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The description of the "Cleanup" badge simply states that is awarded upon your "First rollback." What is a rollback?

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A rollback involves reversing an edit (or multiple edits) on a post to a previous version.

All posts edited outside of a (currently) 5 minute window will display an "edited X time ago" link to the left of the post author's badge. If you click that link, you will see a history of edits to that post. One of the options, for all but the last edit, is "rollback."

The rollback option.

Note: those are two separate options, edit and rollback.

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