.0
+kitchenl,put_bottle_in_fridge,20,80.0,80.0,0.0
+kitchenl,put_can_close_cabinet,20,90.0,85.0,5.0
+kitchenl,put_can_in_cabinet,20,90.0,90.0,0.0
+kitchenl,put_can_infront_of_microwave,20,90.0,90.0,0.0
+kitchenl,put_can_next_to_basket,20,55.0,55.0,0.0
+kitchenl,put_milk_box_in_fridge,20,85.0,85.0,5.0
+kitchenl,put_sauce_can_in_basket,20,90.0,60.0,40.0
+kitchenl,put_sauce_can_in_cabinet,20,95.0,70.0,30.0
+kitchenl,switch_can_with_bottle_in_basket,20,35.0,5.0,80.0
+kitchens,chain_apple_bin_bowl_rack_spoon_sink_ks,20,5.0,5.0,10.0
+kitchens,chain_apple_sink_plate_bread_board_ks,20,0.0,0.0,5.0
+kitchens,chain_bowl_rack_apple_sink_ks,20,0.0,0.0,80.0
+kitchens,chain_heat_hamburger_ks,20,0.0,0.0,0.0
+kitchens,chain_serve_hamburger_ks,20,0.0,0.0,0.0
+kitchens,close_microwave_ks,20,50.0,50.0,0.0
+kitchens,drop_apple_in_bin_ks,20,45.0,45.0,5.0
+kitchens,move_hamburger_onto_plate_ks,20,35.0,35.0,0.0
+kitchens,pick_apple_from_bowl_ks,20,35.0,5.0,85.0
+kitchens,pick_apple_from_sink_ks,20,0.0,0.0,0.0
+kitchens,pick_fork_from_sink_ks,20,0.0,0.0,0.0
+kitchens,pick_hamburger_from_microwave_ks,20,5.0,5.0,0.0
+kitchens,place_bowl_in_dishrack_ks,20,80.0,80.0,10.0
+kitchens,put_bowl_in_sink_ks,20,0.0,0.0,15.0
+kitchens,put_bread_on_board_ks,20,35.0,35.0,5.0
+kitchens,put_hamburger_in_microwave_ks,20,0.0,0.0,0.0
+kitchens,put_plate_in_sink_ks,20,20.0,20.0,5.0
+kitchens,put_spoon_in_dishrack_ks,20,45.0,45.0,0.0
+kitchens,put_spoon_in_sink_ks,20,55.0,55.0,0.0
+kitchens,put_spoon_on_plate_ks,20,25.0,25.0,5.0
+office,close_drawer,20,0.0,0.0,0.0
+office,move_items_around,20,0.0,0.0,5.0
+office,open_drawer,20,45.0,45.0,0.0
+office,organize_table,20,0.0,0.0,10.0
+office,put_book_in_fileholder,20,40.0,40.0,5.0
+office,put_book_on_book,20,65.0,65.0,0.0
+office,put_milktea_next_to_laptop,20,70.0,70.0,0.0
+office,put_milktea_on_shelf,20,60.0,60.0,0.0
+office,put_mouse_next_to_stapler,20,75.0,65.0,25.0
+office,put_mouse_on_pad,20,30.0,30.0,5.0
+office,put_phone_next_to_cube,20,20.0,20.0,30.0
+office,put_phone_on_holder,20,30.0,30.0,10.0
+office,put_rubikscube_in_drawer,20,40.0,40.0,5.0
+office,put_rubikscube_next_to_milktea,20,45.0,35.0,35.0
+office,put_stapler_in_drawer,20,40.0,40.0,5.0
+office,put_stapler_next_to_mouse,20,0.0,0.0,10.0
+office,put_stapler_on_book,20,100.0,100.0,0.0
+office,set_up_table,20,0.0,0.0,5.0
+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,20,90.0,90.0,0.0
+study,move_book_onto_table,20,100.0,100.0,0.0
+study,move_cup,20,40.0,40.0,0.0
+study,move_cup_next_to_book,20,60.0,60.0,0.0
+study,move_cup_onto_table,20,55.0,55.0,0.0
+study,move_cup_put_pen_in_cup,20,35.0,35.0,0.0
+study,move_cups_into_box,20,85.0,85.0,0.0
+study,move_pen_to_box,20,65.0,65.0,5.0
+study,move_seal_cup_next_to_box,20,75.0,75.0,0.0
+study,move_seal_next_to_box,20,100.0,100.0,0.0
+study,move_seal_next_to_pencup,20,20.0,20.0,0.0
+study,move_seal_onto_book,20,85.0,85.0,0.0
+study,move_seal_onto_table,20,95.0,95.0,0.0
+study,put_cup_in_box,20,100.0,100.0,0.0
+study,put_cup_on_coaster,20,65.0,65.0,0.0
+study,put_cup_on_table,20,50.0,50.0,0.0
+study,put_glue_in_box,20,75.0,50.0,50.0
+study,put_pen_in_box,20,65.0,65.0,5.0
+study,put_pen_in_pencup,20,10.0,5.0,20.0
+study,put_seal_in_box,20,100.0,100.0,0.0