diff --git a/episodes/episode_000002/meta.json b/episodes/episode_000002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deadbf32b547aec6023bdf3c4de36ddf4d3597be
--- /dev/null
+++ b/episodes/episode_000002/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_11",
+  "num_steps": 25,
+  "num_meta_actions": 7,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move to hill",
+    "2_turn right 90 degrees",
+    "3_turn right 90 degrees",
+    "4_turn right 90 degrees",
+    "5_turn right 90 degrees",
+    "6_crossing_hill",
+    "7_move to boundary"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000002/meta_instructions.txt b/episodes/episode_000002/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..392ad84eaac145f3b0c6625f7dcfe6667b6a8729
--- /dev/null
+++ b/episodes/episode_000002/meta_instructions.txt
@@ -0,0 +1,7 @@
+Walk forward to the sand pile in front, be careful not to bump into it.
+Turn right 90 degrees on the spot.
+Turn right 90 degrees on the spot.
+Turn right 90 degrees on the spot.
+Turn right 90 degrees on the spot.
+Go around to the back of the sand piles from the right, and be careful not to touch the sand pile during the process.
+Move to the boundary of the sand table until you can no longer move forward
diff --git a/episodes/episode_000005/meta.json b/episodes/episode_000005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff62476128afa496e379700a39faa3da659a157
--- /dev/null
+++ b/episodes/episode_000005/meta.json
@@ -0,0 +1,18 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_14",
+  "num_steps": 22,
+  "num_meta_actions": 6,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_turn right 90 degrees",
+    "2_turn right 90 degrees",
+    "3_turn right 90 degrees",
+    "4_turn right 90 degrees",
+    "5_cross hill",
+    "6_move forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000005/meta_instructions.txt b/episodes/episode_000005/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..787a0ec7cef937454a23f090212a18f1292a1689
--- /dev/null
+++ b/episodes/episode_000005/meta_instructions.txt
@@ -0,0 +1,6 @@
+Turn right 90 degrees on the spot
+Turn right 90 degrees on the spot
+Turn right 90 degrees on the spot
+Turn right 90 degrees on the spot
+Cross around the hills from the right side
+Move to the boundary of the sand table until you can no longer move forward
diff --git a/episodes/episode_000007/meta.json b/episodes/episode_000007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..83530a77d7e925e601286799d6d8875f58101a68
--- /dev/null
+++ b/episodes/episode_000007/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_16",
+  "num_steps": 25,
+  "num_meta_actions": 7,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move to hill",
+    "2_turn right 90 degrees",
+    "3_turn right 90 degrees",
+    "4_turn right 90 degrees",
+    "5_turn right 90 degrees",
+    "6_cross hill",
+    "7_move forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000007/meta_instructions.txt b/episodes/episode_000007/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7386328639faf18a4edd02dbd97feacc8a46904e
--- /dev/null
+++ b/episodes/episode_000007/meta_instructions.txt
@@ -0,0 +1,7 @@
+Move forward to the sand pile with branches and rocks, being careful not to hit the sand pile
+Turn right 90 degrees on the spot
+Turn right 90 degrees on the spot
+Turn right 90 degrees on the spot
+Turn right 90 degrees on the spot
+Cross around the the sand pile with rocks and branches from the left side, Be careful not to hit the sand pile during the process.
+Move to the boundary of the sand table until you can no longer move forward
diff --git a/episodes/episode_000014/meta.json b/episodes/episode_000014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac2f7ac90172db49703e5152911afb738e6e0339
--- /dev/null
+++ b/episodes/episode_000014/meta.json
@@ -0,0 +1,18 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_4",
+  "num_steps": 29,
+  "num_meta_actions": 6,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_turn right 90 degrees",
+    "2_turn right 90 degrees",
+    "3_turn right 90 degrees",
+    "4_turn right 90 degrees",
+    "5_crossing_hill",
+    "6_move forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000014/meta_instructions.txt b/episodes/episode_000014/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69b97fe09ff28c751322c9655d494a48d8c7b86
--- /dev/null
+++ b/episodes/episode_000014/meta_instructions.txt
@@ -0,0 +1,6 @@
+Turn right 90 degrees on the spot.
+Turn right 90 degrees on the spot.
+Turn right 90 degrees on the spot.
+Turn right 90 degrees on the spot.
+Go around to the back of the sand piles from the right, and be careful not to touch the sand piles during the process.
+Move forward until you reach the end of the corridor.
diff --git a/episodes/episode_000016/meta.json b/episodes/episode_000016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..821baf98186b47b058c17d4d2aef1ded4eb496f6
--- /dev/null
+++ b/episodes/episode_000016/meta.json
@@ -0,0 +1,18 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_6",
+  "num_steps": 24,
+  "num_meta_actions": 6,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_turn left 90 degrees",
+    "2_turn left 90 degrees",
+    "3_turn left 90 degrees",
+    "4_turn left 90 degrees",
+    "5_crossing_hill",
+    "6_move to boundary"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000016/meta_instructions.txt b/episodes/episode_000016/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2dadc52a6d48ba20ea53047d9a9edf9efe54de68
--- /dev/null
+++ b/episodes/episode_000016/meta_instructions.txt
@@ -0,0 +1,6 @@
+Turn left 90 degrees on the spot.
+Turn left 90 degrees on the spot.
+Turn left 90 degrees on the spot.
+Turn left 90 degrees on the spot.
+Go around to the back of the sand piles from the left, and be careful not to touch the sand piles during the process.
+Move forward to the boundary of the sand table until you reach the edge.
diff --git a/episodes/episode_000023/meta.json b/episodes/episode_000023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d279a623329ab6d60b5c8ccf432a820ddeef5613
--- /dev/null
+++ b/episodes/episode_000023/meta.json
@@ -0,0 +1,22 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_24",
+  "num_steps": 86,
+  "num_meta_actions": 10,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_turn_right_360_degrees",
+    "2_cross_hill",
+    "3_move_forward",
+    "4_turn_right_90_degrees",
+    "5_move_forward",
+    "6_turn_right_90_degrees",
+    "7_move_forward",
+    "8_turn_right_90_degrees",
+    "9_move_forward",
+    "10_turn_right_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000023/meta_instructions.txt b/episodes/episode_000023/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0acb1cef0e27b27d92e1998cef49b03fd01d1202
--- /dev/null
+++ b/episodes/episode_000023/meta_instructions.txt
@@ -0,0 +1,10 @@
+Rotate 360 degrees on the spot to the right and stay in place for about one second every 90 degrees
+Go around to the back of the sand pile with wood and rocks from the right, and be careful not to touch the sand pile during the process.
+Move forward to the corner of the sandbox
+Turn right 90 degrees on the spot
+Move forward to the corner of the sandbox
+Turn right 90 degrees on the spot
+Move forward to the corner of the sandbox
+Turn right 90 degrees on the spot
+Move forward to the corner of the sandbox
+Turn right 90 degrees on the spot
diff --git a/episodes/episode_000026/meta.json b/episodes/episode_000026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f81b3d59548ebbc092614b839f6c658f926e11e
--- /dev/null
+++ b/episodes/episode_000026/meta.json
@@ -0,0 +1,22 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_27",
+  "num_steps": 66,
+  "num_meta_actions": 10,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move _to_hill",
+    "2_turn_left_360_degrees",
+    "3_cross_hill",
+    "4_turn_left_90_degrees",
+    "5_move_forward",
+    "6_turn_left_90_degrees",
+    "7_move_to_boundary",
+    "8_turn_left_90_degrees",
+    "9_move_forward",
+    "10_turn_left_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000026/meta_instructions.txt b/episodes/episode_000026/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45ba1a8c19270dc3518c6afc87cc438e09afbf7b
--- /dev/null
+++ b/episodes/episode_000026/meta_instructions.txt
@@ -0,0 +1,10 @@
+Move to the front of the sand pile with rocks, being careful not to hit the sand pile.
+Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees
+Go around to the back of the sand pile with rocks from the left, and be careful not to touch the sand pile during the process.
+Turn left 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn left 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn left 90 degrees on the spotx
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn left 90 degrees on the spot
diff --git a/episodes/episode_000027/actions.npy b/episodes/episode_000027/actions.npy
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diff --git a/episodes/episode_000031/meta.json b/episodes/episode_000031/meta.json
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--- /dev/null
+++ b/episodes/episode_000031/meta.json
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+{
+  "task": "Cruise_B",
+  "original_episode": "episode_32",
+  "num_steps": 51,
+  "num_meta_actions": 9,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_left_90_degrees",
+    "3_move_forward",
+    "4_turn_left_90_degrees",
+    "5_turn_left_360_degrees",
+    "6_corss_hill",
+    "7_turn_left_90_degrees",
+    "8_move_forward",
+    "9_turn_left_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000031/meta_instructions.txt b/episodes/episode_000031/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000031/meta_instructions.txt
@@ -0,0 +1,9 @@
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn left 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn left 90 degrees on the spot
+Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees
+Cross around a small mound of dirt with wood and rock from the left side
+Turn left 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn left 90 degrees on the spot
diff --git a/episodes/episode_000038/meta.json b/episodes/episode_000038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44e066178228aa74d0b61cb116df21ba4371c42
--- /dev/null
+++ b/episodes/episode_000038/meta.json
@@ -0,0 +1,21 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_39",
+  "num_steps": 34,
+  "num_meta_actions": 9,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_right_90_degrees",
+    "3_move_forward",
+    "4_turn_left_360_degrees",
+    "5_cross_wood",
+    "6_move_forward",
+    "7_turn_right_90_degrees",
+    "8_move_forward",
+    "9_turn_right_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000038/meta_instructions.txt b/episodes/episode_000038/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26f2ad93798a78d2a5d56bd1ce86badbc587615e
--- /dev/null
+++ b/episodes/episode_000038/meta_instructions.txt
@@ -0,0 +1,9 @@
+Move forward along the edge of the sandbox to the corner of the sandbox
+Trun right 90 degrees on the spot
+Move to the front of the pile of woods and bricks, being careful not to hit the pile.
+Rotate 360 degrees on the spot to the left and stay in place for about one second every 90 degrees
+Cross around the pile of woods and bricks from the left side, and be careful not to touch the sand pile during the process.
+Move forward along the edge of the sandbox to the corner of the sandbox
+Trun right 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Trun right 90 degrees on the spot
diff --git a/episodes/episode_000060/meta.json b/episodes/episode_000060/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4462f6a6bb5fb230e16b6b7c1a8fde66319acad7
--- /dev/null
+++ b/episodes/episode_000060/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_1",
+  "num_steps": 372,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_grasp_wood",
+    "3_move_to_container",
+    "4_place_wood_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000060/meta_instructions.txt b/episodes/episode_000060/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000060/meta_instructions.txt
@@ -0,0 +1,4 @@
+Move forward to the front of the sampling point located at the center of the sand table,being careful not to bump into any obstacles.
+Grab the long piece of wood for sampling and pick it up,being careful not to grab too tightly or too loosely.
+Walk backward from the the sampling point,then turn left on the spot until the container is detected,then move to the container where the sample is placed.
+Place the sample wood into the container,being careful not to place too fast or slowly.
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diff --git a/episodes/episode_000164/meta.json b/episodes/episode_000164/meta.json
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+{
+  "task": "Search_Move_Container",
+  "original_episode": "episode_107",
+  "num_steps": 140,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_to_cyan_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000164/meta_instructions.txt b/episodes/episode_000164/meta_instructions.txt
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+Detect the cyan container, then move to the container, taking care not to bump into any obstacles.