Vision-language models are increasingly used as reward functions for robotic learning, but this role requires paraphrase invariance: the same trajectory should receive the same reward under semantically equivalent goal descriptions. We show that current VLM reward models often violate this property. Paraphrasing the instruction alone can substantially change predicted progress scores, and can even flip identical robot behavior between failure and success. To measure this failure mode, we introduce ROBORMBENCH, a benchmark with 2,390 real-robot trajectories, ground-truth progress labels, and 21,673 verified paraphrases spanning lexical, syntactic, and action-goal rewrites. Across proprietary and open-source VLMs, paraphrase-induced instability is widespread and severe, grows under more divergent rewrites, and is not reliably reduced by scale or explicit reasoning. Dedicated reward models trained with trajectory-grounded supervision are substantially more stable. These results show that paraphrase robustness is a core requirement for reliable VLM-based reward modeling in robotics.

Natural Language Image Editing (NLIE) aims to use natural language instructions to edit images. Since novices are inexperienced with image editing techniques, their instructions are often ambiguous and contain high-level abstractions which require complex editing steps. Motivated by this inexperience aspect, we aim to smooth the learning curve by teaching the novices to edit images using low-level command terminologies. Towards this end, we develop a task-oriented dialogue system to investigate low-level instructions for NLIE. Our system grounds language on the level of edit operations, and suggests options for users to choose from. Though compelled to express in low-level terms, user evaluation shows that 25% of users found our system easy-to-use, resonating with our motivation. Analysis shows that users generally adapt to utilizing the proposed low-level language interface. We also identified object segmentation as the key factor to user satisfaction. Our work demonstrates advantages of low-level, direct language-action mapping approach that can be applied to other problem domains beyond image editing such as audio editing or industrial design.