diff --git a/episodes/episode_000010/meta.json b/episodes/episode_000010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ed03d21080b9b1cf44cfdc790070b88b532fd8e
--- /dev/null
+++ b/episodes/episode_000010/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_19",
+  "num_steps": 14,
+  "num_meta_actions": 4,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_to_hill",
+    "2_turn_right_360_degrees",
+    "3_cross_hill",
+    "4_move_forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000010/meta_instructions.txt b/episodes/episode_000010/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3c2a4c8bb011f5c9d94f54baa3cfc3a3ed0628a
--- /dev/null
+++ b/episodes/episode_000010/meta_instructions.txt
@@ -0,0 +1,4 @@
+Move forward to the sand pile with wood and rocks, being careful not to hit the sand pile
+Rotate 360 degrees on the spot to the right and stay in place for about one second every 90 degrees
+Cross around the the sand pile with wood and rocks 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_000028/meta.json b/episodes/episode_000028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbcaa973b5f42264364343fc4aba0fcb74a734e0
--- /dev/null
+++ b/episodes/episode_000028/meta.json
@@ -0,0 +1,23 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_29",
+  "num_steps": 67,
+  "num_meta_actions": 11,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_right_360_degrees",
+    "3_cross_rocks_and_wood",
+    "4_turn_right_90_degrees",
+    "5_move_forward",
+    "6_turn_right_90_degrees",
+    "7_turn_right_360_degrees",
+    "8_cross_hill",
+    "9_turn_right_90_degrees",
+    "10_move_forward",
+    "11_turn_right_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000028/meta_instructions.txt b/episodes/episode_000028/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25916df66aeab4965500f459a9f5c2094312b1ca
--- /dev/null
+++ b/episodes/episode_000028/meta_instructions.txt
@@ -0,0 +1,11 @@
+Move forward to the rocks and a pile of wood
+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 wood and rocks from the right.
+Turn right 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn right 90 degrees on the spot
+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 rocks from the right, and be careful not to touch the sand pile during the process
+Turn right 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Turn right 90 degrees on the spot
diff --git a/episodes/episode_000059/meta.json b/episodes/episode_000059/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3773055547c46fcc3b6e476d044deef694c30606
--- /dev/null
+++ b/episodes/episode_000059/meta.json
@@ -0,0 +1,15 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_60",
+  "num_steps": 13,
+  "num_meta_actions": 3,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_right_360_degrees",
+    "3_cross_wood"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000059/meta_instructions.txt b/episodes/episode_000059/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000059/meta_instructions.txt
@@ -0,0 +1,3 @@
+ Move forward to a pile of wood and rocks.
+Rotate 360 degrees to the right and stay in place for about one second every 90 degrees
+Cross a pile of wood and rocks on the right side and Move forward to red marker object.
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+{
+  "task": "sample",
+  "original_episode": "episode_28",
+  "num_steps": 402,
+  "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_000079/meta_instructions.txt b/episodes/episode_000079/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 branch located at the flat hill. Then lift the branch. 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 branch into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000098/meta.json b/episodes/episode_000098/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_45",
+  "num_steps": 386,
+  "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_000098/meta_instructions.txt b/episodes/episode_000098/meta_instructions.txt
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@@ -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 branch located at the flat hill. Then lift the branch. 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 branch into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000157/meta.json b/episodes/episode_000157/meta.json
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--- /dev/null
+++ b/episodes/episode_000157/meta.json
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+{
+  "task": "Place",
+  "original_episode": "episode_119",
+  "num_steps": 334,
+  "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_pink_container"
+  ]
+}
\ No newline at end of file
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--- /dev/null
+++ b/episodes/episode_000157/meta_instructions.txt
@@ -0,0 +1 @@
+Place the wooden block into the pink container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000158/meta.json b/episodes/episode_000158/meta.json
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--- /dev/null
+++ b/episodes/episode_000158/meta.json
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+{
+  "task": "Place",
+  "original_episode": "episode_120",
+  "num_steps": 336,
+  "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_pink_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000158/meta_instructions.txt b/episodes/episode_000158/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000158/meta_instructions.txt
@@ -0,0 +1 @@
+Place the wooden block into the pink container, being careful not to put it in too fast or too slow.