Mug Pour — 6 notes, legato phrase Mug Pour (birdview) Sponge Wash — 7 notes, legato phrase Sweep Cubes — 6 notes Bimanual T-shirt Fold — grand staff T-shirt Fold (single-arm) — 13 notes Utensils Sort — 10 notes Plushie in Bowl (UR10e) — 5 notes Gold Block Stack (UR10e) — 4 notes Stack Block (UR10e) — 4 notes Utensils in Tray (UR10e) — 9 notes Bowl on Stove (LIBERO sim) — 5 notes Soup + Cheese to Basket (LIBERO sim) — 10 notes Both Moka Pots (LIBERO sim) — 10 notes Wipe (CaP-Bench sim) — 1 note Nut Assembly (CaP-Bench sim) — 5 notes Stack (CaP-Bench sim) — 4 notes Lift (CaP-Bench sim) — 3 notes Cube Restack (CaP-Bench sim) — 4 notes Two-Arm Lift (CaP-Bench sim) — grand staff Two-Arm Handover (CaP-Bench sim) — grand staff Goal: Cream Cheese in Bowl (LIBERO-PRO) — 5 notes Goal: Wine Bottle on Rack (LIBERO-PRO) — 5 notes Object: Cream Cheese to Basket (LIBERO-PRO) — 5 notes Object: Milk to Basket (LIBERO-PRO) — 5 notes Object: Tomato Sauce to Basket (LIBERO-PRO) — 5 notes Spatial: Bowl next to Ramekin (LIBERO-PRO) — 5 notes Spatial: Bowl from Table Center (LIBERO-PRO) — 5 notes Medley — 10 tasks, sim + 3 robots (loop)