Mug Pour — 6 notes, legato phrase Mug Pour (birdview) Sponge Wash — 6 notes, legato phrase Sweep Cubes — 5 notes Bimanual T-shirt Fold — grand staff Bimanual Sweep — grand staff T-shirt Fold (single-arm) — 8 notes Silverware Sort — 9 notes Plushie in Bowl (UR10e) — 5 notes Utensils in Tray (UR10e) — 9 notes Dustpan — 2 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 Stack (CaP-Bench sim) — 4 notes Lift (CaP-Bench sim) — 3 notes Medley — 10 tasks, sim + 3 robots (loop)