@article{bibcite_491,
  author = {Catherine Glossop and William Chen and Arjun Bhorkar and Dhruv Shah and Sergey Levine},
  title = {CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models},
  year = {2026},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
}