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I have set up a group of 'fake' calendars in iCal (on my Mac) called OmniWork, OmniHome etc and I sync my omni tasks to these. It means I can see these tasks in iCal, but unfortunately not in iCloud online or anywhere else. It does help with planning and weekly reviews.

I am hoping that now that Apple is releasing the API for reminders there will be an option to sync, or at least make a copy there.

Hope this helps you.