diff --git a/episodes/episode_000008/meta.json b/episodes/episode_000008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dfb82f1acf54395ace5d0cf61a91774ef4174d7
--- /dev/null
+++ b/episodes/episode_000008/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_17",
+  "num_steps": 63,
+  "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 left 90 degrees",
+    "3_turn left 90 degrees",
+    "4_turn left 90 degrees",
+    "5_turn left 90 degrees",
+    "6_cross hill",
+    "7_move forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000008/meta_instructions.txt b/episodes/episode_000008/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000008/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 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
+Cross around the the sand pile with wood and branches from the right 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_000086/meta.json b/episodes/episode_000086/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38f11fa50de56650ede1c2f17397f7883ca166af
--- /dev/null
+++ b/episodes/episode_000086/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_34",
+  "num_steps": 489,
+  "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_000086/meta_instructions.txt b/episodes/episode_000086/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000086/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, 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_000097/meta.json b/episodes/episode_000097/meta.json
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--- /dev/null
+++ b/episodes/episode_000097/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_44",
+  "num_steps": 427,
+  "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_000097/meta_instructions.txt b/episodes/episode_000097/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000097/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, taking care not to bump into any obstacles.
+Grasp the wood located at the flat hill. Then lift the wood. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn right in place, move forward,then turn left until the container is detected, then move to the container where the sample was placed.
+Place the wood into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000110/meta.json b/episodes/episode_000110/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..baa9a082aeb2c5c8d04de5c95c1e34c68aa4892e
--- /dev/null
+++ b/episodes/episode_000110/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_56",
+  "num_steps": 268,
+  "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_branch",
+    "3_move_to_container",
+    "4_place_branch_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000110/meta_instructions.txt b/episodes/episode_000110/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000110/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, taking care not to bump into any obstacles.
+Grasp the tree branch located at the flat hill. Then lift the tree branch. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn left in place, go around the flat mound of dirt, then turn right until the container is detected, then move to the container where the sample was placed.
+Place the wooden branch into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000120/meta.json b/episodes/episode_000120/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0d55ab3be339b9c613cbb37803996a29468ef01
--- /dev/null
+++ b/episodes/episode_000120/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "sample",
+  "original_episode": "episode_74",
+  "num_steps": 726,
+  "num_meta_actions": 7,
+  "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_bottle_and_search_for_cyan_container",
+    "7_place_bottle_to_cyan_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000120/meta_instructions.txt b/episodes/episode_000120/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000120/meta_instructions.txt
@@ -0,0 +1,7 @@
+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 and retract arm, 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 bottle was.
+Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely. Then turn right in place, go around the flat mound of sand until the cyan container is detected, then move to the cyan container where the bottle should be placed.
+Place the bottle into the black container and retract arm, being careful not to put it in too fast or too slow.