diff --git a/episodes/episode_000067/meta.json b/episodes/episode_000067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1681700953952e45ab18e6db9a69ea8f7ec4a645
--- /dev/null
+++ b/episodes/episode_000067/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_17",
+  "num_steps": 228,
+  "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_stone",
+    "3_move_to_container",
+    "4_place_stone_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000067/meta_instructions.txt b/episodes/episode_000067/meta_instructions.txt
new file mode 100644
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--- /dev/null
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@@ -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 stone for sampling and pick it up,being careful not to grab 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.
+Place the sample stone into the container,being careful not to place too fast or slowly.
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diff --git a/episodes/episode_000139/meta.json b/episodes/episode_000139/meta.json
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+++ b/episodes/episode_000139/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_91",
+  "num_steps": 381,
+  "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_search_and_move_to_pink_container",
+    "4_place_bottle_to_pink_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000139/meta_instructions.txt b/episodes/episode_000139/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 bottle located at the flat hill. Then lift the bottle. Be careful not to grip too tightly or too loosely.
+Back up and go around on the right of the flat mound of sand, then move to the pink container.
+Place the bottle into the pink container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000140/meta.json b/episodes/episode_000140/meta.json
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+++ b/episodes/episode_000140/meta.json
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+{
+  "task": "Grasp",
+  "original_episode": "episode_100",
+  "num_steps": 223,
+  "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
diff --git a/episodes/episode_000140/meta_instructions.txt b/episodes/episode_000140/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000140/meta_instructions.txt
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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.