Cs-137 and Sr-90 are a decay product of Xe-137 and Kr-90. Venting the pressure vessel (as has happened repeatedly) releases the gaseous Xe and Kr, they decay, and form Cs and Sr.
I-131 is water soluble. It's presence means that fuel is damaged (zircalloy tube has holes), and that (liquid) water has left containment. This can happen (in Fukushima) in the spent fuel pools. As you may have noticed, there was a hydrogen explosion in the part of the building where the pool is located. The explosion surely displaced water out of the pool, and may have damaged some of the fuel there. But I-131 could also be released during venting; I has a low melting/boiling point, and a bit of it may have ben gaseous, plus, the venting system is not perfectly operational. The venting into the building (secondary containment) that led to the hydrogen explosions is not a standard procedure, and there's no escape route established (some mark-I reactors in the US have been retrofitted with an escape route to prevent exactly what has happened). That also mean that the steam and a bit of liquid water that's released with it bypasses the filter to keep the water clean (the filters also may need power to operate, which wasn't there, but I would need to check that).
Also, there's suspicion that the containment of reactor 2 has been breached in the suppression pool -- the torus at the bottom of the structure. In the time after the emergency power was lost, and before seawater was injected, they cooled the core by opening the core to this suppression pool. Steam expands and condenses and thereby removes heat, but also cooling water escapes (and with it, I-131). This emergency cooling procedure only works a short time, since the amount of water is limited.
The third thing: I'm not entirely sure what happens with the seawater they pump in there. It's possible that they have to remove it, and dump it into the environment, again bypassing any cleaners or filters due to damage. But I'm not sure about that.