diff --git a/episodes/episode_000000/meta.json b/episodes/episode_000000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd1af070c03159cebd022165e2f4bbd752e3dcd
--- /dev/null
+++ b/episodes/episode_000000/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_1",
+  "num_steps": 55,
+  "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 forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000000/meta_instructions.txt b/episodes/episode_000000/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be4489f37115ec4db85210603ff4b6963b4262bb
--- /dev/null
+++ b/episodes/episode_000000/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 and stop for one second
+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 forward to the boundary of the sand table.
diff --git a/episodes/episode_000022/meta.json b/episodes/episode_000022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7105bdd29125dea79dc057e8b10418d58f0ec4c6
--- /dev/null
+++ b/episodes/episode_000022/meta.json
@@ -0,0 +1,24 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_23",
+  "num_steps": 53,
+  "num_meta_actions": 12,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_left_90_degrees",
+    "3_move_forward",
+    "4_turn_left_90_degrees",
+    "5_move_to_hill",
+    "6_turn_right_360_degrees",
+    "7_cross_hill",
+    "8_move_forward",
+    "9_turn_left_90_degrees",
+    "10_move_forward",
+    "11_turn_left_90_degrees",
+    "12_move_forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000022/meta_instructions.txt b/episodes/episode_000022/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb503f58330922a5c558a35657098222d8e6dd9e
--- /dev/null
+++ b/episodes/episode_000022/meta_instructions.txt
@@ -0,0 +1,12 @@
+Move forward to the corner of the sandbox
+Turn left 90 degrees on the spot
+Move forward to the corner of the sandbox
+Turn left 90 degrees on the spot
+Move to the front of the sand pile with wood and rocks, 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
+Go around to the back of the sand pile with wood and rocks from the left, and be careful not to touch the sand pile during the process.
+Move forward to the corner of the sandbox
+Turn left 90 degrees on the spot
+Move forward to boundary
+Turn left 90 degrees on the spot
+Move forward to the corner of the sandbox
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diff --git a/episodes/episode_000044/meta.json b/episodes/episode_000044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c642abc314c878d82de1abe0bcc8f280513d2a63
--- /dev/null
+++ b/episodes/episode_000044/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_45",
+  "num_steps": 23,
+  "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_000044/meta_instructions.txt b/episodes/episode_000044/meta_instructions.txt
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index 0000000000000000000000000000000000000000..b4527c07babc9caa102c548992b3626255167c83
--- /dev/null
+++ b/episodes/episode_000044/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 right, 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_000077/meta.json b/episodes/episode_000077/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cce705cdf46e8293270f3dc68663fa02debf146
--- /dev/null
+++ b/episodes/episode_000077/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_26",
+  "num_steps": 746,
+  "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_000077/meta_instructions.txt b/episodes/episode_000077/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 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.
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diff --git a/episodes/episode_000108/states.npy b/episodes/episode_000108/states.npy
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diff --git a/episodes/episode_000126/meta.json b/episodes/episode_000126/meta.json
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--- /dev/null
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+{
+  "task": "sample",
+  "original_episode": "episode_8",
+  "num_steps": 421,
+  "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_rock",
+    "3_place_rock_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000126/meta_instructions.txt b/episodes/episode_000126/meta_instructions.txt
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+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 rock standing upright in the dune for sampling and pick it up,being careful not to grab too tightly or too loosely.
+Place the sample rock into the container located on the right side of the dune,being careful not to place too fast or slowly.
diff --git a/episodes/episode_000149/meta.json b/episodes/episode_000149/meta.json
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+++ b/episodes/episode_000149/meta.json
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+{
+  "task": "Place",
+  "original_episode": "episode_111",
+  "num_steps": 315,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_place_wood_to_cyan_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000149/meta_instructions.txt b/episodes/episode_000149/meta_instructions.txt
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+Place the wooden block into the cyan container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000160/meta.json b/episodes/episode_000160/meta.json
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--- /dev/null
+++ b/episodes/episode_000160/meta.json
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+{
+  "task": "Search_Move_Container",
+  "original_episode": "episode_103",
+  "num_steps": 415,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_to_pink_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000160/meta_instructions.txt b/episodes/episode_000160/meta_instructions.txt
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--- /dev/null
+++ b/episodes/episode_000160/meta_instructions.txt
@@ -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.