diff --git a/episodes/episode_000045/meta.json b/episodes/episode_000045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e217a6c125842cf2f0f5d5805a104ad5f092637
--- /dev/null
+++ b/episodes/episode_000045/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_46",
+  "num_steps": 15,
+  "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_turn_left_360_degrees",
+    "3_cross_hill",
+    "4_move_forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000045/meta_instructions.txt b/episodes/episode_000045/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd3445766da770684963eb356125583e93d3e3a3
--- /dev/null
+++ b/episodes/episode_000045/meta_instructions.txt
@@ -0,0 +1,4 @@
+Move forward to the sand pile with wood and white cloth. being careful not to hit them.
+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 mound of wood and white cloth from the left, and be careful not to touch the sand pile during the process.
+Move forward to the location of the red marker object.
diff --git a/episodes/episode_000074/meta.json b/episodes/episode_000074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d43e2e6948398d1ae3acd299ba9f755fae92ea
--- /dev/null
+++ b/episodes/episode_000074/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_23",
+  "num_steps": 340,
+  "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_000074/meta_instructions.txt b/episodes/episode_000074/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1647dcff10798a69e1344948f88db02eab2870f9
--- /dev/null
+++ b/episodes/episode_000074/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 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_000076/meta.json b/episodes/episode_000076/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98650647e3378be1f367a0c1b8c3eefab867d289
--- /dev/null
+++ b/episodes/episode_000076/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_25",
+  "num_steps": 184,
+  "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_000076/meta_instructions.txt b/episodes/episode_000076/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4025b17e3ea737c403c85e47d07e45fc8f01fb1
--- /dev/null
+++ b/episodes/episode_000076/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 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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+{
+  "task": "sample",
+  "original_episode": "episode_58",
+  "num_steps": 252,
+  "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_000112/meta_instructions.txt b/episodes/episode_000112/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.
+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 wooden block into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000148/meta.json b/episodes/episode_000148/meta.json
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+{
+  "task": "Grasp",
+  "original_episode": "episode_99",
+  "num_steps": 418,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_grasp_wood"
+  ]
+}
\ No newline at end of file
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@@ -0,0 +1 @@
+Grasp the wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely.