Executing long-horizon tool invocations in real-world environments is severely challenged by dynamic user intent noise. Existing methods attempt robustness via implicit history scanning or text compression, yet predominantly assume perfect instructions in simplistic scenarios. Inevitably, under fluctuating contexts, obsolete constraints dilute model attention, triggering intent deviation and repetitive API loops. To resolve this, we propose IACM-RL, a comprehensive framework for robust tool invocation. First, we introduce the DynamicIntent pipeline, synthesizing trajectories across several fine-grained fluctuation scenarios, paired with a five-dimensional diagnostic metric suite. Second, IACM-RL deploys a BeliefState-based Self-Generated Context Manager that proactively tracks shifting goals and isolates overwritten parameters using structural stale flags. To autonomously internalize this state-tracking capability, we optimize the policy using a hierarchical intent-driven reward alongside two auxiliary losses (CM extraction and state distillation). Experiments on DynamicIntent, BFCL-V3, and $\mathrmτ^2$-Bench demonstrate that IACM-RL outperforms baselines, reducing infinite loops and stale context errors while enhancing out-of-domain generalization.

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