The Liverpool left-back was in the side which were brushed aside 4-0 by the Red Devils in a friendly at Hampden last September.
Robertson is confident that the squad has improved since then and wants to demonstrate that in their Euro 2020 qualifier against the side ranked No 1 in the world, who have won three out of three Group I games.
He said: “We have learned a lot. We have developed as a squad. It was a relatively new squad then, a lot of changes and we have probably had ten months together and we have bonded and know how to play with each other.
“We made disastrous mistakes in that game and that’s what we need to cut out, that’s the ones that killed us that night and we need to learn from them.
“We need to be a lot more streetwise and try to frustrate them and the longer it goes, hopefully that happens and we grow in confidence.”
Robertson railed at the idea that the game against the star-studded hosts was a “free hit” for the Scots.
The former Dundee United and Hull City defender, who scored in the 2-1 win over Cyprus at Hampden Park on Saturday night, said: “I don’t really believe in free hits if I am honest.
“We are all fighting in this group for the places to get to the Euros so there is no such things as free hits.
“Of course Belgium are pot one and we know it is going to be the toughest game, especially away from home.
“But we have to believe that we can get something because if we can, a lot of people back in Scotland will look a lot differently at the table.
“We have already got a big result against Cyprus which put us in a better position and it is a lot nicer viewing.
“But if we can get something tomorrow night I am sure the fans can look at the group and be optimistic about what can happen.”