Adapting World Models with Latent-State Dynamics Residuals

Simulation-to-reality reinforcement learning (RL) faces the critical challenge of reconciling discrepancies between simulated and real-world dynamics, which can severely degrade agent performance. A promising approach involves learning corrections to simulator forward dynamics represented as a residual error function, however this operation is impractical with high-dimensional states such as images. To overcome this, we propose ReDRAW, a latent-state autoregressive world model pretrained in simulation and calibrated to target environments through residual corrections of latent-state dynamics rather than of explicit observed states. Using this adapted world model, ReDRAW enables RL agents to be optimized with imagined rollouts under corrected dynamics and then deployed in the real world. In multiple vision-based MuJoCo domains and a physical robot visual lane-following task, ReDRAW effectively models changes to dynamics and avoids overfitting in low data regimes where traditional transfer methods fail.

Learning to Search Effective Example Sequences for In-Context Learning

Large language models (LLMs) demonstrate impressive few-shot learning capabilities, but their performance varies widely based on the sequence of in-context examples. Key factors influencing this include the sequence's length, composition, and arrangement, as well as its relation to the specific query. Existing methods often tackle these factors in isolation, overlooking their interdependencies. Moreover, the extensive search space for selecting optimal sequences complicates the development of a holistic approach. In this work, we introduce Beam Search-based Example Sequence Constructor (BESC), a novel method for learning to construct optimal example sequences. BESC addresses all key factors involved in sequence selection by considering them jointly during inference, while incrementally building the sequence. This design enables the use of beam search to significantly reduce the complexity of the search space. Experiments across various datasets and language models show notable improvements in performance.

Survival of the Safest: Towards Secure Prompt Optimization through Interleaved Multi-Objective Evolution

Large language models (LLMs) have demonstrated remarkable capabilities; however, the optimization of their prompts has historically prioritized performance metrics at the expense of crucial safety and security considerations. To overcome this shortcoming, we introduce "Survival of the Safest" (SoS), an innovative multi-objective prompt optimization framework that enhances both performance and security in LLMs simultaneously. SoS utilizes an interleaved multi-objective evolution strategy, integrating semantic, feedback, and crossover mutations to effectively traverse the prompt landscape. Differing from the computationally demanding Pareto front methods, SoS provides a scalable solution that expedites optimization in complex, high-dimensional discrete search spaces while keeping computational demands low. Our approach accommodates flexible weighting of objectives and generates a pool of optimized candidates, empowering users to select prompts that optimally meet their specific performance and security needs. Experimental evaluations across diverse benchmark datasets affirm SoS's efficacy in delivering high performance and notably enhancing safety and security compared to single-objective methods. This advancement marks a significant stride towards the deployment of LLM systems that are both high-performing and secure across varied industrial applications