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 in Tray (FR3) - 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 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)