The Obamas have boarded Air Force One, leaving Cuba for Argentina. That concludes our live coverage of Obama's Cuba visit. Thank you for sticking with us.
- US President Barack Obama is first sitting US president to visit Cuba in 90 years
- Mr Obama addresses Cubans at El Gran Teatro de La Havana, with President Raul Castro in attendance
- Final day also sees US president meet civil society activists and attend a baseball game
- The White House first announced restored diplomatic ties in July 2015
- On Monday the two leaders sparred over human rights issues but hailed progress in diplomatic relationship
BBC News, Havana
President Obama met with a prominent Cuban dissident, Berta Soler, on Tuesday, as Cuban President Raul Castro denies that the country has political prisoners.
One dissident, Elizardo Sanchez, was detained at Jose Marti International Airport on the day a group of US journalists arrived. He was released shortly afterwards. By the time the journalists arrived, things looked calm – as if nothing had happened.
Cuba experts say there’s a reason for the arrests. “There’s a string of people – the old guard – who are not really thrilled about the opening,” says Eric Olson, a director at the Woodrow Wilson International Center in Washington, describing the new relationship between the US and Cuba.
“How do you control it? Some of it is done by exerting their power,” Mr Olson says, explaining that these officials try to show that they are still in control by arresting the activists.
At times, though, it seems like “shadow boxing”, a term that Mr Obama has used to describe the relationship between the two countries.
US officials tell me privately they knew beforehand that the activists would be arrested. The activists themselves had told the Americans what they planned to do – and that they would be arrested.
Still Obama administration officials the situation has improved, despite these setbacks.
Barbara Plett Usher
BBC News, Washington
Before the baseball game, President Obama met privately with about a dozen Cuban dissidents at the US Embassy. He noted that some of them had been detained, and praised their "extraordinary courage". Among the participants was Berta Soler, leader of Ladies in White, a protest group.
Read more: Who are Ladies in White?
Presidents Barack Obama and Raul Castro stand with the crowd to pay tribute.
BBC News, Havana
Congressman Seth Moulton is in Cuba for the first time as part of a group of 30 plus US lawmakers made up of Democrats and - albeit less so - Republicans. It's a bit like a class trip - a mix of both work and play.
"The point is to get to know the Cuban people and to get to know the culture because that's what Americans are going to be doing when they come here," he told me earlier.
In between official White House visit business, like a state dinner, and congressional meetings they've managed to squeeze in some fun - shopping in Old Havana, lunch in downtown, even a rock concert.
"This is a fantastic country and you see it in the Cuban people, " he says.
"We're seeing in the Cuban faces a yearning for freedom and democracy. There's hope this visit will bring that to them."
But there's still a fight to be had when the lawmakers return to Capitol Hill - lifting the embargo is something the Democratic congressman feels strongly about.
"The embargo hasn't worked - we've been trying a policy for 50 years that hasn't brought a change to the people. So it's time to try something different."
The BBC's Tom Geoghegan watched the address in a Havana cafe and has been tweeting some of the reactions from the people there.
Here's a recap on President Obama's speech earlier in Havana. Drawing his address to a close, he said it was time for the US and Cuba to "leave the past behind".
He said that while changing relations between the US and Cuba would not be easy, his trip to Havana "renews my hope...we can make this journey as friends, as neighbours".
Fans are gathering at Estadio Latinoamericano baseball stadium for the upcoming Tampa Bay Rays exhibition game against the Cuban national team.
BBC News, Havana
The speech in the theatre was vintage Obama - it had a narrative, starting with the earlier, dark years of US-Cuban relations that date back to the 1950s.
It also had personal elements - he said he was born in the year of the Bay of Pigs, and that afterwards the world nearly came to an end.
Finally it had evocative language - "I know the history, but refuse to be trapped by it" - and a few jokes. And it built up to his larger point, which was his message for the Cuban people - choose democracy. It isn't perfect but it's the best system there is.
He was a powerful speaker in the theatre, and he gave a speech that was eloquent and moving.
BBC News, Havana
People in the audience stand up and cheer - both for Obama after he finished speaking and for Castro who stands up in the balcony and waves.
"It's time for us to leave the past behind and look forward to the future together," says Mr Obama, wrapping up his remarks in Cuba. "My time here renews my hope and confidence in what the Cuban people will do."