diff --git a/episodes/episode_000021/meta.json b/episodes/episode_000021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..254c0c87d1f484a5f09c655dd5e03a73ffe5b1f9
--- /dev/null
+++ b/episodes/episode_000021/meta.json
@@ -0,0 +1,23 @@
+{
+  "task": "Cruise_B",
+  "original_episode": "episode_22",
+  "num_steps": 65,
+  "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_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"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000021/meta_instructions.txt b/episodes/episode_000021/meta_instructions.txt
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+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
+Move forward to the corner of the sandbox
+Turn left 90 degrees
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diff --git a/episodes/episode_000058/meta.json b/episodes/episode_000058/meta.json
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--- /dev/null
+++ b/episodes/episode_000058/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_59",
+  "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_000058/meta_instructions.txt b/episodes/episode_000058/meta_instructions.txt
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+++ b/episodes/episode_000058/meta_instructions.txt
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+Move forward to a flat dune with a water bottle on top.
+Rotate 360 degrees to the right and stay in place for about one second every 90 degrees
+Cross a flat dune with a water bottle on top on the right side
+Move forward to red marker.
diff --git a/episodes/episode_000068/meta.json b/episodes/episode_000068/meta.json
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+++ b/episodes/episode_000068/meta.json
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+{
+  "task": "sample",
+  "original_episode": "episode_18",
+  "num_steps": 247,
+  "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
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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 long piece of branch for sampling and pick it up,being careful not to grab too tightly or too loosely.
+Walk a distance back and then turn right until you reach the container where the sample is placed
+Place the sample wood into the container,being careful not to place too fast or slowly.
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+{
+  "task": "Search_Move_Container",
+  "original_episode": "episode_104",
+  "num_steps": 42,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
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+    "1_move_to_black_container"
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+}
\ No newline at end of file
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+Detect the black container, then move to the container, taking care not to bump into any obstacles.