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: 
  import java.io.*;
  import java.util.*;
  
  public final class Main {
  
      static PrintWriter out = new PrintWriter(System.out);
      static FastReader in = new FastReader();
      static Pair[] moves = new Pair[]{new Pair(-1, 0), new Pair(1, 0), new Pair(0, -1), new Pair(0, 1)};
      static int mod = (int) (1e9 + 7);
      static int mod2 = 998244353;
  
      public static void main(String[] args) {
          int tt = 1;
          while (tt-- > 0) {
              solve();
          }
          out.flush();
      }
  
      static int N = (int) (5e5 + 5);
      static int oo = (int) (1e18 + 7);
      static int n, m;
      static int[] a = new int[N];
      static int[] b = new int[N];
      static List<Integer>[] Adj = new List[N];
      static TreeSet<Pair> se = new TreeSet<>(new Comparator<Pair>() {
          @Override
          public int compare(Pair o1, Pair o2) {
              if (o1.i == o2.i) {
                  return o1.j - o2.j;
              } else {
                  return o1.i - o2.i;
              }
          }
      });
      static int[] mn_dist = new int[N];
      static int[] lst = new int[N];
  
      public static void solve() {
  
          n = i();
          for (int i = 1; i <= n; i++) {
              a[i] = i();
              se.add(new Pair(i - a[i], i));
              Adj[i] = new ArrayList<>();
          }
          for (int i = 1; i <= n; i++) {
              b[i] = i();
              Adj[i + b[i]].add(i);
          }
          for (int i = 1; i <= n; i++) {
              mn_dist[i] = oo;
          }
          Queue<Integer> bfs = new LinkedList<>();
          for (int i = 1; i <= n; i++) {
              if (i == a[i]) {
                  mn_dist[i] = 1;
                  lst[i] = 0;
                  se.remove(new Pair(i - a[i], i));
                  bfs.offer(i);
              }
          }
          while (!bfs.isEmpty()) {
              int u = bfs.poll();
              for (int v : Adj[u]) {
                  Set<Pair> del = new HashSet<>();
                  for (Pair it : se) {
                      if (it.i > v) {
                          break;
                      }
                      del.add(it);
                      bfs.offer(it.j);
                      // cout << u << " " << v << " " << it.se << "\n";
                      mn_dist[it.j] = mn_dist[u] + 1;
                      lst[it.j] = v;
                  }
                  for (Pair p : del) {
                      se.remove(p);
                  }
              }
          }
          if (mn_dist[n] == oo) {
              out.println(-1);
              return;
          }
          out.println(mn_dist[n]);
          int itr = n;
          for (int i = 0; i < mn_dist[n]; i++) {
              out.print(lst[itr] + " ");
              itr = lst[itr] + b[lst[itr]];
          }
          out.println();
      }
  
  
      static long[] pre(int[] a) {
          long[] pre = new long[a.length + 1];
          pre[0] = 0;
          for (int i = 0; i < a.length; i++) {
              pre[i + 1] = pre[i] + a[i];
          }
          return pre;
      }
  
      static void print(char A[]) {
          for (char c : A) {
              out.print(c);
          }
          out.println();
      }
  
      static void print(boolean A[]) {
          for (boolean c : A) {
              out.print(c + " ");
          }
          out.println();
      }
  
      static void print(int A[]) {
          for (int c : A) {
              out.print(c + " ");
          }
          out.println();
      }
  
      static void print(long A[]) {
          for (long i : A) {
              out.print(i + " ");
          }
          out.println();
      }
  
      static void print(List<Integer> A) {
          for (int a : A) {
              out.print(a + " ");
          }
      }
  
      static int i() {
          return in.nextInt();
      }
  
      static long l() {
          return in.nextLong();
      }
  
      static String s() {
          return in.nextLine();
      }
  
      static int[][] inputWithIdx(int N) {
          int A[][] = new int[N][2];
          for (int i = 0; i < N; i++) {
              A[i] = new int[]{i, in.nextInt()};
          }
          return A;
      }
  
      static int[] input(int N) {
          int A[] = new int[N];
          for (int i = 0; i < N; i++) {
              A[i] = in.nextInt();
          }
          return A;
      }
  
      static long[] inputLong(int N) {
          long A[] = new long[N];
          for (int i = 0; i < A.length; i++) {
              A[i] = in.nextLong();
          }
          return A;
      }
  
      static int GCD(int a, int b) {
          if (b == 0) {
              return a;
          } else {
              return GCD(b, a % b);
          }
      }
  
      static long GCD(long a, long b) {
          if (b == 0) {
              return a;
          } else {
              return GCD(b, a % b);
          }
      }
  
      static long LCM(int a, int b) {
          return (long) a / GCD(a, b) * b;
      }
  
      static long LCM(long a, long b) {
          return a / GCD(a, b) * b;
      }
  
      static void shuffleAndSort(int[] arr) {
          for (int i = 0; i < arr.length; i++) {
              int rand = (int) (Math.random() * arr.length);
              int temp = arr[rand];
              arr[rand] = arr[i];
              arr[i] = temp;
          }
          Arrays.sort(arr);
      }
  
      static void shuffleAndSort(int[][] arr, Comparator<? super int[]> comparator) {
          for (int i = 0; i < arr.length; i++) {
              int rand = (int) (Math.random() * arr.length);
              int[] temp = arr[rand];
              arr[rand] = arr[i];
              arr[i] = temp;
          }
          Arrays.sort(arr, comparator);
      }
  
      static void shuffleAndSort(long[] arr) {
          for (int i = 0; i < arr.length; i++) {
              int rand = (int) (Math.random() * arr.length);
              long temp = arr[rand];
              arr[rand] = arr[i];
              arr[i] = temp;
          }
          Arrays.sort(arr);
      }
  
      static boolean isPerfectSquare(double number) {
          double sqrt = Math.sqrt(number);
          return ((sqrt - Math.floor(sqrt)) == 0);
      }
  
      static void swap(int A[], int a, int b) {
          int t = A[a];
          A[a] = A[b];
          A[b] = t;
      }
  
      static long pow(long a, long b, int mod) {
          long pow = 1;
          long x = a;
          while (b != 0) {
              if ((b & 1) != 0) {
                  pow = (pow * x) % mod;
              }
              x = (x * x) % mod;
              b /= 2;
          }
          return pow;
      }
  
      static long pow(long a, long b) {
          long pow = 1;
          long x = a;
          while (b != 0) {
              if ((b & 1) != 0) {
                  pow *= x;
              }
              x = x * x;
              b /= 2;
          }
          return pow;
      }
  
      static long modInverse(long x, int mod) {
          return pow(x, mod - 2, mod);
      }
  
      static boolean isPrime(long N) {
          if (N <= 1) {
              return false;
          }
          if (N <= 3) {
              return true;
          }
          if (N % 2 == 0 || N % 3 == 0) {
              return false;
          }
          for (int i = 5; i * i <= N; i = i + 6) {
              if (N % i == 0 || N % (i + 2) == 0) {
                  return false;
              }
          }
          return true;
      }
  
      public static String reverse(String str) {
          if (str == null) {
              return null;
          }
          return new StringBuilder(str).reverse().toString();
      }
  
      public static String repeat(char ch, int repeat) {
          if (repeat <= 0) {
              return "";
          }
          final char[] buf = new char[repeat];
          for (int i = repeat - 1; i >= 0; i--) {
              buf[i] = ch;
          }
          return new String(buf);
      }
  
      public static int[] manacher(String s) {
          char[] chars = s.toCharArray();
          int n = s.length();
          int[] d1 = new int[n];
          for (int i = 0, l = 0, r = -1; i < n; i++) {
              int k = (i > r) ? 1 : Math.min(d1[l + r - i], r - i + 1);
              while (0 <= i - k && i + k < n && chars[i - k] == chars[i + k]) {
                  k++;
              }
              d1[i] = k--;
              if (i + k > r) {
                  l = i - k;
                  r = i + k;
              }
          }
          return d1;
      }
  
      public static int[] kmp(String s) {
          int n = s.length();
          int[] res = new int[n];
          for (int i = 1; i < n; ++i) {
              int j = res[i - 1];
              while (j > 0 && s.charAt(i) != s.charAt(j)) {
                  j = res[j - 1];
              }
              if (s.charAt(i) == s.charAt(j)) {
                  ++j;
              }
              res[i] = j;
          }
          return res;
      }
  }
  
  class Pair {
  
      int i, j;
  
      Pair(int i, int j) {
          this.i = i;
          this.j = j;
      }
  
      @Override
      public boolean equals(Object o) {
          if (this == o) {
              return true;
          }
          if (o == null || getClass() != o.getClass()) {
              return false;
          }
          Pair pair = (Pair) o;
          return i == pair.i && j == pair.j;
      }
  
      @Override
      public int hashCode() {
          return Objects.hash(i, j);
      }
  }
  
  class FastReader {
  
      BufferedReader br;
      StringTokenizer st;
  
      public FastReader() {
          br = new BufferedReader(new InputStreamReader(System.in));
      }
  
      String next() {
          while (st == null || !st.hasMoreElements()) {
              try {
                  st = new StringTokenizer(br.readLine());
              } catch (IOException e) {
                  e.printStackTrace();
              }
          }
          return st.nextToken();
      }
  
      int nextInt() {
          return Integer.parseInt(next());
      }
  
      long nextLong() {
          return Long.parseLong(next());
      }
  
      double nextDouble() {
          return Double.parseDouble(next());
      }
  
      String nextLine() {
          String str = "";
          try {
              str = br.readLine();
          } catch (IOException e) {
              e.printStackTrace();
          }
          return str;
      }
  }
  
  class Node {
  
      int data, open, close;
  
      Node() {
          this(0, 0, 0);
      }
  
      Node(int data, int open, int close) {
          this.data = data;
          this.open = open;
          this.close = close;
      }
  }
  
  class ST {
  
      int n;
      Node[] st;
  
      ST(int n) {
          this.n = n;
          st = new Node[4 * Integer.highestOneBit(n)];
      }
  
      void build(Node[] nodes) {
          build(0, 0, n - 1, nodes);
      }
  
      private void build(int id, int l, int r, Node[] nodes) {
          if (l == r) {
              st[id] = nodes[l];
              return;
          }
          int mid = (l + r) >> 1;
          build((id << 1) + 1, l, mid, nodes);
          build((id << 1) + 2, mid + 1, r, nodes);
          st[id] = comb(st[(id << 1) + 1], st[(id << 1) + 2]);
      }
  
      void update(int i, Node node) {
          update(0, 0, n - 1, i, node);
      }
  
      private void update(int id, int l, int r, int i, Node node) {
          if (i < l || r < i) {
              return;
          }
          if (l == r) {
              st[id] = node;
              return;
          }
          int mid = (l + r) >> 1;
          update((id << 1) + 1, l, mid, i, node);
          update((id << 1) + 2, mid + 1, r, i, node);
          st[id] = comb(st[(id << 1) + 1], st[(id << 1) + 2]);
      }
  
      Node get(int x, int y) {
          return get(0, 0, n - 1, x, y);
      }
  
      private Node get(int id, int l, int r, int x, int y) {
          if (x > r || y < l) {
              return new Node();
          }
          if (x <= l && r <= y) {
              return st[id];
          }
          int mid = (l + r) >> 1;
          return comb(get((id << 1) + 1, l, mid, x, y), get((id << 1) + 2, mid + 1, r, x, y));
      }
  
      Node comb(Node a, Node b) {
          if (a == null) {
              return b;
          }
          if (b == null) {
              return a;
          }
          int min = Math.min(a.open, b.close);
          return new Node(a.data + b.data + min * 2, a.open + b.open - min, a.close + b.close - min);
      }
  }