#include<bits/stdc++.h>

                    using namespace std;
                    const int MOD = (int)1e9 + 7;
                    const int modulo = 998244353;;
                    const int INF = (int)1e9 + 47;
                    const int nax =  3 * (int)1e5 + 10;
                    const int lim = 2 * (int)1e3 + 10 ;
                    const double EPS = 1e-10;
                    #define double long double


                     int a[nax];
                     int b[nax];
                    int used[nax];
                    int up[nax];
                    int p[nax];
                    int q[nax];
                     int main()
                     {
                        #ifndef ONLINE_JUDGE
                         freopen("input.txt", "r", stdin);
                         freopen("output.txt", "w", stdout);
                            #endif
                         ios_base::sync_with_stdio(0),
                         cin.tie(0), cout.tie(0);


                           int n;
                           cin >> n;

                           for(int i = 0; i < n;i++)cin >> a[i];
                           for(int i = 0 ;i < n ;i++)cin >> b[i];
                           reverse(a,a + n);
                           reverse(b,b + n);
                           set<int > s;
                           for(int i = 1; i < n ;i++)s.insert(i);
                           int cnt = 1;
                            int ql = 0 ,qr = 1;
                           q[ql] = 0 ;

                           used[0] = 1;
                           p[0] = -1;
                           while(ql!=qr)
                           {

                            int v = q[ql++];
                             if(v + a[v] >= n)
                             {
                               used[n] = 1;
                               p[n] = v;
                               break;
                             }
                             if(s.empty())continue;
                             auto it = s.upper_bound(v + a[v]);
                             if(it == s.begin())continue;
                             it--;

                             int nw = v  + a[v];
                             while(true)
                             {
                               if(it == s.end() || *it < v)break;
                               if(!used[*it - b[*it]]){
                                p[*it] = v;
                                up[*it - b[*it]] = b[*it];
                                q[qr++] = *it - b[*it];
                                used[*it - b[*it]] = 1;
                              }
                               it = s.erase(it);
                               if(it == s.begin())break;
                               else it--;
                             }
                           }
                           if(!used[n])cout << -1 << '\n';
                           else
                           {
                            int cur = n;
                            vector<int > ans;
                            while(true)
                            {

                              ans.push_back(n - cur);
                              int dist = cur - p[cur];
                              cur-=dist;
                              if(cur == 0)break;
                              cur+=up[cur];
                            }
                            reverse(ans.begin(),ans.end());
                            cout << ans.size() << '\n';
                             cur = 0;
                            for(auto x : ans)
                            {
                              cout << x << ' ';
                            }
                            cout << '\n';
                           }



                     }