---
date: 2026-06-26
phase: 4
headline: Finish evals + start collecting cup spill task
---

## What we did
- Finished eval week — last baseline closed out.
- Started collecting demos for the new **CupSpill** task (multi-stage: reorient dropped cup → pick towel → wipe spill).
- Trained on CupSpill same day; first impression "works decently."
- Side errands: printed ArUco boards for the bimanual setup; small CAD block on the own-robot REDO track.

## Next steps
- Eval CupSpill tomorrow (Sat Jun 27) on in-dist.
- Decide whether CupSpill replaces or sits alongside the egg pick-place task as the YAM dexterous anchor for the figure.