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However, modern vision-language models (VLMs) often generate overly confident answers even when the available visual memory cannot support the query. Such overconfidence poses various task-dependent risks. The agent may provide misleading information to the user in Embodied Question Answering and select an arbitrary coordinate and physically guide the user there in spatial reasoning for navigation. Despite these high stakes, only a few prior studies directly address when and how an embodied VLM should respond with \"I do not know.\" This work proposes Semantic Flip, a simple yet effective framework that synthesizes auxiliary out-of-distribution (OOD) samples for embodied refusal without requiring external OOD annotations. The key idea is to independently transform the query and video memory to construct auxiliary OOD pairs tha","title":"Semantic Flip: Synthetic OOD Generation for Robust Refusal in Embodied Question Answering and Spatial Localization","url":"https://arxiv.org/abs/2606.16898","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.16898v1 Announce Type: cross \nAbstract: Detecting unanswerable user queries remains essential for the reliable deployment of real-world embodied agents. However, modern vision-language models (VLMs) often generate overly confident answers even when the available visual memory cannot support the query. Such overconfidence poses various task-dependent risks. The agent may provide misleading information to the user in Embodied Question Answering and select an arbitrary coordinate and physically guide the user there in spatial reasoning for navigation. Despite these high stakes, only a few prior studies directly address when and how an embodied VLM should respond with \"I do not know.\" This work proposes Semantic Flip, a simple yet effective framework that synthesizes auxiliary out-of-distribution (OOD) samples for embodied refusal without requiring external OOD annotations. The key idea is to independently transform the query and video memory to construct auxiliary OOD pairs tha","title":"Semantic Flip: Synthetic OOD Generation for Robust Refusal in Embodied Question Answering and Spatial Localization","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-16T04:43:43Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.16898"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:2320c3d3fca85fa3170935e47ac376f7fae04c3cc2aef0b0c653a94d038f6ee3a833a6c378fc81883d491d7ada8a9dbf6e66b892d7ba3d2229fab66a45dabb0c","signer":"crovia.substrate","subject":{"observed_at":"2026-06-16T04:43:43Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.16898"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"b15b3d7f5f70e71cf95151b75af6e43390173ef96de33b131ac59af12675996d","leaf_index":230595,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"20f7d656a762ab523dd14d950cf17a7ae5ecd64b5c63428953da769d97786446","side":"left"},{"sibling":"efd438d817189f3d55b75b6215601098d38f41dfb00ac9e780970300ac7ca3e4","side":"left"},{"sibling":"058c0f5e7661329d160005e71ea485a6f5392bfe3192e516ed4fb8d71e186605","side":"right"},{"sibling":"d14ee69ddd9d8d838c0bf923b078f291d2675c28848e1f5cdf4fbe54595be670","side":"right"},{"sibling":"abf473c2699788ac18800a6e67269df0dadd26dffb1883ab00b494bec7827e14","side":"right"},{"sibling":"b23a457f9b965a633c26bab66026ad769d97ec466ee70b0741e924a50578df05","side":"right"},{"sibling":"f22cc217fca41b12942eb7a1a3f3a258a96e32aee3539815798f453610b93fdc","side":"left"},{"sibling":"f5958932b707fbb8d9de8cb158fe61200709928e9e5d860d183ba06f040858b6","side":"left"},{"sibling":"63d6b9d8af7ae8348285d3493af29f64992ecec42f5f1cae99c8604cd1703487","side":"right"},{"sibling":"0c5669692381d605223c74b8d30f70cd308e77e33d5e40ea84bb7b4f84f2d4d9","side":"right"},{"sibling":"d5b9f8b1a2c9f6a46e17982dfbe6ce1f3b5fa4e730220397f2253d114dcc8486","side":"left"},{"sibling":"d10d772a4984cae00e65ab24af21d1d260e475bbaae3f17871859eb705bd3999","side":"right"},{"sibling":"e79159853f2f35ddae8e3247d515e433c534277b287d65bbd77ae989aa4992fa","side":"right"},{"sibling":"3054319f1840cce0eaaf0bc4b1ae38e5bf8b6210927d924a750775cc7d77cca6","side":"right"},{"sibling":"0fd8b5059f279c4a4a6688de2472fdbc25543fee183df19b21dacca880354cff","side":"right"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":232015,"merkle_root":"62bfb7809bb55667ad7eeebdb48267b9b2c1ee89bb808ea1e6d3a814a15aa402","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260617T133701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-17T13:39:59Z","sig_algorithm":"ed25519","signature":"930a3563c643cc7518d048b12a1f5392a96a5edce49533ba0a56f11b6cc69319bb1c800aacc46b52a6941c4d05dae255a45cac757d6093c971b96852c24f140e","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_307d63c1f796d54abdca4dcaaeccabf769e697528942f29686ec15aac871c0b3"}}