diff --git a/episodes/episode_000019/meta.json b/episodes/episode_000019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22e1c204ce439a7f580ab0fdb1a348f84c36eda3
--- /dev/null
+++ b/episodes/episode_000019/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_9",
+  "num_steps": 17,
+  "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_hill",
+    "7_move to boundary"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000019/meta_instructions.txt b/episodes/episode_000019/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b5c3af7e9ee2839c98144bdbf5158be8ac60a215
--- /dev/null
+++ b/episodes/episode_000019/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 on the spot.
+Turn left 90 degrees on the spot.
+Turn left 90 degrees on the spot.
+Turn left 90 degrees
+Go around to the back of the sand piles from the right, 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 move forward.
diff --git a/episodes/episode_000040/meta.json b/episodes/episode_000040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b2124bf4cb1dcb9a6874e5af0f193c53caed4b
--- /dev/null
+++ b/episodes/episode_000040/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_41",
+  "num_steps": 29,
+  "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_000040/meta_instructions.txt b/episodes/episode_000040/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a6b1981ebd85373f89c04298ccee649c7a76f78
--- /dev/null
+++ b/episodes/episode_000040/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
+Cross around the mound of wood and white cloth from the left side, 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_000052/meta.json b/episodes/episode_000052/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ccc5522af9a167de64a7c8f46b72128d08fec67
--- /dev/null
+++ b/episodes/episode_000052/meta.json
@@ -0,0 +1,15 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_53",
+  "num_steps": 19,
+  "num_meta_actions": 3,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_turn_right_360_degrees",
+    "2_cross_hill",
+    "3_move_forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000052/meta_instructions.txt b/episodes/episode_000052/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f544988efa8732064f38ad6841f0337c2ab4784
--- /dev/null
+++ b/episodes/episode_000052/meta_instructions.txt
@@ -0,0 +1,3 @@
+Rotate 360 degrees on the spot to the right and stay in place for about one second every 90 degrees
+Cross around the mound with wood and white cloth from the right side
+Move forward to red marker object.
diff --git a/episodes/episode_000066/meta.json b/episodes/episode_000066/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27910e0ea52a66c8fb6b47841fa4fff3c1ba4707
--- /dev/null
+++ b/episodes/episode_000066/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_16",
+  "num_steps": 225,
+  "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_000066/meta_instructions.txt b/episodes/episode_000066/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18be0b9737d994c4cdbd7e08ecb8d7a5e79bee7e
--- /dev/null
+++ b/episodes/episode_000066/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 right on the spot until the container is detected,then move to the container where the sample is placed.
+Move backwards and turn to the right to place the sample wood into the container,being careful not to place too fast or slowly.
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diff --git a/episodes/episode_000099/meta.json b/episodes/episode_000099/meta.json
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000099/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_46",
+  "num_steps": 242,
+  "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_000099/meta_instructions.txt b/episodes/episode_000099/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000099/meta_instructions.txt
@@ -0,0 +1,4 @@
+Move straight to the front of the sampling point located on the mound at the center of the sandbox, taking care not to bump into any obstacles.
+Grasp the bottle located at the mound. 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_000123/meta.json b/episodes/episode_000123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2becd4a707cf6af3aaf0fc832833a7cd9fab19
--- /dev/null
+++ b/episodes/episode_000123/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_77",
+  "num_steps": 296,
+  "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_search_for_and_move_to_cyan_container",
+    "4_place_wood_to_cyan_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000123/meta_instructions.txt b/episodes/episode_000123/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000123/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 wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely.
+Turn left in place, go around the flat mound of sand until the cyan container is detected, then move to the cyan container.
+Place the wooden block into the cyan container and retract arm, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000124/meta.json b/episodes/episode_000124/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7519d2f4a3a5be740bf74ae5de7d04b57e37d8b0
--- /dev/null
+++ b/episodes/episode_000124/meta.json
@@ -0,0 +1,15 @@
+{
+  "task": "sample",
+  "original_episode": "episode_78",
+  "num_steps": 232,
+  "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_grasp_branch",
+    "3_search_for_and_move_to_cyan_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000124/meta_instructions.txt b/episodes/episode_000124/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000124/meta_instructions.txt
@@ -0,0 +1,3 @@
+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.
+Turn left in place, go around the flat mound of sand until the cyan container is detected, then move to the cyan container.
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+{
+  "task": "Grasp",
+  "original_episode": "episode_94",
+  "num_steps": 373,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_grasp_wood"
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\ No newline at end of file
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+Grasp the wooden block located at the flat hill. Then lift the wooden block. Be careful not to grip too tightly or too loosely.
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+  "task": "Grasp",
+  "original_episode": "episode_95",
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+  "num_meta_actions": 1,
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+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_grasp_bottle"
+  ]
+}
\ No newline at end of file
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