diff --git a/episodes/episode_000011/meta.json b/episodes/episode_000011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f8783b0efa7ae5a6f50d207a67bd99246fb053
--- /dev/null
+++ b/episodes/episode_000011/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_2",
+  "num_steps": 57,
+  "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_crossing hills",
+    "7_move_to_boundary"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000011/meta_instructions.txt b/episodes/episode_000011/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e42370ef2ce9468e37f9e37219873ae2eab2cbc6
--- /dev/null
+++ b/episodes/episode_000011/meta_instructions.txt
@@ -0,0 +1,7 @@
+Walk forward to the sand pile in front, be careful not to bump into it.
+Turn left 90 degrees.
+Turn left 90 degrees.
+Turn left 90 degrees.
+Turn left 90 degrees.
+Go around to the back of the sand pile from the left, and be careful not to touch the sand pile during the process.
+Move to the boundary of the sand table until you can no longer go forward
diff --git a/episodes/episode_000015/meta.json b/episodes/episode_000015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f553b6915a9da105db857210e2eff5b1c3515ada
--- /dev/null
+++ b/episodes/episode_000015/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_5",
+  "num_steps": 25,
+  "num_meta_actions": 7,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move to the hill",
+    "2_turn left 90 degrees",
+    "3_turn left 90 degrees",
+    "4_turn left 90 degrees",
+    "5_turn left 90 degrees",
+    "6_crossing_hill",
+    "7_move to boundary"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000015/meta_instructions.txt b/episodes/episode_000015/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000015/meta_instructions.txt
@@ -0,0 +1,7 @@
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+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.
+Go around to the back of the sand piles from the left, and be careful not to touch the sand piles during the process.
+Move forwar to the boundary of the sand table until you reach the edge.
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diff --git a/episodes/episode_000070/meta.json b/episodes/episode_000070/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ac94c8c35188bfa7c3c9a47983855ebfeed05fd
--- /dev/null
+++ b/episodes/episode_000070/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_2",
+  "num_steps": 409,
+  "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_000070/meta_instructions.txt b/episodes/episode_000070/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4fee82d4fc1f6f3cc9ff96198e2cb66891bbddd8
--- /dev/null
+++ b/episodes/episode_000070/meta_instructions.txt
@@ -0,0 +1,4 @@
+Move forward to the front of the sampling point located at the center of the sand table,being careful not to bump into any obstacles.
+Grab the long piece of wood and lift it, being careful not to grip it too tightly or too loosely.
+Walk backward from the the sampling point,then turn left on the spot until the container is detected,then move to the container where the sample is placed.
+Place the sample wood into the container,being careful not to place too fast or slowly.
diff --git a/episodes/episode_000072/meta.json b/episodes/episode_000072/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff9cdf15b19667a64d4e80479b6f9400efebbdf2
--- /dev/null
+++ b/episodes/episode_000072/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_21",
+  "num_steps": 209,
+  "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_000072/meta_instructions.txt b/episodes/episode_000072/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3b66147a650abbe6db2817b7899cb25b1f6dfab
--- /dev/null
+++ b/episodes/episode_000072/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_000095/meta.json b/episodes/episode_000095/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b481a681e89d8eec776a58a3ee2e5260d15eddfd
--- /dev/null
+++ b/episodes/episode_000095/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_42",
+  "num_steps": 332,
+  "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_000095/meta_instructions.txt b/episodes/episode_000095/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3b66147a650abbe6db2817b7899cb25b1f6dfab
--- /dev/null
+++ b/episodes/episode_000095/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.