With the same syringe, draw from the right container and deposit into the left. The operator started from a perching waypoint to draw and triggered a second waypoint that brings the target container into clear view to deposit; both policies were trained on the same demonstrations. Ours is Hybrid Imitation Learning on Diffusion Policy with the learned primitive channel; DP is the same Diffusion Policy trained on the same TAP-collected demonstrations without the channel. Seven initial configurations, sampled with the same seed for both policies, each executed three times (21 rollouts per policy): Ours 15 (71%) vs DP 13 (62%) successes. Below, all 21 rollouts per policy: one video per initial configuration, each showing the three repetitions of that configuration back to back.