diff --git a/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondDialogStates.cs b/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondDialogStates.cs
index 06f1bf09a..26b6758b7 100644
--- a/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondDialogStates.cs
+++ b/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondDialogStates.cs
@@ -71,8 +71,8 @@ public override IEnumerable<DialogAction> GetNextDialogActions(IInputEvent input
                 {
                     if (speechRecognitionInputEvent.SpeechRecognitionResult.Contains("ready"))
                     {
-                        yield return DialogAction.Execute(interactionModel.StartTask);
-                        yield return DialogAction.Execute(interactionModel.ContinueWithSelectedStep);
+                        var isKnownTask = interactionModel.TryGetKnownTask();
+                        yield return DialogAction.Execute(interactionModel.BeginTask(isKnownTask));
                     }
                     else
                     {
@@ -129,104 +129,8 @@ public override IEnumerable<DialogAction> GetNextDialogActions(IInputEvent input
                         // Move to a glanceable position
                         yield return DialogAction.Execute(interactionModel.MoveToGlanceablePosition);
 
-                        if (interactionModel.Configuration.TaskGenerationPolicy == TaskGenerationPolicy.FromLibraryOnly)
-                        {
-                            if (isKnownTask)
-                            {
-                                yield return DialogAction.Execute(interactionModel.StartTask);
-                                yield return DialogAction.Execute(interactionModel.ContinueWithSelectedStep);
-                            }
-                            else
-                            {
-                                yield return DialogAction.Speak("I'm sorry but I don't know how to help with this task.");
-                                yield return DialogAction.Speak("Is there anything else you'd like to do today?");
-                                yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
-                            }
-                        }
-                        else if (interactionModel.Configuration.TaskGenerationPolicy == TaskGenerationPolicy.FromLibraryOrLLMGenerate)
-                        {
-                            if (isKnownTask)
-                            {
-                                yield return DialogAction.Execute(interactionModel.StartTask);
-                                yield return DialogAction.Execute(interactionModel.ContinueWithSelectedStep);
-                            }
-                            else
-                            {
-                                // O/w if we are setup to ask context questions
-                                if (interactionModel.Configuration.AskContextQuestionsBeforeGeneratingTask)
-                                {
-                                    // Get the context questions
-                                    yield return DialogAction.Execute(interactionModel.GetContextQuestions);
-                                    if (interactionModel.InteractionState.ContextQuestions == null)
-                                    {
-                                        yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
-                                        yield return DialogAction.Speak("Is there anything else you'd like to do today?");
-                                        yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
-                                    }
-                                    else
-                                    {
-                                        yield return DialogAction.Speak("First, a couple of quick questions.");
-                                        yield return DialogAction.ContinueWith<AskContextQuestions>();
-                                    }
-                                }
-                                else
-                                {
-                                    // Generate the task
-                                    yield return DialogAction.Execute(interactionModel.GenerateTask);
-                                    if (interactionModel.InteractionState.Task == null)
-                                    {
-                                        yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
-                                        yield return DialogAction.Speak("Is there anything else you'd like to do today?");
-                                        yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
-                                    }
-                                    else
-                                    {
-                                        yield return DialogAction.Execute(interactionModel.StartTask);
-                                        yield return DialogAction.Execute(interactionModel.ContinueWithSelectedStep);
-                                    }
-                                }
-                            }
-                        }
-                        else if (interactionModel.Configuration.TaskGenerationPolicy == TaskGenerationPolicy.AlwaysLLMGenerate)
-                        {
-                            // O/w if we are setup to ask context questions
-                            if (interactionModel.Configuration.AskContextQuestionsBeforeGeneratingTask)
-                            {
-                                // Get the context questions
-                                yield return DialogAction.Execute(interactionModel.GetContextQuestions);
-                                if (interactionModel.InteractionState.ContextQuestions == null)
-                                {
-                                    yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
-                                    yield return DialogAction.Speak("Is there anything else you'd like to do today?");
-                                    yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
-                                }
-                                else
-                                {
-                                    yield return DialogAction.Speak("First, a couple of quick questions.");
-                                    yield return DialogAction.ContinueWith<AskContextQuestions>();
-                                }
-                            }
-                            else
-                            {
-                                // Generate the task
-                                yield return DialogAction.Execute(interactionModel.GenerateTask);
-                                if (interactionModel.InteractionState.Task == null)
-                                {
-                                    yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
-                                    yield return DialogAction.Speak("Is there anything else you'd like to do today?");
-                                    yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
-                                }
-                                else
-                                {
-                                    yield return DialogAction.Execute(interactionModel.StartTask);
-                                    yield return DialogAction.Execute(interactionModel.ContinueWithSelectedStep);
-                                }
-                            }
-                        }
-                        else
-                        {
-                            throw new System.Exception("Unexpected GuidanceTaskGenerationPolicy.");
-                        }
+                        // And begin the task
+                        yield return DialogAction.Execute(interactionModel.BeginTask(isKnownTask));
                     }
                     else if (interactionModel.InteractionState.TopLevelIntent == "list")
                     {
diff --git a/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondInteractionModel.cs b/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondInteractionModel.cs
index 6c5baa06d..1f8b8cf5c 100644
--- a/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondInteractionModel.cs
+++ b/Applications/Sigma/Sigma/InteractionModels/Diamond/DiamondInteractionModel.cs
@@ -5,6 +5,7 @@ namespace Sigma.Diamond
 {
     using System;
     using System.Collections.Generic;
+    using static Sigma.Diamond.DiamondDialogStates;
 
     /// <summary>
     /// Represents the interaction model for the Diamond version of the Sigma app.
@@ -17,6 +18,114 @@ public class DiamondInteractionModel : SigmaInteractionModel<
         DiamondUserInterfaceState,
         DiamondUserInterfaceCommands>
     {
+        /// <summary>
+        /// Begins the task.
+        /// </summary>
+        /// <param name="isKnownTask">Indicates whether this is a known (library) task.</param>
+        /// <returns>The set of corresponding dialog actions.</returns>
+        /// <exception cref="Exception">An exception is thrown if the task generation policy is unknown.</exception>
+        public virtual IEnumerable<DialogAction> BeginTask(bool isKnownTask)
+        {
+            if (this.Configuration.TaskGenerationPolicy == TaskGenerationPolicy.FromLibraryOnly)
+            {
+                if (isKnownTask)
+                {
+                    yield return DialogAction.Execute(this.StartTask);
+                    yield return DialogAction.Execute(this.ContinueWithSelectedStep);
+                }
+                else
+                {
+                    yield return DialogAction.Speak("I'm sorry but I don't know how to help with this task.");
+                    yield return DialogAction.Speak("Is there anything else you'd like to do today?");
+                    yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
+                }
+            }
+            else if (this.Configuration.TaskGenerationPolicy == TaskGenerationPolicy.FromLibraryOrLLMGenerate)
+            {
+                if (isKnownTask)
+                {
+                    yield return DialogAction.Execute(this.StartTask);
+                    yield return DialogAction.Execute(this.ContinueWithSelectedStep);
+                }
+                else
+                {
+                    // O/w if we are setup to ask context questions
+                    if (this.Configuration.AskContextQuestionsBeforeGeneratingTask)
+                    {
+                        // Get the context questions
+                        yield return DialogAction.Execute(this.GetContextQuestions);
+                        if (this.InteractionState.ContextQuestions == null)
+                        {
+                            yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
+                            yield return DialogAction.Speak("Is there anything else you'd like to do today?");
+                            yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
+                        }
+                        else
+                        {
+                            yield return DialogAction.Speak("First, a couple of quick questions.");
+                            yield return DialogAction.ContinueWith<AskContextQuestions>();
+                        }
+                    }
+                    else
+                    {
+                        // Generate the task
+                        yield return DialogAction.Execute(this.GenerateTask);
+                        if (this.InteractionState.Task == null)
+                        {
+                            yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
+                            yield return DialogAction.Speak("Is there anything else you'd like to do today?");
+                            yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
+                        }
+                        else
+                        {
+                            yield return DialogAction.Execute(this.StartTask);
+                            yield return DialogAction.Execute(this.ContinueWithSelectedStep);
+                        }
+                    }
+                }
+            }
+            else if (this.Configuration.TaskGenerationPolicy == TaskGenerationPolicy.AlwaysLLMGenerate)
+            {
+                // O/w if we are setup to ask context questions
+                if (this.Configuration.AskContextQuestionsBeforeGeneratingTask)
+                {
+                    // Get the context questions
+                    yield return DialogAction.Execute(this.GetContextQuestions);
+                    if (this.InteractionState.ContextQuestions == null)
+                    {
+                        yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
+                        yield return DialogAction.Speak("Is there anything else you'd like to do today?");
+                        yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
+                    }
+                    else
+                    {
+                        yield return DialogAction.Speak("First, a couple of quick questions.");
+                        yield return DialogAction.ContinueWith<AskContextQuestions>();
+                    }
+                }
+                else
+                {
+                    // Generate the task
+                    yield return DialogAction.Execute(this.GenerateTask);
+                    if (this.InteractionState.Task == null)
+                    {
+                        yield return DialogAction.Speak("I'm sorry but I don't think I can actually help with this task.");
+                        yield return DialogAction.Speak("Is there anything else you'd like to do today?");
+                        yield return DialogAction.ContinueWith<WhatAreWeDoing>(noSpeechSynthesis: true);
+                    }
+                    else
+                    {
+                        yield return DialogAction.Execute(this.StartTask);
+                        yield return DialogAction.Execute(this.ContinueWithSelectedStep);
+                    }
+                }
+            }
+            else
+            {
+                throw new Exception("Unexpected TaskGenerationPolicy.");
+            }
+        }
+
         /// <summary>
         /// Abandons the task.
         /// </summary>
diff --git a/Applications/Sigma/Sigma/SigmaInteractionModel.cs b/Applications/Sigma/Sigma/SigmaInteractionModel.cs
index 148178f3a..82db7f5a9 100644
--- a/Applications/Sigma/Sigma/SigmaInteractionModel.cs
+++ b/Applications/Sigma/Sigma/SigmaInteractionModel.cs
@@ -348,6 +348,7 @@ public virtual IEnumerable<DialogAction> GenerateTask()
                 this.InteractionState.Task = new TTask()
                 {
                     Name = this.InteractionState.TaskName,
+                    Steps = new (),
                 };
 
                 this.InteractionState.Task.Steps.Add(new GatherStep("1", "Gather", "Objects", objects));
diff --git a/Applications/Sigma/Sigma/Task/ComplexStep.cs b/Applications/Sigma/Sigma/Task/ComplexStep.cs
index c5d57df2b..b7e1f3dfa 100644
--- a/Applications/Sigma/Sigma/Task/ComplexStep.cs
+++ b/Applications/Sigma/Sigma/Task/ComplexStep.cs
@@ -53,7 +53,12 @@ public ComplexStep(string label, string description)
         public override string GetSpokenInstructions() => this.Description.TrimEnd('.');
 
         /// <inheritdoc/>
-        public override StepPanel UpdateStepPanel(StepPanel stepPanel, TaskPanelUserInterfaceCommand taskPanelUserInterfaceCommand, TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration, string name)
+        public override StepPanel UpdateStepPanel(
+            StepPanel stepPanel,
+            TaskPanelUserInterfaceCommand taskPanelUserInterfaceCommand,
+            TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration,
+            float maxHeight,
+            string name)
         {
             // If it's a complex step panel, update
             var showObjectsChecklist = new List<(string Name, bool Checked, bool Highlight)>();
@@ -78,12 +83,14 @@ public override StepPanel UpdateStepPanel(StepPanel stepPanel, TaskPanelUserInte
                 taskPanelUserInterfaceConfiguration.ComplexStepTaughtObjectTextStyle,
                 taskPanelUserInterfaceConfiguration.SelectionColor,
                 name);
+
             complexStepPanel.Update(
                 this.Label,
                 this.GetDisplayInstructions(),
                 taskPanelUserInterfaceCommand.SelectedSubStepIndex,
                 showObjectsChecklist,
-                subSteps);
+                subSteps,
+                maxHeight);
             return complexStepPanel;
         }
 
diff --git a/Applications/Sigma/Sigma/Task/DoStep.cs b/Applications/Sigma/Sigma/Task/DoStep.cs
index cb49f83d8..41831c9fd 100644
--- a/Applications/Sigma/Sigma/Task/DoStep.cs
+++ b/Applications/Sigma/Sigma/Task/DoStep.cs
@@ -64,7 +64,12 @@ public DoStep(string label, string description, TimeSpan timerDuration)
         public override string GetDisplayInstructions() => this.Description.TrimEnd('.');
 
         /// <inheritdoc/>
-        public override StepPanel UpdateStepPanel(StepPanel stepPanel, TaskPanelUserInterfaceCommand taskPanelUserInterfaceCommand, TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration, string name)
+        public override StepPanel UpdateStepPanel(
+            StepPanel stepPanel,
+            TaskPanelUserInterfaceCommand taskPanelUserInterfaceComman,
+            TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration,
+            float maxHeight,
+            string name)
         {
             var doStepPanel = stepPanel as DoStepPanel ?? new DoStepPanel(
                 taskPanelUserInterfaceConfiguration.Width,
diff --git a/Applications/Sigma/Sigma/Task/GatherStep.cs b/Applications/Sigma/Sigma/Task/GatherStep.cs
index 1009a0bb6..a93897170 100644
--- a/Applications/Sigma/Sigma/Task/GatherStep.cs
+++ b/Applications/Sigma/Sigma/Task/GatherStep.cs
@@ -62,7 +62,12 @@ public GatherStep(string label, string verb, string noun, List<string> objects)
         public override string GetDisplayInstructions() => $"{this.Noun}:";
 
         /// <inheritdoc/>
-        public override StepPanel UpdateStepPanel(StepPanel stepPanel, TaskPanelUserInterfaceCommand taskPanelUserInterfaceCommand, TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration, string name)
+        public override StepPanel UpdateStepPanel(
+            StepPanel stepPanel,
+            TaskPanelUserInterfaceCommand taskPanelUserInterfaceCommand,
+            TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration,
+            float maxHeigth,
+            string name)
         {
             var gatherStepPanel = (stepPanel as GatherStepPanel) ?? new GatherStepPanel(
                 taskPanelUserInterfaceConfiguration.Width,
diff --git a/Applications/Sigma/Sigma/Task/Step.cs b/Applications/Sigma/Sigma/Task/Step.cs
index 37ad8ba69..dd6003805 100644
--- a/Applications/Sigma/Sigma/Task/Step.cs
+++ b/Applications/Sigma/Sigma/Task/Step.cs
@@ -36,9 +36,15 @@ public Step()
         /// <param name="stepPanel">The step panel to update.</param>
         /// <param name="taskPanelUserInterfaceCommand">The task panel user interface command.</param>
         /// <param name="taskPanelUserInterfaceConfiguration">The task panel configuration options.</param>
+        /// <param name="maxHeight">The maximum height for the step panel user interface.</param>
         /// <param name="name">The name for the user interface.</param>
         /// <returns>The user interface for the step.</returns>
-        public virtual StepPanel UpdateStepPanel(StepPanel stepPanel, TaskPanelUserInterfaceCommand taskPanelUserInterfaceCommand, TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration, string name)
+        public virtual StepPanel UpdateStepPanel(
+            StepPanel stepPanel,
+            TaskPanelUserInterfaceCommand taskPanelUserInterfaceCommand,
+            TaskPanelUserInterfaceConfiguration taskPanelUserInterfaceConfiguration,
+            float maxHeight,
+            string name)
             => stepPanel;
 
         /// <inheritdoc/>
diff --git a/Applications/Sigma/Sigma/UserInterface/ComplexStepPanel.cs b/Applications/Sigma/Sigma/UserInterface/ComplexStepPanel.cs
index 97dbccfaf..2124db432 100644
--- a/Applications/Sigma/Sigma/UserInterface/ComplexStepPanel.cs
+++ b/Applications/Sigma/Sigma/UserInterface/ComplexStepPanel.cs
@@ -35,6 +35,9 @@ internal class ComplexStepPanel : StepPanel
         private string instructions;
         private int? selectedSubStepIndex = null;
 
+        private int topSubStepPanelIndex = 0;
+        private int bottomSubStepPanelIndex = 0;
+
         /// <summary>
         /// Initializes a new instance of the <see cref="ComplexStepPanel"/> class.
         /// </summary>
@@ -77,12 +80,14 @@ internal class ComplexStepPanel : StepPanel
         /// <param name="selectedSubStepIndex">The selected substep index.</param>
         /// <param name="objectsChecklist">The objects checklist.</param>
         /// <param name="subSteps">The substeps for the complex step.</param>
+        /// <param name="maxHeight">The maximum height for the complex step panel.</param>
         public void Update(
             string label,
             string instructions,
             int? selectedSubStepIndex,
             List<(string Name, bool Check, bool Highlight)> objectsChecklist,
-            List<(string Label, string Description)> subSteps)
+            List<(string Label, string Description)> subSteps,
+            float maxHeight)
         {
             // Get the corresponding step, step index and instructions
             this.label = label;
@@ -100,7 +105,7 @@ internal class ComplexStepPanel : StepPanel
 
             var offsetV = this.instructionsParagraph.Height;
 
-            if (objectsChecklist.Any())
+            if (objectsChecklist.Count != 0)
             {
                 this.physicalObjectsParagraphs.Update(
                     Enumerable.Range(0, objectsChecklist.Count),
@@ -123,8 +128,10 @@ internal class ComplexStepPanel : StepPanel
 
                 this.subStepPanels.Clear();
             }
-            else if (subSteps.Any())
+            else if (subSteps.Count != 0)
             {
+                this.physicalObjectsParagraphs.Clear();
+
                 this.selectedSubStepIndex = selectedSubStepIndex;
 
                 // Update the collection of sub-step panels
@@ -136,15 +143,47 @@ internal class ComplexStepPanel : StepPanel
                 if (this.subStepPanels.Count > 0)
                 {
                     offsetV += this.padding;
-                }
 
-                for (int i = 0; i < this.subStepPanels.Count; i++)
-                {
-                    this.subStepPanels[i].Update(subSteps[i].Label, subSteps[i].Description);
-                    offsetV += this.subStepPanels[i].Height;
+                    // If we have a selection
+                    if (this.selectedSubStepIndex.HasValue)
+                    {
+                        // Recompute the topSubStepIndex so that the selected sub-step and the next sub-step are in view.
+                        if (this.topSubStepPanelIndex > this.selectedSubStepIndex.Value)
+                        {
+                            this.topSubStepPanelIndex = this.selectedSubStepIndex.Value;
+                        }
+                        else
+                        {
+                            // Compute the vertical offsets for all panels starting with the top panel
+                            // index
+                            var verticalEndPoint = new Dictionary<int, double>();
+                            var v = offsetV;
+                            for (int i = this.topSubStepPanelIndex; i < this.subStepPanels.Count; i++)
+                            {
+                                v += this.subStepPanels[i].Height;
+                                verticalEndPoint[i] = v;
+                            }
+
+                            var selectedStepVerticalEndPoint = verticalEndPoint[this.selectedSubStepIndex.Value];
+                            var nextStepVerticalEndPoint = this.selectedSubStepIndex.Value < this.subStepPanels.Count - 1 ? verticalEndPoint[this.selectedSubStepIndex.Value + 1] : 0;
+                            if (selectedStepVerticalEndPoint > maxHeight || nextStepVerticalEndPoint > maxHeight)
+                            {
+                                this.topSubStepPanelIndex = this.selectedSubStepIndex.Value;
+                            }
+                        }
+
+                        // Compute the bottom substep panel index
+                        for (int i = this.topSubStepPanelIndex;
+                            (i < this.subStepPanels.Count && i == this.topSubStepPanelIndex) ||
+                            (i < this.subStepPanels.Count && offsetV + this.subStepPanels[i].Height <= maxHeight);
+                            i++)
+                        {
+                            this.bottomSubStepPanelIndex = i;
+                            this.subStepPanels[i].Update(subSteps[i].Label, subSteps[i].Description);
+                            offsetV += this.subStepPanels[i].Height;
+                        }
+                    }
                 }
-
-                this.physicalObjectsParagraphs.Clear();
             }
             else
             {
@@ -182,37 +221,38 @@ public override List<Rectangle3DUserInterfaceState> Render(Renderer renderer, Co
                 offsetV += this.physicalObjectsParagraphs[i].Height;
             }
 
-            // Finally, draw the steps. Draw at least one step and draw as long as we're not beyond the panel
-            var hasSelection = false;
-            var selectionOffsetV = 0f;
-            var selectionHeight = 0f;
-
+            // Finally, draw the substeps
             if (this.subStepPanels.Count > 0)
             {
                 offsetV += this.padding;
-            }
 
-            for (int i = 0; i < this.subStepPanels.Count; ++i)
-            {
-                // Draw the step
-                this.subStepPanels[i].Render(renderer, pose.ApplyUV(this.padding + this.labelCircle.Radius * 2 + this.padding, offsetV));
-                offsetV += this.subStepPanels[i].Height;
+                // Finally, draw the steps. Draw at least one step and draw as long as we're not beyond the panel
+                var hasSelection = false;
+                var selectionOffsetV = 0f;
+                var selectionHeight = 0f;
 
-                // If this is the selected step
-                if (this.selectedSubStepIndex.HasValue && this.selectedSubStepIndex.Value == i)
+                for (int i = this.topSubStepPanelIndex; i <= this.bottomSubStepPanelIndex; i++)
                 {
-                    hasSelection = true;
-                    selectionOffsetV = offsetV - this.subStepPanels[i].Height;
-                    selectionHeight = this.subStepPanels[i].Height;
+                    // Draw the step
+                    this.subStepPanels[i].Render(renderer, pose.ApplyUV(this.padding + this.labelCircle.Radius * 2 + this.padding, offsetV));
+                    offsetV += this.subStepPanels[i].Height;
+
+                    // If this is the selected sub-step
+                    if (this.selectedSubStepIndex.HasValue && this.selectedSubStepIndex.Value == i)
+                    {
+                        hasSelection = true;
+                        selectionOffsetV = offsetV - this.subStepPanels[i].Height;
+                        selectionHeight = this.subStepPanels[i].Height;
+                    }
                 }
-            }
 
-            // Now if we have a selection to render
-            if (hasSelection)
-            {
-                var selectionMeshPose = new CoordinateSystem(new Point3D(0, 0, -selectionOffsetV), UnitVector3D.XAxis, UnitVector3D.YAxis, UnitVector3D.ZAxis).TransformBy(pose);
-                var selectionMesh = this.GetOrCreateSelectionMesh(renderer, selectionHeight);
-                renderer.RenderMesh(selectionMeshPose, selectionMesh, this.selectionMeshMaterial);
+                // Now if we have a selection to render
+                if (hasSelection)
+                {
+                    var selectionMeshPose = new CoordinateSystem(new Point3D(0, 0, -selectionOffsetV), UnitVector3D.XAxis, UnitVector3D.YAxis, UnitVector3D.ZAxis).TransformBy(pose);
+                    var selectionMesh = this.GetOrCreateSelectionMesh(renderer, selectionHeight);
+                    renderer.RenderMesh(selectionMeshPose, selectionMesh, this.selectionMeshMaterial);
+                }
             }
 
             return this.GetUserInterfaceState(pose);
@@ -220,24 +260,25 @@ public override List<Rectangle3DUserInterfaceState> Render(Renderer renderer, Co
 
         private Mesh GetOrCreateSelectionMesh(Renderer renderer, float height)
         {
-            if (!this.selectionMeshes.ContainsKey(height))
+            if (!this.selectionMeshes.TryGetValue(height, out Mesh value))
             {
                 // Create the selection mesh
                 var selectionMeshCorners = new List<Point3D>()
                 {
-                    new Point3D(-0.002f, 0, 0),
-                    new Point3D(-0.002f, 0, -height),
-                    new Point3D(-0.002f, this.Width, -height),
-                    new Point3D(-0.002f, this.Width, 0),
+                    new (-0.002f, 0, 0),
+                    new (-0.002f, 0, -height),
+                    new (-0.002f, this.Width, -height),
+                    new (-0.002f, this.Width, 0),
                 };
                 var indices = new List<uint>() { 0, 1, 2, 0, 2, 3 };
                 var selectionMesh = renderer.CreateMesh(selectionMeshCorners, indices);
-                this.selectionMeshes.Add(height, selectionMesh);
+                value = selectionMesh;
+                this.selectionMeshes.Add(height, value);
             }
 
             this.selectionMeshMaterial ??= renderer.GetOrCreateMaterial(this.selectionColor);
 
-            return this.selectionMeshes[height];
+            return value;
         }
     }
 }
diff --git a/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterface.cs b/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterface.cs
index db3f5d86a..57ccc1a67 100644
--- a/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterface.cs
+++ b/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterface.cs
@@ -82,7 +82,7 @@ public TaskPanelUserInterface(TaskPanelUserInterfaceConfiguration configuration,
         /// <param name="taskLibrary">The task library.</param>
         public void Initialize(TaskLibrary<TTask> taskLibrary)
         {
-            this.taskList = taskLibrary.Tasks.Select(t => t.Name).ToList();
+            this.taskList = taskLibrary.Tasks?.Select(t => t.Name)?.ToList();
         }
 
         /// <summary>
@@ -142,12 +142,22 @@ public void Update(TaskPanelUserInterfaceCommand taskPanelCommand)
                 // Update the collection of step panels
                 this.stepPanels.Update(
                     taskPanelCommand.ShowOnlySelectedStep ? new int[] { taskPanelCommand.SelectedStepIndex.Value } : Enumerable.Range(0, taskPanelCommand.Task.Steps.Count),
-                    createKey: i => taskPanelCommand.Task.Steps[i].UpdateStepPanel(null, taskPanelCommand, this.configuration, $"{this.Name}.Step[{i}]"));
+                    createKey: i => taskPanelCommand.Task.Steps[i].UpdateStepPanel(
+                        null,
+                        taskPanelCommand,
+                        this.configuration,
+                        this.configuration.Height - this.taskNameParagraph.Height - this.configuration.Padding,
+                        $"{this.Name}.Step[{i}]"));
 
                 // Now perform an update on each of the panels
                 foreach (var i in this.stepPanels.Keys.ToList())
                 {
-                    this.stepPanels[i] = taskPanelCommand.Task.Steps[i].UpdateStepPanel(this.stepPanels[i], taskPanelCommand, this.configuration, $"{this.Name}.Step[{i}]");
+                    this.stepPanels[i] = taskPanelCommand.Task.Steps[i].UpdateStepPanel(
+                        this.stepPanels[i],
+                        taskPanelCommand,
+                        this.configuration,
+                        this.configuration.Height - this.taskNameParagraph.Height - this.configuration.Padding,
+                        $"{this.Name}.Step[{i}]");
                 }
             }
         }
@@ -239,7 +249,7 @@ public override List<Rectangle3DUserInterfaceState> Render(Renderer renderer, Co
                     // Finally, draw the steps. Draw at least one step and draw as long as we're not beyond the panel
                     for (int i = this.topStepPanelIndex;
                         (i < this.stepPanels.Count && i == this.topStepPanelIndex) ||
-                        (i < this.stepPanels.Count && offsetV + this.stepPanels[i].Height < this.configuration.Height);
+                        (i < this.stepPanels.Count && offsetV + this.stepPanels[i].Height <= this.configuration.Height);
                         i++)
                     {
                         // Draw the step
diff --git a/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterfaceConfiguration.cs b/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterfaceConfiguration.cs
index 4f927f0e3..391ee17d3 100644
--- a/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterfaceConfiguration.cs
+++ b/Applications/Sigma/Sigma/UserInterface/TaskPanelUserInterfaceConfiguration.cs
@@ -34,7 +34,7 @@ public class TaskPanelUserInterfaceConfiguration
         /// <summary>
         /// Gets or sets the thickness (m) of editing handle.
         /// </summary>
-        public float Height { get; set; } = 0.15f;
+        public float Height { get; set; } = 0.18f;
 
         /// <summary>
         /// Gets or sets the text style for the task name.
diff --git a/Sources/MixedReality/HoloLensCapture/HoloLensCaptureApp/Properties/AssemblyInfo.cs b/Sources/MixedReality/HoloLensCapture/HoloLensCaptureApp/Properties/AssemblyInfo.cs
index 59c02ce28..869293165 100644
--- a/Sources/MixedReality/HoloLensCapture/HoloLensCaptureApp/Properties/AssemblyInfo.cs
+++ b/Sources/MixedReality/HoloLensCapture/HoloLensCaptureApp/Properties/AssemblyInfo.cs
@@ -1,4 +1,4 @@
-// Copyright (c) Microsoft Corporation. All rights reserved.
+// Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT license.
 
 using System.Reflection;
@@ -12,7 +12,7 @@
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
 [assembly: AssemblyProduct("HoloLensCaptureApp")]
-[assembly: AssemblyCopyright("© Microsoft Corporation. All rights reserved.")]
+[assembly: AssemblyCopyright("© Microsoft Corporation. All rights reserved.")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]