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diff --git a/episodes/episode_000078/meta.json b/episodes/episode_000078/meta.json
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--- /dev/null
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+{
+  "task": "sample",
+  "original_episode": "episode_27",
+  "num_steps": 662,
+  "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_000078/meta_instructions.txt b/episodes/episode_000078/meta_instructions.txt
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+Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely.
+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.
+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 bottle into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000145/meta.json b/episodes/episode_000145/meta.json
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--- /dev/null
+++ b/episodes/episode_000145/meta.json
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+{
+  "task": "Grasp",
+  "original_episode": "episode_96",
+  "num_steps": 402,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_grasp_bottle"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000145/meta_instructions.txt b/episodes/episode_000145/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000145/meta_instructions.txt
@@ -0,0 +1 @@
+Grasp the bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely.