diff --git a/episodes/episode_000025/meta.json b/episodes/episode_000025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac63125378b0f4e02f829b50e8b2f1d4b6616711
--- /dev/null
+++ b/episodes/episode_000025/meta.json
@@ -0,0 +1,22 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_26",
+  "num_steps": 69,
+  "num_meta_actions": 10,
+  "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_move_to_hill",
+    "6_turn_left_360_degrees",
+    "7_cross_hill",
+    "8_turn_left_90_degrees",
+    "9_move_forward",
+    "10_turn_left_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000025/meta_instructions.txt b/episodes/episode_000025/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..47b85a69bd4269f2cbfc5cbef1e83d8152d11b04
--- /dev/null
+++ b/episodes/episode_000025/meta_instructions.txt
@@ -0,0 +1,10 @@
+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
+Move to the front of the sand pile with wood and 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 wood and 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 to the corner of the sandbox
+Turn left 90 degrees on the spot
diff --git a/episodes/episode_000085/meta.json b/episodes/episode_000085/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d26053d93835df0d154033754c8ea15275ffe73f
--- /dev/null
+++ b/episodes/episode_000085/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_33",
+  "num_steps": 334,
+  "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_bottle",
+    "3_move_to_container",
+    "4_place_bottle_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000085/meta_instructions.txt b/episodes/episode_000085/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49eee91c2ce8cc913317860b5095683f33657614
--- /dev/null
+++ b/episodes/episode_000085/meta_instructions.txt
@@ -0,0 +1,4 @@
+Move forward to the front of the sampling point on the flat mound of dirt located in the center of the sandbox, taking care not to hit any obstacles.
+Grasp the sampling water bottle located at the midpoint of the lower side of the flat hill; Then lift the sampling water bottle. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn right in place, go around the flat mound of dirt, then turn left until the container is detected, then move to the container where the sample was placed.
+Place the sample water bottle into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000087/meta.json b/episodes/episode_000087/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b62b1b4536817f879eec9cdd2f140105c3407736
--- /dev/null
+++ b/episodes/episode_000087/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_35",
+  "num_steps": 549,
+  "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_bottle",
+    "3_move_to_container",
+    "4_place_bottle_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000087/meta_instructions.txt b/episodes/episode_000087/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d98bc7da096e072b49b01ceae37541c5ea293ff
--- /dev/null
+++ b/episodes/episode_000087/meta_instructions.txt
@@ -0,0 +1,4 @@
+Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, then turn left in place until the water bottle is detected right in front, taking care not to bump into any obstacles.
+Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn left in place, move forward,then turn right until the container is detected, then move to the container where the sample was placed.
+Place the bottle into the container, being careful not to put it in too fast or too slow.
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diff --git a/episodes/episode_000117/meta.json b/episodes/episode_000117/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39afb0bfe0a2bbc784f2a627677ef9234adcdf1a
--- /dev/null
+++ b/episodes/episode_000117/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_71",
+  "num_steps": 1174,
+  "num_meta_actions": 8,
+  "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_pink_container",
+    "4_place_wood_to_pink_container",
+    "5_move_to_sampling_point",
+    "6_grasp_rock",
+    "7_search_for_black_container",
+    "8_place_rock_to_black_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000117/meta_instructions.txt b/episodes/episode_000117/meta_instructions.txt
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+Move straight to the front of the sampling point located on the flat mound at the center of the sandbox, taking care not to bump into any obstacles.
+Grasp the wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely.
+Turn left in place, then move forward to the pink container where the sample should be placed, taking care not to bump into any obstacles.
+Place the wooden block into the pink container, being careful not to put it in too fast or too slow.
+Turn right in place until the sampling point is detected, then move to the sampling point where the rock was placed.
+Grasp the rock located at the flat hill. Then lift the rock. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn right in place, go around the flat mound of sand, then turn left until the black container is detected, then move to the black container where the rock should be placed.
+Place the rock into the black container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000153/meta.json b/episodes/episode_000153/meta.json
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000153/meta.json
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+{
+  "task": "Place",
+  "original_episode": "episode_115",
+  "num_steps": 338,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_place_wood_to_black_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000153/meta_instructions.txt b/episodes/episode_000153/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000153/meta_instructions.txt
@@ -0,0 +1 @@
+Place the wooden block into the black container, being careful not to put it in too fast or too slow.