Tell Robot What Not to Do: A Negation Understanding Perspective

arXiv:2610.11952 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Alignment — 24× in this paper · explained in 1 episode
• Grounding — 13× in this paper · explained in 3 episodes
• Benchmark — 12× in this paper · explained in 2 episodes
• Negation Transformation Layers — 9× in this paper
• Teacher-Guided Visual Alignment — 7× in this paper
• Adaptation — 5× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Visual Grounding — 4× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Aggregation — 2× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Generative AI — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Steering — 2× in this paper · explained in 2 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Action Expert Pretraining — 1× in this paper · explained in 1 episode
• Catastrophic Forgetting — 1× in this paper · explained in 5 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Inference-Time Steering — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Structured Reasoning — 1× in this paper · explained in 3 episodes
• Transfer Learning — 1× in this paper · explained in 10 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• Qwen3-VL Technical Report
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• HazardArena: Evaluating Semantic Safety in Vision-Language-Action Models
• FineVLA: Fine-Grained Instruction Alignment for Steerable Vision-Language-Action Policies
• ForesightSafety-VLA: A Unified Diagnostic Safety Benchmark for Vision-Language-Action Models
• Learn "No" to Say "Yes" Better: Improving Vision-Language Models via Negations
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Mastering Negation: Boosting Grounding Models via Grouped Opposition-Based Learning
• Flatness Preserves Instruction Following in Vision-Language-Action Models
• Restoring Linguistic Grounding in VLA Models via Train-Free Attention Recalibration

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