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diff --git a/xvla/clean/kitchens/pick_apple_from_bowl_ks/_episodes.jsonl b/xvla/clean/kitchens/pick_apple_from_bowl_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e133255f7881a86b8a0365744a823472960e3a42
--- /dev/null
+++ b/xvla/clean/kitchens/pick_apple_from_bowl_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
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+{"config": "clean", "seed": 40037, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clean/kitchens/pick_apple_from_sink_ks/_episodes.jsonl b/xvla/clean/kitchens/pick_apple_from_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4bf0ad9a2e47cc509be5a5127b16658b9e830c1d
--- /dev/null
+++ b/xvla/clean/kitchens/pick_apple_from_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/kitchens/pick_fork_from_sink_ks/_episodes.jsonl b/xvla/clean/kitchens/pick_fork_from_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee90f84c4a553b7c377806e3d2bff72c4bd0bff3
--- /dev/null
+++ b/xvla/clean/kitchens/pick_fork_from_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl b/xvla/clean/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbffe2e49c601f628acc570d779032913df2c969
--- /dev/null
+++ b/xvla/clean/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "clean", "seed": 40037, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clean/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl b/xvla/clean/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d1bc010defdb9895bc01a255dffca9a58294433
--- /dev/null
+++ b/xvla/clean/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/kitchens/put_bowl_in_sink_ks/_episodes.jsonl b/xvla/clean/kitchens/put_bowl_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5fe81c2e993fb52abbc97090f9c674869e1616ba
--- /dev/null
+++ b/xvla/clean/kitchens/put_bowl_in_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40002, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/kitchens/put_bread_on_board_ks/_episodes.jsonl b/xvla/clean/kitchens/put_bread_on_board_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c038178b875deaf329ed874f86d179ad459efcd
--- /dev/null
+++ b/xvla/clean/kitchens/put_bread_on_board_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl b/xvla/clean/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06e50dd4c422cfa2018fe2026310f462650c565f
--- /dev/null
+++ b/xvla/clean/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/kitchens/put_plate_in_sink_ks/_episodes.jsonl b/xvla/clean/kitchens/put_plate_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02eac6a9b6dcaee9d855ddde58b0f7a95f96dfc3
--- /dev/null
+++ b/xvla/clean/kitchens/put_plate_in_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl b/xvla/clean/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7514964d00fe4d74f61e7417fdbf333dd6e033f
--- /dev/null
+++ b/xvla/clean/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/kitchens/put_spoon_in_sink_ks/_episodes.jsonl b/xvla/clean/kitchens/put_spoon_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffd6aca5d7ea00ba760db4dd0c15f012b5861182
--- /dev/null
+++ b/xvla/clean/kitchens/put_spoon_in_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40003, "success": true, "hard_success": true, "collision": false}
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+{"config": "clean", "seed": 40033, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clean/kitchens/put_spoon_on_plate_ks/_episodes.jsonl b/xvla/clean/kitchens/put_spoon_on_plate_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42f1fdf1d850ce40861daa5eea02eea852357177
--- /dev/null
+++ b/xvla/clean/kitchens/put_spoon_on_plate_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "clean", "seed": 40048, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clean/office/close_drawer/_episodes.jsonl b/xvla/clean/office/close_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21fab96e6270fcef3afe8552359117224992d61f
--- /dev/null
+++ b/xvla/clean/office/close_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/office/put_milktea_next_to_laptop/_episodes.jsonl b/xvla/clean/office/put_milktea_next_to_laptop/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e2c07014df721b93eedd33992c41476d993d0383
--- /dev/null
+++ b/xvla/clean/office/put_milktea_next_to_laptop/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "clean", "seed": 40031, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clean/office/put_milktea_on_shelf/_episodes.jsonl b/xvla/clean/office/put_milktea_on_shelf/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a0747e53eb02a8d92d1992662d44b929ad7bb84
--- /dev/null
+++ b/xvla/clean/office/put_milktea_on_shelf/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/office/put_phone_on_holder/_episodes.jsonl b/xvla/clean/office/put_phone_on_holder/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c6d79796b65a13e369ae5fb40cd9cfb4f16cbdf
--- /dev/null
+++ b/xvla/clean/office/put_phone_on_holder/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl b/xvla/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa953351db28ac21dce84f45f098095b607dd342
--- /dev/null
+++ b/xvla/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/office/put_stapler_on_book/_episodes.jsonl b/xvla/clean/office/put_stapler_on_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d000216298114dd6c807c501b9c7f6376b6aa839
--- /dev/null
+++ b/xvla/clean/office/put_stapler_on_book/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/office/store_stapler_in_drawer/_episodes.jsonl b/xvla/clean/office/store_stapler_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8210efb6dcf62385e2a72ea6c0dffcca41b34063
--- /dev/null
+++ b/xvla/clean/office/store_stapler_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/study/empty_box/_episodes.jsonl b/xvla/clean/study/empty_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..efde355f0e1fa72939b344162fb5624fd4df444a
--- /dev/null
+++ b/xvla/clean/study/empty_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/move_book_onto_table/_episodes.jsonl b/xvla/clean/study/move_book_onto_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d000216298114dd6c807c501b9c7f6376b6aa839
--- /dev/null
+++ b/xvla/clean/study/move_book_onto_table/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/study/move_cup/_episodes.jsonl b/xvla/clean/study/move_cup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ad3ecde7098c905cbc5d11e83f432b4bfee786d
--- /dev/null
+++ b/xvla/clean/study/move_cup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/study/move_cup_next_to_book/_episodes.jsonl b/xvla/clean/study/move_cup_next_to_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e8c8bdeb43c00dcc0b958c88e7d07cc639263f4
--- /dev/null
+++ b/xvla/clean/study/move_cup_next_to_book/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/study/move_cup_onto_table/_episodes.jsonl b/xvla/clean/study/move_cup_onto_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..865c4fc416619d3fe499b88149df42afe43d9cfd
--- /dev/null
+++ b/xvla/clean/study/move_cup_onto_table/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/study/move_cup_put_pen_in_cup/_episodes.jsonl b/xvla/clean/study/move_cup_put_pen_in_cup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a3fcd410669bfadb29ffd87348764be4d4af83f
--- /dev/null
+++ b/xvla/clean/study/move_cup_put_pen_in_cup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/xvla/clean/study/move_cups_into_box/_episodes.jsonl b/xvla/clean/study/move_cups_into_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..530b1a9e749a87d5a262b692abbcb1670859728f
--- /dev/null
+++ b/xvla/clean/study/move_cups_into_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/study/move_pen_to_box/_episodes.jsonl b/xvla/clean/study/move_pen_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2a9ae1fe2322ce64c920588fd2e525bfdeea7757
--- /dev/null
+++ b/xvla/clean/study/move_pen_to_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/move_seal_cup_next_to_box/_episodes.jsonl b/xvla/clean/study/move_seal_cup_next_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c906d3d692c1f0d1c7971a97d3fe21ecc3682d5a
--- /dev/null
+++ b/xvla/clean/study/move_seal_cup_next_to_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/move_seal_next_to_box/_episodes.jsonl b/xvla/clean/study/move_seal_next_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d000216298114dd6c807c501b9c7f6376b6aa839
--- /dev/null
+++ b/xvla/clean/study/move_seal_next_to_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/move_seal_next_to_pencup/_episodes.jsonl b/xvla/clean/study/move_seal_next_to_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d74ff3e12f94c4bef263d7f081a9d30b04e71299
--- /dev/null
+++ b/xvla/clean/study/move_seal_next_to_pencup/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/move_seal_onto_book/_episodes.jsonl b/xvla/clean/study/move_seal_onto_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d74b43195845e33cc10f5ddf2725c1f393c84765
--- /dev/null
+++ b/xvla/clean/study/move_seal_onto_book/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/study/move_seal_onto_table/_episodes.jsonl b/xvla/clean/study/move_seal_onto_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffa048ed1e8206b86dfa0db22dc4629890dc980d
--- /dev/null
+++ b/xvla/clean/study/move_seal_onto_table/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/put_cup_in_box/_episodes.jsonl b/xvla/clean/study/put_cup_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d000216298114dd6c807c501b9c7f6376b6aa839
--- /dev/null
+++ b/xvla/clean/study/put_cup_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/xvla/clean/study/put_cup_on_coaster/_episodes.jsonl b/xvla/clean/study/put_cup_on_coaster/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f24323db1fa2334bfbf83ae32e75636dd1aa9ac4
--- /dev/null
+++ b/xvla/clean/study/put_cup_on_coaster/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/put_cup_on_table/_episodes.jsonl b/xvla/clean/study/put_cup_on_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1859a8dea2bd13541031ec408ded9e35154b7f7f
--- /dev/null
+++ b/xvla/clean/study/put_cup_on_table/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/put_glue_in_box/_episodes.jsonl b/xvla/clean/study/put_glue_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43e0036cf14c1ba67500962ddb6435e784878cd4
--- /dev/null
+++ b/xvla/clean/study/put_glue_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/put_pen_in_box/_episodes.jsonl b/xvla/clean/study/put_pen_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..929cc75c25a4f8a7824f1f89d033efd9bff4ea99
--- /dev/null
+++ b/xvla/clean/study/put_pen_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/put_pen_in_pencup/_episodes.jsonl b/xvla/clean/study/put_pen_in_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c072c0e4d32518479e181c125dc8fdcde9e50241
--- /dev/null
+++ b/xvla/clean/study/put_pen_in_pencup/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/xvla/clean/study/put_seal_in_box/_episodes.jsonl b/xvla/clean/study/put_seal_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f70f6955c9750f2d211d29fe2e9dbce9b34f720c
--- /dev/null
+++ b/xvla/clean/study/put_seal_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
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