Ok. here is how you do it.
Pain & Panic (Level 60)
Condition for unlocking: Clear all Underworld Arena Cups
Cerberus Cup (Level 70)
Condition for unlocking: With the exception of Final Form, Form levels
should be at level 5 or higher. Also, Concealed Pain & Panic must be
unlocked.
Titan Cup (Level 80)
Condition for unlocking: Summon level should be 5 or higher. Concealed
Pain & Panic must be unlocked.
Hades Cup (Level 99)
Condition for unlocking: Clear all previous Cups in this Concealed set,
clear Space Paranoids episode 2, have max Form Levels, and Summon level
should be at level 7.