Following instructions in real-world conditions requires a capability to adapt to the world's volatility and entanglement: the environment is dynamic and unpredictable, instructions can be linguistically complex with diverse vocabulary, and the number of possible goals an agent may encounter is vast.Despite extensive research in this area, most studies are conducted in static environments with simple instructions and a limited vocabulary, making it difficult to assess agent performance in more diverse and challenging settings.To address this gap, we introduce CrafText, a benchmark for evaluating instruction following in a multimodal environment with diverse instructions and dynamic interactions.CrafText includes 3,924 instructions with 3,423 unique words, covering Localization, Conditional, Building, and Achievement tasks.Additionally, we propose an evaluation protocol that measures an agent's ability to generalize to novel instruction formulations and dynamically evolving task configurations, providing a rigorous test of both linguistic understanding and adaptive decisionmaking.

Reinforcement Learning (RL) applications in real-world scenarios must prioritize safety and reliability, which impose strict constraints on agent behavior. Model-based RL leverages predictive world models for action planning and policy optimization, but inherent model inaccuracies can lead to catastrophic failures in safety-critical settings. We propose a novel model-based RL framework that jointly optimizes task performance and safety. To address world model errors, our method incorporates an adaptive mechanism that dynamically switches between model-based planning and direct policy execution. We resolve the objective mismatch problem of traditional model-based approaches using an implicit world model. Furthermore, our framework employs dynamic safety thresholds that adapt to the agent’s evolving capabilities, consistently selecting actions that surpass safe policy suggestions in both performance and safety. Experiments demonstrate significant improvements over non-adaptive methods, showing that our approach optimizes safety and performance simultaneously rather than merely meeting minimum safety requirements. The proposed framework achieves robust performance on diverse safety-critical continuous control tasks, outperforming existing methods.