#include <bits/stdc++.h>
#pragma GCC optimize("O3")
#pragma GCC optimize("unroll-loops")
using namespace std;
constexpr long long mod = 998244353;
const long long INF = mod * mod;
const long double eps = 1e-8;
const long double pi = acosl(-1.0);
long long mod_pow(long long x, long long n, long long m = mod) {
  if (n < 0) {
    long long res = mod_pow(x, -n, m);
    return mod_pow(res, m - 2, m);
  }
  if (abs(x) >= m) x %= m;
  if (x < 0) x += m;
  long long res = 1;
  while (n) {
    if (n & 1) res = res * x % m;
    x = x * x % m;
    n >>= 1;
  }
  return res;
}
struct modint {
  long long n;
  modint() : n(0) { ; }
  modint(long long m) : n(m) {
    if (n >= mod)
      n %= mod;
    else if (n < 0)
      n = (n % mod + mod) % mod;
  }
  operator int() { return n; }
};
bool operator==(modint a, modint b) { return a.n == b.n; }
modint operator+=(modint& a, modint b) {
  a.n += b.n;
  if (a.n >= mod) a.n -= mod;
  return a;
}
modint operator-=(modint& a, modint b) {
  a.n -= b.n;
  if (a.n < 0) a.n += mod;
  return a;
}
modint operator*=(modint& a, modint b) {
  a.n = ((long long)a.n * b.n) % mod;
  return a;
}
modint operator+(modint a, modint b) { return a += b; }
modint operator-(modint a, modint b) { return a -= b; }
modint operator*(modint a, modint b) { return a *= b; }
modint operator^(modint a, long long n) {
  if (n == 0) return modint(1);
  modint res = (a * a) ^ (n / 2);
  if (n % 2) res = res * a;
  return res;
}
long long inv(long long a, long long p) {
  return (a == 1 ? 1 : (1 - p * inv(p % a, a)) / a + p);
}
modint operator/(modint a, modint b) { return a * modint(inv(b, mod)); }
modint operator/=(modint& a, modint b) {
  a = a / b;
  return a;
}
const int max_n = 1 << 2;
modint fact[max_n], factinv[max_n];
void init_f() {
  fact[0] = modint(1);
  for (int i = 0; i < max_n - 1; i++) {
    fact[i + 1] = fact[i] * modint(i + 1);
  }
  factinv[max_n - 1] = modint(1) / fact[max_n - 1];
  for (int i = max_n - 2; i >= 0; i--) {
    factinv[i] = factinv[i + 1] * modint(i + 1);
  }
}
modint comb(int a, int b) {
  if (a < 0 || b < 0 || a < b) return 0;
  return fact[a] * factinv[b] * factinv[a - b];
}
modint combP(int a, int b) {
  if (a < 0 || b < 0 || a < b) return 0;
  return fact[a] * factinv[a - b];
}
long long gcd(long long x, long long y) {
  x = abs(x), y = abs(y);
  if (x < y) swap(x, y);
  while (y) {
    long long r = x % y;
    x = y;
    y = r;
  }
  return x;
}
void solve() {
  int n;
  cin >> n;
  vector<int> a(n);
  for (int i = 0; i < n; i++) cin >> a[i];
  vector<int> b(n);
  for (int i = 0; i < n; i++) cin >> b[i];
  vector<int> dp(n + 1, mod);
  vector<int> pre(n + 1);
  dp[n] = 0;
  int loc = n - 1;
  for (int i = n - 1; i >= 0; i--) {
    int id = i + 1;
    int val = dp[id];
    int to = i + b[i];
    int ri = to - a[to] + 1;
    while (ri <= loc) {
      dp[loc] = val + 1;
      pre[loc] = id;
      loc--;
    }
  }
  int ans = dp[0];
  if (ans >= mod / 2) {
    cout << -1 << "\n";
    return;
  }
  vector<int> v;
  int cur = 0;
  while (cur != n) {
    v.push_back(cur);
    cur = pre[cur];
  }
  reverse((v).begin(), (v).end());
  cout << ans << "\n";
  for (int i = 0; i < v.size(); i++) {
    if (i > 0) cout << " ";
    cout << v[i];
  }
  cout << "\n";
}
signed main() {
  ios::sync_with_stdio(false);
  cin.tie(0);
  solve();
  return 0;
}
