description: Frog Gorf is traveling through Swamp kingdom. Unfortunately, after a poor jump, he fell into a well of n meters depth. Now Gorf is on the bottom of the well and has a long way up.
  
  The surface of the well's walls vary in quality: somewhere they are slippery, but somewhere have convenient ledges. In other words, if Gorf is on x meters below ground level, then in one jump he can go up on any integer distance from 0 to a_x meters inclusive. (Note that Gorf can't jump down, only up).
  
  Unfortunately, Gorf has to take a break after each jump (including jump on 0 meters). And after jumping up to position x meters below ground level, he'll slip exactly b_x meters down while resting.
  
  Calculate the minimum number of jumps Gorf needs to reach ground level.
  
  Input
  
  The first line contains a single integer n (1 ≤ n ≤ 300 000) — the depth of the well.
  
  The second line contains n integers a_1, a_2, …, a_n (0 ≤ a_i ≤ i), where a_i is the maximum height Gorf can jump from i meters below ground level.
  
  The third line contains n integers b_1, b_2, …, b_n (0 ≤ b_i ≤ n - i), where b_i is the distance Gorf will slip down if he takes a break on i meters below ground level.
  
  Output
  
  If Gorf can't reach ground level, print -1. Otherwise, firstly print integer k — the minimum possible number of jumps.
  
  Then print the sequence d_1,\,d_2, …,\,d_k where d_j is the depth Gorf'll reach after the j-th jump, but before he'll slip down during the break. Ground level is equal to 0.
  
  If there are multiple answers, print any of them.
  
  Examples
  
  Input
  
  
  3
  0 2 2
  1 1 0
  
  
  Output
  
  
  2
  1 0 
  
  
  Input
  
  
  2
  1 1
  1 0
  
  
  Output
  
  
  -1
  
  
  Input
  
  
  10
  0 1 2 3 5 5 6 7 8 5
  9 8 7 1 5 4 3 2 0 0
  
  
  Output
  
  
  3
  9 4 0 
  
  Note
  
  In the first example, Gorf is on the bottom of the well and jump to the height 1 meter below ground level. After that he slip down by meter and stays on height 2 meters below ground level. Now, from here, he can reach ground level in one jump.
  
  In the second example, Gorf can jump to one meter below ground level, but will slip down back to the bottom of the well. That's why he can't reach ground level.
  
  In the third example, Gorf can reach ground level only from the height 5 meters below the ground level. And Gorf can reach this height using a series of jumps 10 ⇒ 9 \dashrightarrow 9 ⇒ 4 \dashrightarrow 5 where ⇒ is the jump and \dashrightarrow is slipping during breaks.
solution: from collections import deque
  import os
  import sys
  from io import BytesIO, IOBase
   
  # region fastio
   
  BUFSIZE = 8192
   
   
  class FastIO(IOBase):
      newlines = 0
   
      def __init__(self, file):
          self._fd = file.fileno()
          self.buffer = BytesIO()
          self.writable = "x" in file.mode or "r" not in file.mode
          self.write = self.buffer.write if self.writable else None
   
      def read(self):
          while True:
              b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
              if not b:
                  break
              ptr = self.buffer.tell()
              self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
          self.newlines = 0
          return self.buffer.read()
   
      def readline(self):
          while self.newlines == 0:
              b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
              self.newlines = b.count(b"\n") + (not b)
              ptr = self.buffer.tell()
              self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
          self.newlines -= 1
          return self.buffer.readline()
   
      def flush(self):
          if self.writable:
              os.write(self._fd, self.buffer.getvalue())
              self.buffer.truncate(0), self.buffer.seek(0)
   
   
  class IOWrapper(IOBase):
      def __init__(self, file):
          self.buffer = FastIO(file)
          self.flush = self.buffer.flush
          self.writable = self.buffer.writable
          self.write = lambda s: self.buffer.write(s.encode("ascii"))
          self.read = lambda: self.buffer.read().decode("ascii")
          self.readline = lambda: self.buffer.readline().decode("ascii")
   
   
  sys.stdin, sys.stdout = IOWrapper(sys.stdin), IOWrapper(sys.stdout)
  input = lambda: sys.stdin.readline().rstrip("\r\n")
  
   
  class SortedList:
      def __init__(self, iterable=[], _load=200):
          """Initialize sorted list instance."""
          values = sorted(iterable)
          self._len = _len = len(values)
          self._load = _load
          self._lists = _lists = [values[i:i + _load] for i in range(0, _len, _load)]
          self._list_lens = [len(_list) for _list in _lists]
          self._mins = [_list[0] for _list in _lists]
          self._fen_tree = []
          self._rebuild = True
   
      def _fen_build(self):
          """Build a fenwick tree instance."""
          self._fen_tree[:] = self._list_lens
          _fen_tree = self._fen_tree
          for i in range(len(_fen_tree)):
              if i | i + 1 < len(_fen_tree):
                  _fen_tree[i | i + 1] += _fen_tree[i]
          self._rebuild = False
   
      def _fen_update(self, index, value):
          """Update `fen_tree[index] += value`."""
          if not self._rebuild:
              _fen_tree = self._fen_tree
              while index < len(_fen_tree):
                  _fen_tree[index] += value
                  index |= index + 1
   
      def _fen_query(self, end):
          """Return `sum(_fen_tree[:end])`."""
          if self._rebuild:
              self._fen_build()
   
          _fen_tree = self._fen_tree
          x = 0
          while end:
              x += _fen_tree[end - 1]
              end &= end - 1
          return x
   
      def _fen_findkth(self, k):
          """Return a pair of (the largest `idx` such that `sum(_fen_tree[:idx]) <= k`, `k - sum(_fen_tree[:idx])`)."""
          _list_lens = self._list_lens
          if k < _list_lens[0]:
              return 0, k
          if k >= self._len - _list_lens[-1]:
              return len(_list_lens) - 1, k + _list_lens[-1] - self._len
          if self._rebuild:
              self._fen_build()
   
          _fen_tree = self._fen_tree
          idx = -1
          for d in reversed(range(len(_fen_tree).bit_length())):
              right_idx = idx + (1 << d)
              if right_idx < len(_fen_tree) and k >= _fen_tree[right_idx]:
                  idx = right_idx
                  k -= _fen_tree[idx]
          return idx + 1, k
   
      def _delete(self, pos, idx):
          """Delete value at the given `(pos, idx)`."""
          _lists = self._lists
          _mins = self._mins
          _list_lens = self._list_lens
   
          self._len -= 1
          self._fen_update(pos, -1)
          del _lists[pos][idx]
          _list_lens[pos] -= 1
   
          if _list_lens[pos]:
              _mins[pos] = _lists[pos][0]
          else:
              del _lists[pos]
              del _list_lens[pos]
              del _mins[pos]
              self._rebuild = True
   
      def _loc_left(self, value):
          """Return an index pair that corresponds to the first position of `value` in the sorted list."""
          if not self._len:
              return 0, 0
   
          _lists = self._lists
          _mins = self._mins
   
          lo, pos = -1, len(_lists) - 1
          while lo + 1 < pos:
              mi = (lo + pos) >> 1
              if value <= _mins[mi]:
                  pos = mi
              else:
                  lo = mi
   
          if pos and value <= _lists[pos - 1][-1]:
              pos -= 1
   
          _list = _lists[pos]
          lo, idx = -1, len(_list)
          while lo + 1 < idx:
              mi = (lo + idx) >> 1
              if value <= _list[mi]:
                  idx = mi
              else:
                  lo = mi
   
          return pos, idx
   
      def _loc_right(self, value):
          """Return an index pair that corresponds to the last position of `value` in the sorted list."""
          if not self._len:
              return 0, 0
   
          _lists = self._lists
          _mins = self._mins
   
          pos, hi = 0, len(_lists)
          while pos + 1 < hi:
              mi = (pos + hi) >> 1
              if value < _mins[mi]:
                  hi = mi
              else:
                  pos = mi
   
          _list = _lists[pos]
          lo, idx = -1, len(_list)
          while lo + 1 < idx:
              mi = (lo + idx) >> 1
              if value < _list[mi]:
                  idx = mi
              else:
                  lo = mi
   
          return pos, idx
   
      def add(self, value):
          """Add `value` to sorted list."""
          _load = self._load
          _lists = self._lists
          _mins = self._mins
          _list_lens = self._list_lens
   
          self._len += 1
          if _lists:
              pos, idx = self._loc_right(value)
              self._fen_update(pos, 1)
              _list = _lists[pos]
              _list.insert(idx, value)
              _list_lens[pos] += 1
              _mins[pos] = _list[0]
              if _load + _load < len(_list):
                  _lists.insert(pos + 1, _list[_load:])
                  _list_lens.insert(pos + 1, len(_list) - _load)
                  _mins.insert(pos + 1, _list[_load])
                  _list_lens[pos] = _load
                  del _list[_load:]
                  self._rebuild = True
          else:
              _lists.append([value])
              _mins.append(value)
              _list_lens.append(1)
              self._rebuild = True
   
      def discard(self, value):
          """Remove `value` from sorted list if it is a member."""
          _lists = self._lists
          if _lists:
              pos, idx = self._loc_right(value)
              if idx and _lists[pos][idx - 1] == value:
                  self._delete(pos, idx - 1)
   
      def remove(self, value):
          """Remove `value` from sorted list; `value` must be a member."""
          _len = self._len
          self.discard(value)
          if _len == self._len:
              raise ValueError('{0!r} not in list'.format(value))
   
      def pop(self, index=-1):
          """Remove and return value at `index` in sorted list."""
          pos, idx = self._fen_findkth(self._len + index if index < 0 else index)
          value = self._lists[pos][idx]
          self._delete(pos, idx)
          return value
   
      def bisect_left(self, value):
          """Return the first index to insert `value` in the sorted list."""
          pos, idx = self._loc_left(value)
          return self._fen_query(pos) + idx
   
      def bisect_right(self, value):
          """Return the last index to insert `value` in the sorted list."""
          pos, idx = self._loc_right(value)
          return self._fen_query(pos) + idx
   
      def count(self, value):
          """Return number of occurrences of `value` in the sorted list."""
          return self.bisect_right(value) - self.bisect_left(value)
   
      def __len__(self):
          """Return the size of the sorted list."""
          return self._len
   
      def __getitem__(self, index):
          """Lookup value at `index` in sorted list."""
          pos, idx = self._fen_findkth(self._len + index if index < 0 else index)
          return self._lists[pos][idx]
   
      def __delitem__(self, index):
          """Remove value at `index` from sorted list."""
          pos, idx = self._fen_findkth(self._len + index if index < 0 else index)
          self._delete(pos, idx)
   
      def __contains__(self, value):
          """Return true if `value` is an element of the sorted list."""
          _lists = self._lists
          if _lists:
              pos, idx = self._loc_left(value)
              return idx < len(_lists[pos]) and _lists[pos][idx] == value
          return False
   
      def __iter__(self):
          """Return an iterator over the sorted list."""
          return (value for _list in self._lists for value in _list)
   
      def __reversed__(self):
          """Return a reverse iterator over the sorted list."""
          return (value for _list in reversed(self._lists) for value in reversed(_list))
   
      def __repr__(self):
          """Return string representation of sorted list."""
          return 'SortedList({0})'.format(list(self))
  
  inf = float('inf')
  
  n = int(input())
  a = [0] + list(map(int,input().split()))
  b = [0] + list(map(int,input().split()))
  
  dist = [inf]*(n+1)
  pred = [-1]*(n+1)
  dist[n] = 0
  
  A = SortedList(list(range(0,n)))
  q = deque([n])
  
  while q:
      u0 = q.popleft()
      u = u0 + b[u0]
  
      idx = A.bisect_left(u - a[u])
      while idx < len(A):
          v = A[idx]
          if v <= u:
              dist[v] = 1 + dist[u0]
              A.remove(v)
              pred[v] = u0
              q.append(v)
  
          else:
              break
  
  if dist[0] == inf:
      print(-1)
      exit()
  
  ans = []
  cur = 0
  while not (ans and ans[-1] == cur):
      ans.append(cur)
      cur = pred[cur]
  
  ans.pop()
  ans.pop()
  
  print(dist[0])
  print(*ans[::-1])
  