Most other actions are penalised with an equivalent negative amount.
the confir-mation/clarification actions are penalised lightly (values close to 0), and the motion commands are penalised heavily if taken from the wrong state, to illustrate the difference between an undesirable action that is merely irritating (i.e., giving an inappropriate response) and an action that can be much more costly (e.g., having the robot leave the room at the wrong time, or travel to the wrong destination).