diff --git a/episodes/episode_000017/meta.json b/episodes/episode_000017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ede527307b571a96bed99324f777275d4f1a60f
--- /dev/null
+++ b/episodes/episode_000017/meta.json
@@ -0,0 +1,19 @@
+{
+  "task": "Cruise_A",
+  "original_episode": "episode_7",
+  "num_steps": 22,
+  "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_000017/meta_instructions.txt b/episodes/episode_000017/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a6ed27e692b06c4dbaabc6f9e19c7f4056a926d
--- /dev/null
+++ b/episodes/episode_000017/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 on the spot.
+Go around to the back of the sand piles 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 move forward.
diff --git a/episodes/episode_000020/meta.json b/episodes/episode_000020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4b8e3269f6bf32cf9420c6f15a79a27ef96c5d
--- /dev/null
+++ b/episodes/episode_000020/meta.json
@@ -0,0 +1,23 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_21",
+  "num_steps": 37,
+  "num_meta_actions": 11,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_move_forward",
+    "2_turn_right_90_degrees",
+    "3_move_to_hill",
+    "4_turn_right_360_degrees",
+    "5_cross_hill",
+    "6_move_forward",
+    "7_turn_right_90_degrees",
+    "8_move_forward",
+    "9_turn_right_90_degrees",
+    "10_move_forward",
+    "11_turn_right_90_degrees"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000020/meta_instructions.txt b/episodes/episode_000020/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e0ad3394312dace58246946f0a3090e4477a5b4
--- /dev/null
+++ b/episodes/episode_000020/meta_instructions.txt
@@ -0,0 +1,11 @@
+Move forward to the corner of the sandbox
+Turn right 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 right, and be careful not to touch the sand pile during the process.
+Move forward to the corner of the sandbox
+Turn right 90 degrees on the spot
+Move forward to the corner of the sandbox
+Turn right 90 degrees on the spot
+Move forward to the corner of the sandbox
+Turn right 90 degrees on the spot
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diff --git a/episodes/episode_000055/meta.json b/episodes/episode_000055/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d485ab95023b02362c8d40a94053dbff79dc357
--- /dev/null
+++ b/episodes/episode_000055/meta.json
@@ -0,0 +1,15 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_56",
+  "num_steps": 38,
+  "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_000055/meta_instructions.txt b/episodes/episode_000055/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c58d9353b8cda4f3f06892cdaa8753ca77f804b6
--- /dev/null
+++ b/episodes/episode_000055/meta_instructions.txt
@@ -0,0 +1,3 @@
+Rotate 360 degrees to the right and stay in place for about one second every 90 degrees
+Cross a mound with wood and white cloth on the right side
+Move forward to red marker object.
diff --git a/episodes/episode_000073/meta.json b/episodes/episode_000073/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e8329bc192620b78b201821bf237f4ac927e83
--- /dev/null
+++ b/episodes/episode_000073/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_22",
+  "num_steps": 227,
+  "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_000073/meta_instructions.txt b/episodes/episode_000073/meta_instructions.txt
new file mode 100644
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--- /dev/null
+++ b/episodes/episode_000073/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 branch located at the flat hill. Then lift the branch. 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 branch into the container, being careful not to put it in too fast or too slow.
diff --git a/episodes/episode_000105/meta.json b/episodes/episode_000105/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c813c05555b132dfd0261d1f4cc50e2b713fa31b
--- /dev/null
+++ b/episodes/episode_000105/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_51",
+  "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_move_to_container",
+    "4_place_bottle_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000105/meta_instructions.txt b/episodes/episode_000105/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..87d5a2a7153580b199b4bf8868332f8b3b4567d7
--- /dev/null
+++ b/episodes/episode_000105/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 left in place, move forward 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_000137/meta.json b/episodes/episode_000137/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..066e94fd86d92bf71628034648770b0657f9286a
--- /dev/null
+++ b/episodes/episode_000137/meta.json
@@ -0,0 +1,15 @@
+{
+  "task": "sample",
+  "original_episode": "episode_9",
+  "num_steps": 400,
+  "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_place_branch_to_container"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000137/meta_instructions.txt b/episodes/episode_000137/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..245a47f9047a21194958e6646260e39e217daa82
--- /dev/null
+++ b/episodes/episode_000137/meta_instructions.txt
@@ -0,0 +1,3 @@
+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 branch standing upright in the dune for sampling and pick it up,being careful not to grab too tightly or too loosely.
+Place the sample branch into the container located on the right side of the dune,being careful not to place too fast or slowly.
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