diff --git a/episodes/episode_000057/meta.json b/episodes/episode_000057/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..731dacc0f79bf0746f64eb5703ea98aa2748ad65
--- /dev/null
+++ b/episodes/episode_000057/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_58",
+  "num_steps": 20,
+  "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_000057/meta_instructions.txt b/episodes/episode_000057/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c6f6beacdbd62c15d7fc30bf1fe628e6dd840f9e
--- /dev/null
+++ b/episodes/episode_000057/meta_instructions.txt
@@ -0,0 +1,4 @@
+ Move forward to the boundary.
+Rotate 360 degrees to the right and stay in place for about one second every 90 degrees
+Cross a pile of wood and rocks on the right side
+Move forward to red marker object.
diff --git a/episodes/episode_000081/meta.json b/episodes/episode_000081/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cd1306d542fb6842c32dc76486c58bee080a717
--- /dev/null
+++ b/episodes/episode_000081/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_3",
+  "num_steps": 346,
+  "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_branch",
+    "3_move_to_container",
+    "4_place_branch_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000081/meta_instructions.txt b/episodes/episode_000081/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000081/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.
+Move forward and grasp the sampled branch and hold it up, being careful not to grab it too tightly or too loosely.
+Turn right on the spot until the container is detected,then move to the container where the sample is placed.
+Place the sample brunch into the container,being careful not to place too fast or slowly.
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