#include <bits/stdc++.h>
using namespace std;
int32_t main() {
  int n;
  cin >> n;
  int a[n], b[n][2];
  for (int i = 0; i < n; i++) cin >> a[i];
  for (int i = 0; i < n; i++) {
    cin >> b[i][0];
    b[i][1] = b[i][0];
    b[i][0] += i;
  }
  int maxdist = n - 1 - a[n - 1];
  int prev = n - 1;
  if (maxdist < 0) {
    cout << "1\n0\n";
    return 0;
  }
  int step = 1;
  vector<int> aa;
  while (true) {
    if (maxdist < 0) {
      cout << step << "\n";
      aa.push_back(0);
      for (auto x : aa) {
        cout << x << " ";
      }
      cout << "\n";
      return 0;
    }
    vector<pair<int, int>> v;
    for (int i = maxdist; i < prev; i++) {
      v.push_back({b[i][0], i});
    }
    prev = maxdist;
    int p = -1;
    for (auto ind : v) {
      if (ind.first - a[ind.first] < maxdist) {
        p = ind.second + 1;
        maxdist = ind.first - a[ind.first];
      }
    }
    aa.push_back(p);
    if (prev == maxdist) {
      cout << "-1\n";
      return 0;
    }
    step++;
  }
}
