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diff --git a/pi0/clean/office/put_mouse_next_to_stapler/_episodes.jsonl b/pi0/clean/office/put_mouse_next_to_stapler/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..076cc53294d847b91d27139810951c365c671677
--- /dev/null
+++ b/pi0/clean/office/put_mouse_next_to_stapler/_episodes.jsonl
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diff --git a/pi0/clean/office/put_mouse_on_pad/_episodes.jsonl b/pi0/clean/office/put_mouse_on_pad/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9aea284670bd438522fcbc3a4ecf98a3acffe002
--- /dev/null
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diff --git a/pi0/clean/office/put_phone_next_to_cube/_episodes.jsonl b/pi0/clean/office/put_phone_next_to_cube/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d66afde1b8e328053683fdff16e7a619cf4cf673
--- /dev/null
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diff --git a/pi0/clean/office/put_phone_on_holder/_episodes.jsonl b/pi0/clean/office/put_phone_on_holder/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a879f208314ebddd8d7d8f3e00e0ecf5eaf2f01e
--- /dev/null
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diff --git a/pi0/clean/office/put_rubikscube_in_drawer/_episodes.jsonl b/pi0/clean/office/put_rubikscube_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..639023448f26691987ac032cb706f2dfff35a288
--- /dev/null
+++ b/pi0/clean/office/put_rubikscube_in_drawer/_episodes.jsonl
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diff --git a/pi0/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl b/pi0/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79ab3a79fda4450418fc97db4bea7b696819be40
--- /dev/null
+++ b/pi0/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi0/clean/office/put_stapler_in_drawer/_episodes.jsonl b/pi0/clean/office/put_stapler_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d66e6773466a99716269ee8479b0d4d24ccdd54c
--- /dev/null
+++ b/pi0/clean/office/put_stapler_in_drawer/_episodes.jsonl
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diff --git a/pi0/clean/office/put_stapler_next_to_mouse/_episodes.jsonl b/pi0/clean/office/put_stapler_next_to_mouse/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de9fabd0c4b78e0e5ba30dc3355b741617a96d98
--- /dev/null
+++ b/pi0/clean/office/put_stapler_next_to_mouse/_episodes.jsonl
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diff --git a/pi0/clean/office/put_stapler_on_book/_episodes.jsonl b/pi0/clean/office/put_stapler_on_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ffe34d1aee376f048697687b10547c8e31af9f6
--- /dev/null
+++ b/pi0/clean/office/put_stapler_on_book/_episodes.jsonl
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diff --git a/pi0/clean/office/set_up_table/_episodes.jsonl b/pi0/clean/office/set_up_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f00444f5e8a5c7594e8213f99494e4f7b824aed7
--- /dev/null
+++ b/pi0/clean/office/set_up_table/_episodes.jsonl
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+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40012, "success": true, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/pick_can_from_cabinet/_episodes.jsonl b/pi0/clutter/kitchenl/pick_can_from_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48ad6c2235deba37644df0295ccf7b1f01fb6590
--- /dev/null
+++ b/pi0/clutter/kitchenl/pick_can_from_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40008, "success": true, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40013, "success": true, "hard_success": false, "collision": true}
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+{"config": "d12", "seed": 40013, "success": true, "hard_success": false, "collision": true}
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+{"config": "d13", "seed": 40015, "success": true, "hard_success": false, "collision": true}
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+{"config": "d14", "seed": 40013, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40007, "success": true, "hard_success": true, "collision": false}
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+{"config": "d6", "seed": 40012, "success": true, "hard_success": true, "collision": false}
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+{"config": "d7", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40003, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40012, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40013, "success": true, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl b/pi0/clutter/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06bff58ff92196e9bcf9964a3b0321f3244c797b
--- /dev/null
+++ b/pi0/clutter/kitchenl/pick_milk_box_from_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
diff --git a/pi0/clutter/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl b/pi0/clutter/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e73c4fd1abbcd0bad1180c44099fb750f80c128d
--- /dev/null
+++ b/pi0/clutter/kitchenl/pick_sauce_can_from_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "d13", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": false, "collision": true}
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+{"config": "d8", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/put_bottle_in_basket/_episodes.jsonl b/pi0/clutter/kitchenl/put_bottle_in_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e2ae5240093ef37dd18da0e74329777a43193ab
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_bottle_in_basket/_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}
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+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40002, "success": false, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/put_bottle_in_fridge/_episodes.jsonl b/pi0/clutter/kitchenl/put_bottle_in_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bc02b2c814eb47b5895545f98b0badf5aff0d93d
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_bottle_in_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40008, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40002, "success": false, "hard_success": false, "collision": true}
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+{"config": "d13", "seed": 40002, "success": false, "hard_success": false, "collision": true}
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+{"config": "d6", "seed": 40005, "success": true, "hard_success": false, "collision": true}
+{"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": true}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40005, "success": false, "hard_success": false, "collision": false}
diff --git a/pi0/clutter/kitchenl/put_can_close_cabinet/_episodes.jsonl b/pi0/clutter/kitchenl/put_can_close_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c78a5d0c274ddc112d9ab5a898a588cd5ac3424
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_can_close_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": false, "collision": true}
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+{"config": "d12", "seed": 40006, "success": false, "hard_success": false, "collision": false}
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+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40001, "success": true, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/put_can_in_cabinet/_episodes.jsonl b/pi0/clutter/kitchenl/put_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53dcea5036ea4190c53ee525d1c5a450bd25a65e
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": false, "collision": true}
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+{"config": "d8", "seed": 40000, "success": true, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/put_can_infront_of_microwave/_episodes.jsonl b/pi0/clutter/kitchenl/put_can_infront_of_microwave/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..19d3cede70aa60813b4d4dbf63ac76b38b1a3550
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_can_infront_of_microwave/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"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": 40001, "success": false, "hard_success": false, "collision": true}
+{"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": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": false, "hard_success": false, "collision": true}
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+{"config": "d7", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "d8", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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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/pi0/clutter/kitchenl/put_can_next_to_basket/_episodes.jsonl b/pi0/clutter/kitchenl/put_can_next_to_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c92d9d5bd245b7b20eacd996e7c30487b26df388
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_can_next_to_basket/_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": false, "collision": true}
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+{"config": "d9", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/put_milk_box_in_fridge/_episodes.jsonl b/pi0/clutter/kitchenl/put_milk_box_in_fridge/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d87797d96d9a70dc381b7b02064b72b55a3d329e
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_milk_box_in_fridge/_episodes.jsonl
@@ -0,0 +1,20 @@
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+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40005, "success": true, "hard_success": false, "collision": true}
diff --git a/pi0/clutter/kitchenl/put_sauce_can_in_basket/_episodes.jsonl b/pi0/clutter/kitchenl/put_sauce_can_in_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2daf9f49924f91f91eb2fce43420d38d48243e54
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_sauce_can_in_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": false, "collision": true}
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+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d6", "seed": 40000, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": false, "collision": true}
+{"config": "d7", "seed": 40002, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
diff --git a/pi0/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl b/pi0/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3009e6db72ab3588e50319315f63d63795d6efd
--- /dev/null
+++ b/pi0/clutter/kitchenl/put_sauce_can_in_cabinet/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40010, "success": true, "hard_success": false, "collision": true}
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diff --git a/pi0/clutter/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl b/pi0/clutter/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2f96cc451a3c9fab7649c81f5ddf16d03aa4c123
--- /dev/null
+++ b/pi0/clutter/kitchenl/switch_can_with_bottle_in_basket/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40013, "success": false, "hard_success": false, "collision": true}
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+{"config": "d12", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d12", "seed": 40018, "success": false, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40002, "success": true, "hard_success": false, "collision": true}
+{"config": "d13", "seed": 40018, "success": true, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d14", "seed": 40018, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40002, "success": false, "hard_success": false, "collision": true}
+{"config": "d15", "seed": 40018, "success": true, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40002, "success": true, "hard_success": false, "collision": true}
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diff --git a/pi0/clutter/pi0_clutter.csv b/pi0/clutter/pi0_clutter.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20c6372e7dde4860c45deb49b49cc96deb977d72
--- /dev/null
+++ b/pi0/clutter/pi0_clutter.csv
@@ -0,0 +1,81 @@
+scene,task,n,SR,HSR,CR
+kitchenl,move_bottle,20,50.0,40.0,20.0
+kitchenl,move_bottle_from_fridge_next_to_can,20,70.0,70.0,0.0
+kitchenl,move_can_from_cabinet_to_basket,20,70.0,65.0,25.0
+kitchenl,move_milk_close_fridge,20,5.0,0.0,65.0
+kitchenl,pick_bottle_from_fridge,20,95.0,20.0,80.0
+kitchenl,pick_boxdrink_from_basket,20,75.0,20.0,70.0
+kitchenl,pick_can_from_basket,20,70.0,0.0,100.0
+kitchenl,pick_can_from_cabinet,20,90.0,35.0,65.0
+kitchenl,pick_milk_box_from_fridge,20,90.0,80.0,15.0
+kitchenl,pick_sauce_can_from_cabinet,20,90.0,55.0,35.0
+kitchenl,put_bottle_in_basket,20,65.0,20.0,70.0
+kitchenl,put_bottle_in_fridge,20,45.0,40.0,40.0
+kitchenl,put_can_close_cabinet,20,75.0,45.0,40.0
+kitchenl,put_can_in_cabinet,20,70.0,35.0,50.0
+kitchenl,put_can_infront_of_microwave,20,15.0,15.0,55.0
+kitchenl,put_can_next_to_basket,20,35.0,10.0,75.0
+kitchenl,put_milk_box_in_fridge,20,50.0,15.0,55.0
+kitchenl,put_sauce_can_in_basket,20,50.0,35.0,50.0
+kitchenl,put_sauce_can_in_cabinet,20,55.0,20.0,60.0
+kitchenl,switch_can_with_bottle_in_basket,20,45.0,10.0,85.0
+kitchens,chain_apple_bin_bowl_rack_spoon_sink_ks,20,0.0,0.0,35.0
+kitchens,chain_apple_sink_plate_bread_board_ks,20,75.0,75.0,5.0
+kitchens,chain_bowl_rack_apple_sink_ks,22,0.0,0.0,31.8
+kitchens,chain_heat_hamburger_ks,19,42.1,36.8,36.8
+kitchens,chain_serve_hamburger_ks,15,33.3,13.3,53.3
+kitchens,close_microwave_ks,24,79.2,66.7,12.5
+kitchens,drop_apple_in_bin_ks,21,38.1,19.0,33.3
+kitchens,move_hamburger_onto_plate_ks,20,20.0,20.0,15.0
+kitchens,pick_apple_from_bowl_ks,20,65.0,60.0,10.0
+kitchens,pick_apple_from_sink_ks,22,81.8,50.0,36.4
+kitchens,pick_fork_from_sink_ks,20,75.0,50.0,45.0
+kitchens,pick_hamburger_from_microwave_ks,24,58.3,41.7,29.2
+kitchens,place_bowl_in_dishrack_ks,20,0.0,0.0,0.0
+kitchens,put_bowl_in_sink_ks,20,95.0,95.0,0.0
+kitchens,put_bread_on_board_ks,20,20.0,10.0,45.0
+kitchens,put_hamburger_in_microwave_ks,21,23.8,23.8,47.6
+kitchens,put_plate_in_sink_ks,20,50.0,50.0,5.0
+kitchens,put_spoon_in_dishrack_ks,20,5.0,5.0,10.0
+kitchens,put_spoon_in_sink_ks,20,100.0,100.0,0.0
+kitchens,put_spoon_on_plate_ks,20,35.0,5.0,45.0
+office,close_drawer,20,100.0,100.0,0.0
+office,move_items_around,20,0.0,0.0,95.0
+office,open_drawer,20,95.0,95.0,5.0
+office,organize_table,20,0.0,0.0,85.0
+office,put_book_in_fileholder,20,10.0,5.0,40.0
+office,put_book_on_book,20,50.0,50.0,0.0
+office,put_milktea_next_to_laptop,20,40.0,5.0,90.0
+office,put_milktea_on_shelf,20,20.0,10.0,85.0
+office,put_mouse_next_to_stapler,20,15.0,15.0,55.0
+office,put_mouse_on_pad,20,0.0,0.0,100.0
+office,put_phone_next_to_cube,20,0.0,0.0,80.0
+office,put_phone_on_holder,20,0.0,0.0,95.0
+office,put_rubikscube_in_drawer,20,15.0,15.0,55.0
+office,put_rubikscube_next_to_milktea,20,0.0,0.0,70.0
+office,put_stapler_in_drawer,20,25.0,5.0,75.0
+office,put_stapler_next_to_mouse,20,0.0,0.0,90.0
+office,put_stapler_on_book,20,95.0,85.0,10.0
+office,set_up_table,20,0.0,0.0,100.0
+office,store_rubikscube_on_shelf,20,25.0,20.0,65.0
+office,store_stapler_in_drawer,20,25.0,5.0,80.0
+study,empty_box,20,70.0,60.0,25.0
+study,move_book_onto_table,20,75.0,45.0,40.0
+study,move_cup,20,60.0,50.0,40.0
+study,move_cup_next_to_book,20,30.0,25.0,10.0
+study,move_cup_onto_table,20,55.0,20.0,70.0
+study,move_cup_put_pen_in_cup,20,40.0,20.0,60.0
+study,move_cups_into_box,20,65.0,20.0,75.0
+study,move_pen_to_box,19,47.4,0.0,84.2
+study,move_seal_cup_next_to_box,20,85.0,85.0,0.0
+study,move_seal_next_to_box,20,75.0,75.0,0.0
+study,move_seal_next_to_pencup,20,55.0,55.0,0.0
+study,move_seal_onto_book,20,55.0,15.0,85.0
+study,move_seal_onto_table,20,85.0,60.0,30.0
+study,put_cup_in_box,20,75.0,75.0,5.0
+study,put_cup_on_coaster,20,0.0,0.0,90.0
+study,put_cup_on_table,20,35.0,30.0,55.0
+study,put_glue_in_box,20,80.0,60.0,25.0
+study,put_pen_in_box,20,85.0,85.0,10.0
+study,put_pen_in_pencup,20,0.0,0.0,50.0
+study,put_seal_in_box,20,80.0,80.0,5.0
diff --git a/pi05/perturbation/office/put_mouse_on_pad/commonsense_indirect_seed40018.mp4 b/pi05/perturbation/office/put_mouse_on_pad/commonsense_indirect_seed40018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c09169789a9379283f8b6e6525110b07c9463a44
--- /dev/null
+++ b/pi05/perturbation/office/put_mouse_on_pad/commonsense_indirect_seed40018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9d821bbb0633b899215aa8b2312830068ab8892fb02d9c44e6a3e89428f3404
+size 124581
diff --git a/pi05/perturbation/office/put_mouse_on_pad/vision_blur_seed40022.mp4 b/pi05/perturbation/office/put_mouse_on_pad/vision_blur_seed40022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfcb50472d8f27a9e8e7c6ca22d92fec64824042
--- /dev/null
+++ b/pi05/perturbation/office/put_mouse_on_pad/vision_blur_seed40022.mp4
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+size 228226