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diff --git a/xvla/clutter/kitchens/chain_bowl_rack_apple_sink_ks/_episodes.jsonl b/xvla/clutter/kitchens/chain_bowl_rack_apple_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc4eaec730e7b41b4ca35079cb475c0fcf8f4163
--- /dev/null
+++ b/xvla/clutter/kitchens/chain_bowl_rack_apple_sink_ks/_episodes.jsonl
@@ -0,0 +1,22 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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+{"config": "d13", "seed": 40023, "success": false, "hard_success": false, "collision": false}
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+{"config": "d14", "seed": 40007, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40003, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchens/chain_heat_hamburger_ks/_episodes.jsonl b/xvla/clutter/kitchens/chain_heat_hamburger_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..678293ea19fe53e2ad662ad7d25b8569a8d3f5c9
--- /dev/null
+++ b/xvla/clutter/kitchens/chain_heat_hamburger_ks/_episodes.jsonl
@@ -0,0 +1,19 @@
+{"config": "d10", "seed": 40026, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40032, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40032, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/chain_serve_hamburger_ks/_episodes.jsonl b/xvla/clutter/kitchens/chain_serve_hamburger_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2dfe79f72977ab307bfd68fbbdd28579e80523e2
--- /dev/null
+++ b/xvla/clutter/kitchens/chain_serve_hamburger_ks/_episodes.jsonl
@@ -0,0 +1,15 @@
+{"config": "d10", "seed": 40048, "success": false, "hard_success": false, "collision": false}
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+{"config": "d6", "seed": 40048, "success": false, "hard_success": false, "collision": false}
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+{"config": "d8", "seed": 40075, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/close_microwave_ks/_episodes.jsonl b/xvla/clutter/kitchens/close_microwave_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03509748ab17dc8df5d2b4603b40d764f75ac7cc
--- /dev/null
+++ b/xvla/clutter/kitchens/close_microwave_ks/_episodes.jsonl
@@ -0,0 +1,24 @@
+{"config": "d10", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40011, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40005, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/drop_apple_in_bin_ks/_episodes.jsonl b/xvla/clutter/kitchens/drop_apple_in_bin_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0161b835cbf0c64b7a9919bb7a83fe5e8e2e2830
--- /dev/null
+++ b/xvla/clutter/kitchens/drop_apple_in_bin_ks/_episodes.jsonl
@@ -0,0 +1,21 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40003, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl b/xvla/clutter/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0bba0423b7214fecdcf0ad8cd14bec8277cfdfe
--- /dev/null
+++ b/xvla/clutter/kitchens/move_hamburger_onto_plate_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40004, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/pick_apple_from_bowl_ks/_episodes.jsonl b/xvla/clutter/kitchens/pick_apple_from_bowl_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..655af8e3727c568243d70c36b88a54f731992ff9
--- /dev/null
+++ b/xvla/clutter/kitchens/pick_apple_from_bowl_ks/_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/kitchens/pick_apple_from_sink_ks/_episodes.jsonl b/xvla/clutter/kitchens/pick_apple_from_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cafe20c9f5ebf5f576c913852151c274c3500d4
--- /dev/null
+++ b/xvla/clutter/kitchens/pick_apple_from_sink_ks/_episodes.jsonl
@@ -0,0 +1,22 @@
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diff --git a/xvla/clutter/kitchens/pick_fork_from_sink_ks/_episodes.jsonl b/xvla/clutter/kitchens/pick_fork_from_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11087c14df01b9fae220dbf9cf40e4392cce1d47
--- /dev/null
+++ b/xvla/clutter/kitchens/pick_fork_from_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
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+{"config": "d9", "seed": 40003, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl b/xvla/clutter/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb1b07a8e0dcc78c1d3735e546807122ea13d925
--- /dev/null
+++ b/xvla/clutter/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl
@@ -0,0 +1,24 @@
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+{"config": "d9", "seed": 40025, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40171, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl b/xvla/clutter/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff5fecb5c82957d16b448e989810a535e33fa11d
--- /dev/null
+++ b/xvla/clutter/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40008, "success": false, "hard_success": false, "collision": true}
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+{"config": "d13", "seed": 40006, "success": false, "hard_success": false, "collision": false}
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+{"config": "d14", "seed": 40007, "success": false, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40006, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/put_bowl_in_sink_ks/_episodes.jsonl b/xvla/clutter/kitchens/put_bowl_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ce2941fdd0fcac8dd755afddd534f04fef3dff6
--- /dev/null
+++ b/xvla/clutter/kitchens/put_bowl_in_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40006, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40006, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40006, "success": false, "hard_success": false, "collision": true}
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+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": false}
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+{"config": "d8", "seed": 40002, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40006, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchens/put_bread_on_board_ks/_episodes.jsonl b/xvla/clutter/kitchens/put_bread_on_board_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..290c570bbab161b4d6a6e7498f4f55aa324c6cfb
--- /dev/null
+++ b/xvla/clutter/kitchens/put_bread_on_board_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "d13", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40003, "success": true, "hard_success": true, "collision": false}
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+{"config": "d6", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40003, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl b/xvla/clutter/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..24f054ecee84128604aa3fa33defcabd5ef9f793
--- /dev/null
+++ b/xvla/clutter/kitchens/put_hamburger_in_microwave_ks/_episodes.jsonl
@@ -0,0 +1,21 @@
+{"config": "d10", "seed": 40014, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40022, "success": false, "hard_success": false, "collision": false}
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+{"config": "d12", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40014, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/put_plate_in_sink_ks/_episodes.jsonl b/xvla/clutter/kitchens/put_plate_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..241f750fa52e7fa5ce1c0ad62c9969a77a1379fd
--- /dev/null
+++ b/xvla/clutter/kitchens/put_plate_in_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40004, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40006, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40006, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl b/xvla/clutter/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c501c27a1df7f747ab2e6c01cdd277125985c873
--- /dev/null
+++ b/xvla/clutter/kitchens/put_spoon_in_dishrack_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40003, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/kitchens/put_spoon_in_sink_ks/_episodes.jsonl b/xvla/clutter/kitchens/put_spoon_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15c5e3a6966c295a6de868e2e1a30d16cf9e4ed7
--- /dev/null
+++ b/xvla/clutter/kitchens/put_spoon_in_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40003, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/kitchens/put_spoon_on_plate_ks/_episodes.jsonl b/xvla/clutter/kitchens/put_spoon_on_plate_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..330627b436979143c25a1ab9af777f409988de4f
--- /dev/null
+++ b/xvla/clutter/kitchens/put_spoon_on_plate_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40004, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/office/close_drawer/_episodes.jsonl b/xvla/clutter/office/close_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4e5d1cbc61b56e7c375ed954f4d770c3ab66c0f
--- /dev/null
+++ b/xvla/clutter/office/close_drawer/_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/office/move_items_around/_episodes.jsonl b/xvla/clutter/office/move_items_around/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0ff0df6bfcbabbf2befd95fcc6a362e5dc427ad
--- /dev/null
+++ b/xvla/clutter/office/move_items_around/_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": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"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": true}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/office/open_drawer/_episodes.jsonl b/xvla/clutter/office/open_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87725e792d55db14f8e103292a65d427e4f26b10
--- /dev/null
+++ b/xvla/clutter/office/open_drawer/_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": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "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": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "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": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"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/office/organize_table/_episodes.jsonl b/xvla/clutter/office/organize_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..adb6a6efd24b44dbdc5291b6325f9ec60cc442b4
--- /dev/null
+++ b/xvla/clutter/office/organize_table/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40003, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40003, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40003, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40003, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40003, "success": false, "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": false}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40004, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/office/put_book_in_fileholder/_episodes.jsonl b/xvla/clutter/office/put_book_in_fileholder/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ba37c043d83c3ea0a94f1a29c9f10a73af2abee
--- /dev/null
+++ b/xvla/clutter/office/put_book_in_fileholder/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40004, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40004, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/office/put_book_on_book/_episodes.jsonl b/xvla/clutter/office/put_book_on_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..35d832079597c6dc682dc5758c1ff62b99962f9b
--- /dev/null
+++ b/xvla/clutter/office/put_book_on_book/_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": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "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": 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": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/office/put_milktea_next_to_laptop/_episodes.jsonl b/xvla/clutter/office/put_milktea_next_to_laptop/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72550987b5f32dec10ff039ec9cb4b3857f992cf
--- /dev/null
+++ b/xvla/clutter/office/put_milktea_next_to_laptop/_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": false, "hard_success": false, "collision": false}
+{"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": true, "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": false}
+{"config": "d6", "seed": 40000, "success": true, "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": 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": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/office/put_milktea_on_shelf/_episodes.jsonl b/xvla/clutter/office/put_milktea_on_shelf/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..423351c5b3c82c284978a3f5e3a014dbc6711ecd
--- /dev/null
+++ b/xvla/clutter/office/put_milktea_on_shelf/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40003, "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": true}
+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40002, "success": false, "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/office/put_mouse_next_to_stapler/_episodes.jsonl b/xvla/clutter/office/put_mouse_next_to_stapler/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90a08fee2e7a263ec736ec05e9ac18b5f95d5142
--- /dev/null
+++ b/xvla/clutter/office/put_mouse_next_to_stapler/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"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": 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": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/office/put_mouse_on_pad/_episodes.jsonl b/xvla/clutter/office/put_mouse_on_pad/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dae43b253763c83417266633c8372c384cda3b46
--- /dev/null
+++ b/xvla/clutter/office/put_mouse_on_pad/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/office/put_phone_next_to_cube/_episodes.jsonl b/xvla/clutter/office/put_phone_next_to_cube/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b87fbd7cde6609f7c3d6d7c3926778fa4d0fd7b
--- /dev/null
+++ b/xvla/clutter/office/put_phone_next_to_cube/_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}
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+{"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}
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+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"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": false}
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+{"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/office/put_phone_on_holder/_episodes.jsonl b/xvla/clutter/office/put_phone_on_holder/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..837e37e419edfc457e0b9faebf9cfea9abbc441d
--- /dev/null
+++ b/xvla/clutter/office/put_phone_on_holder/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"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": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40001, "success": false, "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": false}
+{"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": false, "hard_success": false, "collision": false}
+{"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": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/office/put_rubikscube_in_drawer/_episodes.jsonl b/xvla/clutter/office/put_rubikscube_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78a0d19acab1796734d82ce9e4d11b6acb8bd6e9
--- /dev/null
+++ b/xvla/clutter/office/put_rubikscube_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"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": true}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40004, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"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": false}
+{"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/office/put_rubikscube_next_to_milktea/_episodes.jsonl b/xvla/clutter/office/put_rubikscube_next_to_milktea/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d7f87f8519e66b0c674754b5aaff986c5acff52f
--- /dev/null
+++ b/xvla/clutter/office/put_rubikscube_next_to_milktea/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"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": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40002, "success": false, "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/office/put_stapler_in_drawer/_episodes.jsonl b/xvla/clutter/office/put_stapler_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c0b8d149a137e086f7d7f369fc34c70b9b37310
--- /dev/null
+++ b/xvla/clutter/office/put_stapler_in_drawer/_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": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40002, "success": false, "hard_success": false, "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": 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": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40003, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/clutter/office/put_stapler_next_to_mouse/_episodes.jsonl b/xvla/clutter/office/put_stapler_next_to_mouse/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cdf03c09a75a9178653f3a25746ac20e340f412b
--- /dev/null
+++ b/xvla/clutter/office/put_stapler_next_to_mouse/_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": true}
+{"config": "d11", "seed": 40001, "success": false, "hard_success": false, "collision": true}
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+{"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": 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": 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/office/put_stapler_on_book/_episodes.jsonl b/xvla/clutter/office/put_stapler_on_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5c6206d9d605b2e4a51270c71a16883f458d131
--- /dev/null
+++ b/xvla/clutter/office/put_stapler_on_book/_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": false, "hard_success": false, "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}
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+{"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": 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": 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/office/set_up_table/_episodes.jsonl b/xvla/clutter/office/set_up_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6815fec2a754da64cd728b6a2012f51b707a0fe3
--- /dev/null
+++ b/xvla/clutter/office/set_up_table/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
diff --git a/xvla/clutter/office/store_rubikscube_on_shelf/_episodes.jsonl b/xvla/clutter/office/store_rubikscube_on_shelf/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0ccc4d6ab022cd4ab42dd27fbdc0eef2abbefba
--- /dev/null
+++ b/xvla/clutter/office/store_rubikscube_on_shelf/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40006, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40003, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/office/store_stapler_in_drawer/_episodes.jsonl b/xvla/clutter/office/store_stapler_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8f5da54a13d9deb471f546daecf54a4f442bfcc1
--- /dev/null
+++ b/xvla/clutter/office/store_stapler_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40003, "success": false, "hard_success": false, "collision": false}
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+{"config": "d6", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40003, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": false}
diff --git a/xvla/clutter/study/empty_box/_episodes.jsonl b/xvla/clutter/study/empty_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a757529d480b59787e25b60de220ac491148c280
--- /dev/null
+++ b/xvla/clutter/study/empty_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40006, "success": true, "hard_success": false, "collision": true}
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+{"config": "colloquial_polite", "seed": 40033, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40034, "success": true, "hard_success": true, "collision": false}
+{"config": "colloquial_polite", "seed": 40037, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40009, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40016, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40022, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40025, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40026, "success": false, "hard_success": false, "collision": false}
+{"config": "commonsense_indirect", "seed": 40030, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40031, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40033, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40034, "success": true, "hard_success": true, "collision": false}
+{"config": "commonsense_indirect", "seed": 40037, "success": false, "hard_success": false, "collision": false}
+{"config": "distractor_context", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40014, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40015, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40016, "success": false, "hard_success": false, "collision": false}
+{"config": "distractor_context", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40022, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40025, "success": false, "hard_success": false, "collision": false}
+{"config": "distractor_context", "seed": 40026, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40030, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40031, "success": true, "hard_success": false, "collision": true}
+{"config": "distractor_context", "seed": 40033, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40034, "success": true, "hard_success": true, "collision": false}
+{"config": "distractor_context", "seed": 40037, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "multi_object_distraction", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40009, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"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}
+{"config": "multi_object_distraction", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40014, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40015, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40016, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40022, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40025, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40026, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40030, "success": false, "hard_success": false, "collision": false}
+{"config": "multi_object_distraction", "seed": 40031, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40033, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40034, "success": true, "hard_success": true, "collision": false}
+{"config": "multi_object_distraction", "seed": 40037, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40004, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40009, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40012, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "reasoning_chain", "seed": 40014, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40015, "success": false, "hard_success": false, "collision": false}
+{"config": "reasoning_chain", "seed": 40016, "success": true, "hard_success": true, "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": false, "hard_success": false, "collision": false}
+{"config": "vision_blur", "seed": 40010, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40011, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"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": false, "hard_success": false, "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": true, "collision": false}
+{"config": "vision_blur", "seed": 40033, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40034, "success": true, "hard_success": true, "collision": false}
+{"config": "vision_blur", "seed": 40037, "success": true, "hard_success": true, "collision": false}
diff --git a/xvla/perturbation/xvla_perturbation.csv b/xvla/perturbation/xvla_perturbation.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcaac1277e5da59bd4d5b5e89398ccea164ef559
--- /dev/null
+++ b/xvla/perturbation/xvla_perturbation.csv
@@ -0,0 +1,13 @@
+scene,task,n,SR,HSR,CR
+kitchenl,put_bottle_in_basket,120,35.0,33.3,11.7
+kitchenl,put_bottle_in_fridge,120,32.5,32.5,3.3
+kitchenl,put_can_in_cabinet,120,81.7,80.0,3.3
+kitchens,drop_apple_in_bin_ks,120,40.0,39.2,5.8
+kitchens,move_hamburger_onto_plate_ks,120,27.5,27.5,2.5
+kitchens,place_bowl_in_dishrack_ks,120,68.3,68.3,5.8
+office,put_mouse_on_pad,120,22.5,22.5,9.2
+office,put_rubikscube_in_drawer,120,47.5,43.3,15.0
+office,put_stapler_next_to_mouse,120,8.3,8.3,5.8
+study,move_cup,120,29.2,29.2,0.0
+study,move_pen_to_box,66,45.5,45.5,1.5
+study,move_seal_next_to_pencup,120,30.8,30.8,0.0