World In-Context Learning for Agentic Robot Manipulation
Heng Fang, Zehui Guo, Yuehan Zhang, Mingyang Du, Dingkang Liang, Xiang Bai
AI 速读 基于摘要
提出 World In-Context Learning（WICL）范式与 RoboScript 框架：冻结模型从单次演示出发，在仿真世界中排练任务，把反馈写入上下文而非权重，从而在新场景中完成操作任务。
cs.CV · cs.RO
查看原文摘要
Trained action policies write manipulation skill into network weights, tying what is learned to the distribution it is learned from. In-context learning (ICL) avoids this coupling but has not matched trained policies, because a demonstration recorded in another scene carries no feedback from the world the robot currently faces. We observe that what an agent learns in context is semantic, recording task steps and object roles rather than visual appearance, so experience gathered in one world transfers to another. Based on this insight, we propose World In-Context Learning (WICL), a paradigm in which a frozen model starts from a demonstration, rehearses the task in a world such as a simulator, and writes the feedback into its context rather than its weights. We build RoboScript, a modular infrastructure that implements WICL for agentic manipulation. From a single demonstration, RoboScript learns each task through rehearsal in simulation, freezes the learned knowledge as a Task Memory, and deploys the frozen memory on new scenes with data isolation that ensures every deployment input is available on a real robot. On all 50 tasks of RoboTwin 2.0, RoboScript reaches 83.4% mean success across clean and randomized settings with one demonstration per task and no gradient updates, exceeding the strongest trained action policy by over 20 points. The method generalizes across visual distributions, improves through reflection, scales with the foundation model, and transfers to a physical dual-arm robot through cross-embodiment memory adaptation. With a world in the loop, a robot can learn a manipulation task in its context as well as it learns one in its weights. All code is available at https://github.com/ArcheOne-AI/RoboScript
Text-to-image (T2I) models have demonstrated remarkable capabilities in image generation and editing, yet this progress has also introduced significant security risks. Prior work has shown that adversarial prompt can induce the generation of Not-Safe-For-Work (NSFW) content, including pornographic, violent, and graphic imagery. However, such attacks are typically mitigated by prompt filters and often rely on white-box assumptions. In this paper, we propose AnyBreak, a novel jailbreak framework that constructs adversarial images via multi-scale progressive semantic alignment. During the generation process, these adversarial images steer the generation trajectory in latent space towards unsafe data manifolds, enabling cross-modal transfer of malicious concepts from the text modality to the image modality. AnyBreak operates using only clean textual prompts and adversarial images at inference time, and can jailbreak any T2I models towards any malicious concepts in a fully black-box setting. We further introduce AnyBreak-V, an enhanced variant that incorporates a compensation term to bypass post-hoc safety checkers. Extensive experiments demonstrate that AnyBreak achieves high attack success rates while preserving visual fidelity and semantic consistency with the input prompts under black-box and clean-text constraints. Our findings reveal that existing T2I defense leave critical cross-modal attack surfaces insufficiently addressed. The code is available at https://github.com/luqi-glory/AnyBreak.