Robot tasks require grounding spatial language in physical scenes, but task success alone cannot establish whether spatial instructions are followed. We present BEHAVIOR-Spatial, a benchmark built on BEHAVIOR-1K that measures spatial question answering, point-based target grounding, and robot action to examine how VLM spatial understanding relates to VLA behavior. It comprises 3,256 spatial questions across 49 activities, 1,240 grounding queries across 14 manipulation tasks, and action evaluations covering those 14 tasks and 10 navigation tasks. Our manipulation protocol evaluates held-out configurations and instruction following when the requested target changes within a fixed training layout. The baseline achieves 41.6% on held-out configurations but only 16.1% under changed instructions. VLM adaptation and robot-data pretraining provide limited improvements, whereas oracle visual target cues raise these rates to 60.3% and 38.0%, respectively. Perception evaluations reveal policy-dependent correlations between VLM question-answering and grounding accuracy and VLA manipulation performance. Together, these findings motivate evaluating spatial instruction following alongside task completion and examining when spatial perception performance translates into robot behavior. Project website: https://arielchen07.github.io/behavior-spatial/.
Reinforcement Learning (RL) in real-world environments often suffers from ambiguous or incomplete reward supervision, which undermines policy stability and generalization. Such noise may cause models to ignore key information or even collapse in advantage estimation. We find that a strong value model is essential for absorbing unstable signals and producing reliable advantages, offering denser and more robust supervision than the reward model. To better optimize noisy supervision, we propose VRPO, a framework that enhances value modeling for robust RL in LLM post-training. VRPO integrates (1) auxiliary losses guided by entropy and perplexity from a frozen language model, and (2) a variational information bottleneck, enabling the value model to filter noise and capture key words. This design allows the value model to correct noise rewards and generate more reliable advantage estimates, transforming it from a passive predictor into an active noise regulator. Experiments on multi-turn dialogue, math reasoning, and science QA with both rule-based and model-based rewards show that VRPO consistently outperforms baselines such as PPO and GRPO. Our work highlight the central role of the value model in Robust RL and provide a principled and practical approach to policy optimization under noisy supervision.
尚无 AI 解读，展示原文摘要
cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表