Use remote to change channels with -1 (ex. 5-1)?

I'm new to Tivo and just bought the Tivo Roamio OTA. Is there any way to change channels directly to another channel using the remote control number buttons? For example, if I want to change to channel 5-1, can I do that directly using the remote number buttons? When I enter only 5, it says that channel doesn't exist and I then have to use the channel up button to get to 5-1. I would think it would default to 5-1, especially with the OTA model.