Here is the list of the files in the supplementaries.

- main.pdf: Full paper including Appendix.
- appendix.pdf: A separate appendix file.
- overview.mp4: A 3-min overview video of SPIRE.
- Coffee_RL_vs_SPIRE.mp4: A video comparing the behaviors of RL baseline and SPIRE in Coffee. RL agent exhibits dangerous behaviors while SPIRE does not.
- Tool_Hang_BC_vs_SPIRE.mp4: A video comparing the behaviors of BC baseline and SPIRE in Tool Hang. SPIRE improves the success rates of BC.
- completion_time_comparison: Side-by-side completion time comparison of BC and SPIRE in Square, Three Piece, Coffee, and Tool Hang.
- SPIRE_rollouts: Contains 5 successful SPIRE runs for each task. Red border indicates agent-controlled (handoff) sections.
