Refusals That Bend: Measuring and Predicting Task Malleability in Embodied VLM Planners

arXiv:2609.38971 · cs.CR, cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.CR, cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Code: https://github.com/mdctleo/refusal-bend

Terminology

Trace — 34× in this paper · explained in 2 episodes
AUC — 13× in this paper · explained in 2 episodes
Alignment — 8× in this paper · explained in 1 episode
Benchmark — 7× in this paper · explained in 2 episodes
Verification — 6× in this paper · explained in 2 episodes
Embeddings — 4× in this paper · explained in 2 episodes
Generative AI — 4× in this paper · explained in 2 episodes
Benchmarking — 2× in this paper · explained in 3 episodes
Embodied AI — 2× in this paper · explained in 2 episodes
Foundation Model — 2× in this paper · explained in 3 episodes
Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
AI Agents — 1× in this paper · explained in 2 episodes
Accuracy — 1× in this paper · explained in 1 episode
Alignment Methods — 1× in this paper · explained in 1 episode
Decode — 1× in this paper · explained in 2 episodes
Foundation Models — 1× in this paper · explained in 7 episodes
Robustness — 1× in this paper · explained in 5 episodes
Task Planning — 1× in this paper · explained in 2 episodes
Thinking mode — 1× in this paper · explained in 2 episodes
Transformer — 1× in this paper · explained in 2 episodes
Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

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