Safety alignment mechanism are essential for preventing large language models (LLMs) from generating harmful information or unethical content. However, cleverly crafted prompts can bypass these safety measures without accessing the model's internal parameters, a phenomenon known as black-box jailbreak. Existing heuristic black-box attack methods, such as genetic algorithms, suffer from limited effectiveness due to their inherent randomness, while recent reinforcement learning (RL) based methods often lack robust and informative reward signals. To address these challenges, we propose a novel black-box jailbreak method leveraging RL, which optimizes prompt generation by analyzing the embedding proximity between benign and malicious prompts. This approach ensures that the rewritten prompts closely align with the intent of the original prompts while enhancing the attack's effectiveness. Furthermore, we introduce a comprehensive jailbreak evaluation framework incorporating keywords, intent matching, and answer validation to provide a more rigorous and holistic assessment of jailbreak success. Experimental results show the superiority of our approach, achieving state-of-the-art (SOTA) performance on several prominent open and closed-source LLMs, including Qwen2.5-7B-Instruct, Llama3.1-8B-Instruct, and GPT-4o-0806. Our method sets a new benchmark in jailbreak attack effectiveness, highlighting potential vulnerabilities in LLMs. The codebase for this work is available at https://github.com/Aegis1863/xJailbreak.

Tax evasion, usually the largest component of an informal economy, is a persistent challenge over history with significant socio-economic implications. Many socio-economic studies investigate its dynamics, including influencing factors, the role and influence of taxation policies, and the prediction of the tax evasion volume over time. These studies assumed such behavior is given, as observed in the real world, neglecting the "big bang" of such activity in a population. To this end, computational economy studies adopted developments in computer simulations, in general, and recent innovations in artificial intelligence (AI), in particular, to simulate and study informal economy appearance in various socio-economic settings. This study presents a novel computational framework to examine the dynamics of tax evasion and the emergence of informal economic activity. Employing an agent-based simulation powered by Large Language Models and Deep Reinforcement Learning, the framework is uniquely designed to allow informal economic behaviors to emerge organically, without presupposing their existence or explicitly signaling agents about the possibility of evasion. This provides a rigorous approach for exploring the socio-economic determinants of compliance behavior. The experimental design, comprising model validation and exploratory phases, demonstrates the framework's robustness in replicating theoretical economic behaviors. Findings indicate that individual personality traits, external narratives, enforcement probabilities, and the perceived efficiency of public goods provision significantly influence both the timing and extent of informal economic activity. The results underscore that efficient public goods provision and robust enforcement mechanisms are complementary; neither alone is sufficient to curtail informal activity effectively.

Reinforcement learning (RL) agents often face challenges in balancing exploration and exploitation, particularly in environments where sparse or dense rewards bias learning. Biological systems, such as human toddlers, naturally navigate this balance by transitioning from free exploration with sparse rewards to goal-directed behavior guided by increasingly dense rewards. Inspired by this natural progression, we investigate the Toddler-Inspired Reward Transition in goal-oriented RL tasks. Our study focuses on transitioning from sparse to potential-based dense (S2D) rewards while preserving optimal strategies. Through experiments on dynamic robotic arm manipulation and egocentric 3D navigation tasks, we demonstrate that effective S2D reward transitions significantly enhance learning performance and sample efficiency. Additionally, using a Cross-Density Visualizer, we show that S2D transitions smooth the policy loss landscape, resulting in wider minima that improve generalization in RL models. In addition, we reinterpret Tolman's maze experiments, underscoring the critical role of early free exploratory learning in the context of S2D rewards.

Existing actor-critic algorithms, which are popular for continuous control reinforcement learning (RL) tasks, suffer from poor sample efficiency due to lack of principled exploration mechanism within them. Motivated by the success of Thompson sampling for efficient exploration in RL, we propose a novel model-free RL algorithm, Langevin Soft Actor Critic (LSAC), which prioritizes enhancing critic learning through uncertainty estimation over policy optimization. LSAC employs three key innovations: approximate Thompson sampling through distributional Langevin Monte Carlo (LMC) based $Q$ updates, parallel tempering for exploring multiple modes of the posterior of the $Q$ function, and diffusion synthesized state-action samples regularized with $Q$ action gradients. Our extensive experiments demonstrate that LSAC outperforms or matches the performance of mainstream model-free RL algorithms for continuous control tasks. Notably, LSAC marks the first successful application of an LMC based Thompson sampling in continuous control tasks with continuous action spaces.

Smart manufacturing systems increasingly rely on adaptive control mechanisms to optimize complex processes. This research presents a novel approach integrating Soft Actor-Critic (SAC) reinforcement learning with digital twin technology to enable real-time process control in robotic additive manufacturing. We demonstrate our methodology using a Viper X300s robot arm, implementing two distinct control scenarios: static target acquisition and dynamic trajectory following. The system architecture combines Unity's simulation environment with ROS2 for seamless digital twin synchronization, while leveraging transfer learning to efficiently adapt trained models across tasks. Our hierarchical reward structure addresses common reinforcement learning challenges including local minima avoidance, convergence acceleration, and training stability. Experimental results show rapid policy convergence and robust task execution in both simulated and physical environments, with performance metrics including cumulative reward, value prediction accuracy, policy loss, and discrete entropy coefficient demonstrating the effectiveness of our approach. This work advances the integration of reinforcement learning with digital twins for industrial robotics applications, providing a framework for enhanced adaptive real-time control for smart additive manufacturing process.

Deep reinforcement learning (DRL) has gained widespread adoption in control and decision-making tasks due to its strong performance in dynamic environments. However, DRL agents are vulnerable to noisy observations and adversarial attacks, and concerns about the adversarial robustness of DRL systems have emerged. Recent efforts have focused on addressing these robustness issues by establishing rigorous theoretical guarantees for the returns achieved by DRL agents in adversarial settings. Among these approaches, policy smoothing has proven to be an effective and scalable method for certifying the robustness of DRL agents. Nevertheless, existing certifiably robust DRL relies on policies trained with simple Gaussian augmentations, resulting in a suboptimal trade-off between certified robustness and certified return. To address this issue, we introduce a novel paradigm dubbed \texttt{C}ertified-r\texttt{A}dius-\texttt{M}aximizing \texttt{P}olicy (\texttt{CAMP}) training. \texttt{CAMP} is designed to enhance DRL policies, achieving better utility without compromising provable robustness. By leveraging the insight that the global certified radius can be derived from local certified radii based on training-time statistics, \texttt{CAMP} formulates a surrogate loss related to the local certified radius and optimizes the policy guided by this surrogate loss. We also introduce \textit{policy imitation} as a novel technique to stabilize \texttt{CAMP} training. Experimental results demonstrate that \texttt{CAMP} significantly improves the robustness-return trade-off across various tasks. Based on the results, \texttt{CAMP} can achieve up to twice the certified expected return compared to that of baselines. Our code is available at https://github.com/NeuralSec/camp-robust-rl.

Reinforcement Learning algorithms aim to learn optimal control strategies through iterative interactions with an environment. A critical element in this process is the experience replay buffer, which stores past experiences, allowing the algorithm to learn from a diverse range of interactions rather than just the most recent ones. This buffer is especially essential in dynamic environments with limited experiences. However, efficiently selecting high-value experiences to accelerate training remains a challenge. Drawing inspiration from the role of reward prediction errors (RPEs) in biological systems, where they are essential for adaptive behaviour and learning, we introduce Reward Predictive Error Prioritised Experience Replay (RPE-PER). This novel approach prioritises experiences in the buffer based on RPEs. Our method employs a critic network, EMCN, that predicts rewards in addition to the Q-values produced by standard critic networks. The discrepancy between these predicted and actual rewards is computed as RPE and utilised as a signal for experience prioritisation. Experimental evaluations across various continuous control tasks demonstrate RPE-PER's effectiveness in enhancing the learning speed and performance of off-policy actor-critic algorithms compared to baseline approaches.

Control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques tend to be either myopic or computationally intensive, and they rely on simplified system models; conversely, the learning-based methods suffer from the lack of quantitative indication in terms of navigation performance and safety. In this paper, we present a new model-free reinforcement learning algorithm called Certificated Actor-Critic (CAC), which introduces a hierarchical reinforcement learning framework and well-defined reward functions derived from CBFs. We carry out theoretical analysis and proof of our algorithm, and propose several improvements in algorithm implementation. Our analysis is validated by two simulation experiments, showing the effectiveness of our proposed CAC algorithm.

We develop a portfolio allocation framework that leverages deep learning techniques to address challenges arising from high-dimensional, non-stationary, and low-signal-to-noise market information. Our approach includes a dynamic embedding method that reduces the non-stationary, high-dimensional state space into a lower-dimensional representation. We design a reinforcement learning (RL) framework that integrates generative autoencoders and online meta-learning to dynamically embed market information, enabling the RL agent to focus on the most impactful parts of the state space for portfolio allocation decisions. Empirical analysis based on the top 500 U.S. stocks demonstrates that our framework outperforms common portfolio benchmarks and the predict-then-optimize (PTO) approach using machine learning, particularly during periods of market stress. Traditional factor models do not fully explain this superior performance. The framework's ability to time volatility reduces its market exposure during turbulent times. Ablation studies confirm the robustness of this performance across various reinforcement learning algorithms. Additionally, the embedding and meta-learning techniques effectively manage the complexities of high-dimensional, noisy, and non-stationary financial data, enhancing both portfolio performance and risk management.

Unsupervised skill discovery in Reinforcement Learning aims to mimic humans' ability to autonomously discover diverse behaviors. However, existing methods are often unconstrained, making it difficult to find useful skills, especially in complex environments, where discovered skills are frequently unsafe or impractical. We address this issue by proposing Human-aligned Skill Discovery (HaSD), a framework that incorporates human feedback to discover safer, more aligned skills. HaSD simultaneously optimises skill diversity and alignment with human values. This approach ensures that alignment is maintained throughout the skill discovery process, eliminating the inefficiencies associated with exploring unaligned skills. We demonstrate its effectiveness in both 2D navigation and SafetyGymnasium environments, showing that HaSD discovers diverse, human-aligned skills that are safe and useful for downstream tasks. Finally, we extend HaSD by learning a range of configurable skills with varying degrees of diversity alignment trade-offs that could be useful in practical scenarios.