diff --git a/episodes/episode_000041/meta.json b/episodes/episode_000041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8a6ef825ec7aa76e053592ae758f9e751c5fdf
--- /dev/null
+++ b/episodes/episode_000041/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_42",
+  "num_steps": 32,
+  "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_corss_hill",
+    "4_move_forward"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000041/meta_instructions.txt b/episodes/episode_000041/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f5dbed043fe5d3578e5145f0a3584e325152148
--- /dev/null
+++ b/episodes/episode_000041/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_000049/meta.json b/episodes/episode_000049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85a68bfb27289824efd245e13ba50b465889584f
--- /dev/null
+++ b/episodes/episode_000049/meta.json
@@ -0,0 +1,15 @@
+{
+  "task": "Cruise_C",
+  "original_episode": "episode_50",
+  "num_steps": 14,
+  "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_turn_left_360_degrees",
+    "3_cross_hill"
+  ]
+}
\ No newline at end of file
diff --git a/episodes/episode_000049/meta_instructions.txt b/episodes/episode_000049/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..140079f6f0c0711e36484d29974cbb582f13ddac
--- /dev/null
+++ b/episodes/episode_000049/meta_instructions.txt
@@ -0,0 +1,3 @@
+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 left and stay in place for about one second every 90 degrees
+Cross around the mound with wood from the left side, and then move to the location of the red marker object
diff --git a/episodes/episode_000069/meta.json b/episodes/episode_000069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c630db9b35f2fe6d096723ca65278374e5e25f
--- /dev/null
+++ b/episodes/episode_000069/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_19",
+  "num_steps": 327,
+  "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_000069/meta_instructions.txt b/episodes/episode_000069/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2dd29dc4b5a00ec0788a34f8cf5312c40295410
--- /dev/null
+++ b/episodes/episode_000069/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.
+Grab the  stone 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 stone into the container,being careful not to place too fast or slowly.
diff --git a/episodes/episode_000107/meta.json b/episodes/episode_000107/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0ef3e5317c556afaad1f44e8b2e2df936cda2a
--- /dev/null
+++ b/episodes/episode_000107/meta.json
@@ -0,0 +1,16 @@
+{
+  "task": "sample",
+  "original_episode": "episode_53",
+  "num_steps": 312,
+  "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_000107/meta_instructions.txt b/episodes/episode_000107/meta_instructions.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4d739b9c415ce8d624da1ded853bf0e5c261dcb
--- /dev/null
+++ b/episodes/episode_000107/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 branch located at the mound. Then lift the branch. Be careful not to grip too tightly or too loosely.
+Walk backward from the sampling point, then turn left in place, move forward,then turn right 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.
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+{
+  "task": "Grasp",
+  "original_episode": "episode_98",
+  "num_steps": 377,
+  "num_meta_actions": 1,
+  "state_dim": 15,
+  "action_dim": 15,
+  "num_points": 4096,
+  "instruction_format": "raw_text_per_meta",
+  "meta_actions": [
+    "1_grasp_branch"
+  ]
+}
\ No newline at end of file
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+Grasp the branch located at the flat hill. Then lift the branch. Be careful not to grip too tightly or too loosely.