diff --git a/docs/_layouts/default.html b/docs/_layouts/default.html
index 0b87f8ed..6626c3b9 100644
--- a/docs/_layouts/default.html
+++ b/docs/_layouts/default.html
@@ -29,6 +29,20 @@ <h2 class="project-tagline">{{ page.description | default: site.description | de
 
     <div id="page-container">
       <main id="content" class="main-content" role="main">
+        {% assign urlfolders = page.url | split: '/' %}
+        {% if urlfolders[1] == "docs" %}
+          <ul id="menu" class="pages-nav">
+            <li><a href="/docs/Tutorial.html">⌂</a></li>
+            {% for page in site.pages %}
+              {% assign urlfolders = page.url | split: '/' %}
+              {% if urlfolders[1] == 'docs' and urlfolders[2] == 'tasks' %}
+                <li><a href="{{ page.url }}">{{ page.menu_title }}</a></li>
+              {% endif %}
+            {% endfor %}
+          </ul>
+          <hr>
+        {% endif %}
+
         {{ content }}
 
         <footer class="site-footer">
diff --git a/docs/tasks/1_implement_behavior_component.md b/docs/tasks/1_implement_behavior_component.md
index 1d68345d..24346bf0 100644
--- a/docs/tasks/1_implement_behavior_component.md
+++ b/docs/tasks/1_implement_behavior_component.md
@@ -1,5 +1,6 @@
 ---
 title: "Arbitration Graphs Tutorial"
+menu_title: "First Behavior"
 ---
 
 # Task 1: Implement a Behavior Component
diff --git a/docs/tasks/2_extend_arbitration_graph.md b/docs/tasks/2_extend_arbitration_graph.md
index b9712ae6..300c12f9 100644
--- a/docs/tasks/2_extend_arbitration_graph.md
+++ b/docs/tasks/2_extend_arbitration_graph.md
@@ -1,5 +1,6 @@
 ---
 title: "Arbitration Graphs Tutorial"
+menu_title: "Extending the Graph"
 ---
 
 # Task 2: Extend the Arbitration Graph
diff --git a/docs/tasks/3_add_more_behaviors.md b/docs/tasks/3_add_more_behaviors.md
index 191e2934..c0c1aa4b 100644
--- a/docs/tasks/3_add_more_behaviors.md
+++ b/docs/tasks/3_add_more_behaviors.md
@@ -1,5 +1,6 @@
 ---
 title: "Arbitration Graphs Tutorial"
+menu_title: "More Behaviors"
 ---
 
 # Task 3: Even more behavior components
diff --git a/docs/tasks/4_nested_arbitrators.md b/docs/tasks/4_nested_arbitrators.md
index 04dfe5ba..83becf4e 100644
--- a/docs/tasks/4_nested_arbitrators.md
+++ b/docs/tasks/4_nested_arbitrators.md
@@ -1,5 +1,6 @@
 ---
 title: "Arbitration Graphs Tutorial"
+menu_title: "Nesting"
 ---
 
 # Task 4: Nested arbitration graphs
diff --git a/docs/tasks/5_cost_arbitration.md b/docs/tasks/5_cost_arbitration.md
index d9c99a29..2592f47a 100644
--- a/docs/tasks/5_cost_arbitration.md
+++ b/docs/tasks/5_cost_arbitration.md
@@ -1,5 +1,6 @@
 ---
 title: "Arbitration Graphs Tutorial"
+menu_title: "Cost Arbitrator"
 ---
 
 # Task 5: Arbitrate based on predicted utility
diff --git a/docs/tasks/6_verification.md b/docs/tasks/6_verification.md
index debbab4a..7b007f62 100644
--- a/docs/tasks/6_verification.md
+++ b/docs/tasks/6_verification.md
@@ -1,5 +1,6 @@
 ---
 title: "Arbitration Graphs Tutorial"
+menu_title: "Verification and Fallbacks"
 ---
 
 # Task 6: Better safe than sorry