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Pretty much no difference, but some people believe that dirty is not that clean and filthy is EXTREMELY dirty.
Your clothes can be clean. Your car can be clean. An object can be clean. However, "to clean" is an action of taking something that is dirty or messed up to make it clean or tidy. We say "Go clean your room" as the shortened expression of "Go to clean your room". Then, toys, papers, clothing that are in disarray are cleaned up. Meaning put away or stored for later use. A person may "clean house", to do actions that serve "to clean" objects and areas, which we express as "clean up".
If you drop soap on the ground, the soap is dirty AND the floor is clean.
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It means you just clean the dirty spot, not the whole garment.