# Bifrost: Steering Strategic Trajectories to Bridge Contextual Gaps for Self-Improving Agents

arXiv: https://arxiv.org/abs/2602.05810 · HTML: https://mlsanity.com/paper/2602.05810/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Self-evolving LLM agents, one of 13 directions in Synthetic data and self-improvement for LLMs.
- Builds on 78 of its 89 references that are in the map.
- First posted on arXiv 5 Feb 2026.

## Placed in

- Synthetic data and self-improvement for LLMs / [Self-evolving LLM agents](https://mlsanity.com/synth/self-evolving-llm-agents/)

## Builds on (most cited first, 30 of 78)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Training Verifiers to Solve Math Word Problems](https://mlsanity.com/paper/2110.14168/) (2021)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Think you have Solved Question Answering? Try ARC, the AI2 Reasoning Challenge](https://mlsanity.com/paper/1803.05457/) (2018)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Self-Refine: Iterative Refinement with Self-Feedback](https://mlsanity.com/paper/2303.17651/) (2023)
- [GPQA: A Graduate-Level Google-Proof Q&A Benchmark](https://mlsanity.com/paper/2311.12022/) (2023)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [LiveCodeBench: Holistic and Contamination Free Evaluation of Large Language Models for Code](https://mlsanity.com/paper/2403.07974/) (2024)
- [Rethinking the Role of Demonstrations: What Makes In-Context Learning Work?](https://mlsanity.com/paper/2202.12837/) (2022)
- [Representation Engineering: A Top-Down Approach to AI Transparency](https://mlsanity.com/paper/2310.01405/) (2023)
- [STaR: Bootstrapping Reasoning With Reasoning](https://mlsanity.com/paper/2203.14465/) (2022)
- [An Explanation of In-context Learning as Implicit Bayesian Inference](https://mlsanity.com/paper/2111.02080/) (2021)
- [Steering Language Models With Activation Engineering](https://mlsanity.com/paper/2308.10248/) (2023)
- [ExpeL: LLM Agents Are Experiential Learners](https://mlsanity.com/paper/2308.10144/) (2023)
- [CRITIC: Large Language Models Can Self-Correct with Tool-Interactive Critiquing](https://mlsanity.com/paper/2305.11738/) (2023)
- [Transformers learn in-context by gradient descent](https://mlsanity.com/paper/2212.07677/) (2022)
- [The Linear Representation Hypothesis and the Geometry of Large Language Models](https://mlsanity.com/paper/2311.03658/) (2023)
- [Program Induction by Rationale Generation : Learning to Solve and Explain Algebraic Word Problems](https://mlsanity.com/paper/1705.04146/) (2017)
- [Contrastive Decoding: Open-ended Text Generation as Optimization](https://mlsanity.com/paper/2210.15097/) (2022)
- [Eureka: Human-Level Reward Design via Coding Large Language Models](https://mlsanity.com/paper/2310.12931/) (2023)
- [Darwin Godel Machine: Open-Ended Evolution of Self-Improving Agents](https://mlsanity.com/paper/2505.22954/) (2025)
- [Large Language Models are Better Reasoners with Self-Verification](https://mlsanity.com/paper/2212.09561/) (2022)
- [Transformers learn to implement preconditioned gradient descent for in-context learning](https://mlsanity.com/paper/2306.00297/) (2023)
- [In-context Vectors: Making In Context Learning More Effective and Controllable Through Latent Space Steering](https://mlsanity.com/paper/2311.06668/) (2023)
- [SkillWeaver: Web Agents can Self-Improve by Discovering and Honing Skills](https://mlsanity.com/paper/2504.07079/) (2025)
- [Recursive Introspection: Teaching Language Model Agents How to Self-Improve](https://mlsanity.com/paper/2407.18219/) (2024)
- [Improving Instruction-Following in Language Models through Activation Steering](https://mlsanity.com/paper/2410.12877/) (2024)

## Built on by (most cited first, 2 of 2)

- [Agentic Environment Engineering for Large Language Models: A Survey of Environment Modeling, Synthesis, Evaluation, and Application](https://mlsanity.com/paper/2606.12191/) (2026)
- [Beyond the Shadows of Plato's Cave: Evaluating False Memory in Autonomous Agents via Counterfactual Reasoning](https://mlsanity.com/paper/2609.39473/) (2026)

## Abstract (arXiv)

Autonomous agents excel in self-improvement through reflection and iterative refinement, which reuse successful task trajectories as in-context examples to assist subsequent reasoning. However, shifting across tasks often introduces a context mismatch. Hence, existing approaches either discard the trajectories or manipulate them using heuristics, leading to a non-negligible fine-tuning cost or unguaranteed performance. To bridge this gap, we reveal a context-trajectory correlation, where shifts of context are highly parallel with shifts of trajectory. Based on this finding, we propose BrIdge contextual gap FoR imprOvised trajectory STeering (Bifrost), a training-free method that leverages context differences to precisely guide the adaptation of previously solved trajectories towards the target task, mitigating the misalignment caused by context shifts. Our trajectory adaptation is conducted at the representation level using agent hidden states, ensuring trajectory transformation accurately aligns with the target context in a shared space. Across diverse benchmarks, Bifrost consistently outperforms existing trajectory reuse and finetuned self-improvement methods, demonstrating that agents can effectively leverage past experiences despite substantial context shifts.