- Flap open/close (oven door)

- Slide open/close (drawer)

- Slide in/out (slideable shelf)

- Cap open/close (screw caps)

- Pick/place (for relatively easy situations on flat surfaces, not bin picking)

- Wipe

"Wipe" doesn't have a reverse operation, and #12 is not illustrated.

The main thing here is that the robot has much force sensing, and interpreting that data is hard. So they had people do this with a teleoperator with force feedback, and fed that into a machine learning system. What this is really about is how to use force feedback data effectively. People have struggled with this for key-in-lock and part assembly for decades.

Seems like good work on a longstanding hard problem, but not a breakthrough.