diff --git a/episodes/episode_000037/meta.json b/episodes/episode_000037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d658931c77ec52fe2f35fda6c22fb4167dd55c4
--- /dev/null
+++ b/episodes/episode_000037/meta.json
@@ -0,0 +1,21 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_38",
+  "num_steps": 75,
+  "num_meta_actions": 9,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_right_90_degrees",
+    "3_move_forward",
+    "4_turn_right_90_degrees",
+    "5_move_forward",
+    "6_turn_right_360_degrees",
+    "7_cross_wood",
+    "8_move_forward",
+    "9_turn_right_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000037/meta_instructions.txt b/episodes/episode_000037/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..831f499e922456a50219496825be59dd10f91b50
--- /dev/null
+++ b/episodes/episode_000037/meta_instructions.txt
@@ -0,0 +1,9 @@
+Move forward along the edge of the sandbox to the corner of the sandbox
+Trun right 90 degrees on the spot
+Move forward along the edge of the sandbox to the corner of the sandbox
+Trun right 90 degrees on the spot
+Move to the front of the pile of woods and bricks, 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 pile of woods and bricks from the left side, and be careful not to touch the sand pile during the process.
+Move forward along the edge of the sandbox to the corner of the sandbox
+Trun right 90 degrees on the spot
diff --git a/episodes/episode_000042/meta.json b/episodes/episode_000042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b08dd1160916bc0fe7ab49d322e3ca35aef90be9
--- /dev/null
+++ b/episodes/episode_000042/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_43",
+  "num_steps": 21,
+  "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_right_360_degrees",
+    "3_cross_hill",
+    "4_move_forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000042/meta_instructions.txt b/episodes/episode_000042/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6950923cb374b1ea446c16a32e0d03b300ff63b
--- /dev/null
+++ b/episodes/episode_000042/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 right 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_000116/meta.json b/episodes/episode_000116/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..919acb4d25e2a23a48a7112dd17d4bee6aa4bd9c
--- /dev/null
+++ b/episodes/episode_000116/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_7",
+  "num_steps": 282,
+  "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_000116/meta_instructions.txt b/episodes/episode_000116/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1647dcff10798a69e1344948f88db02eab2870f9
--- /dev/null
+++ b/episodes/episode_000116/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.
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