SPAIS submission

The first version of this work was submitted to the CoRL 2026 SPAIS workshop as a paper and received peer review. It is shown below with the text as submitted and the author's name added. The copy uploaded for review was anonymous. It covers the earlier LIBERO-Goal experiments. The DROID results on this site are newer and are not in it.

If the PDF does not display in your browser, open it directly. The anonymous copy as uploaded for review is here.

Revised draft

A revised draft corrects three factual errors in the submitted text: the flip counts, a sentence stating that the models ignore all text, and one reference. It is a draft and has not been peer reviewed. Open the revised draft (PDF).