SCOPE: Selective Critical-Step On-Policy Self-Distillation for Agentic Reinforcement Learning

Authors: Qirui Liu , Wei Cao , Yu Mi , Yichen Sun , Xuekun Zhang , Lei Liu , Yue Shen , Zhixuan Chu

View a PDF of the paper titled SCOPE: Selective Critical-Step On-Policy Self-Distillation for Agentic Reinforcement Learning, by Qirui Liu and 7 other authors

View PDF

HTML (experimental)

Abstract: Outcome-based reinforcement learning provides coarse supervision for long-horizon LLM agents: failed trajectories may contain correct steps, while successful trajectories can contain errors. Trajectory-level skills can also shift teacher preferences at unrelated steps, introducing off-target distillation signals. We introduce SCOPE, a framework for Selective Critical-Step On-Policy Self-Distillation. After a supervised warm-up, the policy analyzes its own trajectories, generates step-specific hindsight skills, and distills their guidance only at selected error steps. A bounded signed teacher-student coefficient stabilizes auxiliary updates while preserving positive reinforcement and negative correction. A success-relative pairwise length reward further encourages efficient task completion. Experiments on ALFWorld and WebShop demonstrate consistent improvements across multiple model backbones. With Qwen2.5-3B, SCOPE achieves 97.7% success on ALFWorld and 85.2% on WebShop, outperforming SEED by 5.9 and 6.3 percentage points, respectively. On unseen ALFWorld tasks, SCOPE reaches 89.6% success, improving over GRPO by 23.2 percentage points with 46.7% fewer interactions. Scaling to Qwen3-32B, SCOPE achieves 99.2% success on seen ALFWorld tasks and 94.0% on unseen tasks.

Comments:

18 pages, 8 figures, 5 tables

Subjects:

Artificial Intelligence (cs.AI)

Cite as:

arXiv:2610.38391 [cs.AI]

(or

arXiv:2610.38391v1 [cs.AI] for this version)

https://doi.org/10.48550/arXiv.2610.38391

Focus to learn more

arXiv-issued DOI via DataCite

Submission history

From: Qirui Liu [ view email ]

[v1]

Wed, 28 Oct 2026 07:29:23 UTC (3,740 KB)

Full-text links:

Access Paper:

View a PDF of the paper titled SCOPE: Selective Critical-Step On-Policy Self-Distillation for Agentic Reinforcement Learning, by Qirui Liu and 7 other authors

View PDF

HTML (experimental)

TeX Source

view license

Additional Features

Audio Summary

Current browse context:

cs.AI

< prev

next >

new

recent

| 2026-10

Change to browse by:

cs

References & Citations

SciX

Google Scholar

Semantic Scholar

export BibTeX citation

Loading...

BibTeX formatted citation

loading...

Data provided by:

Bookmark

Bibliographic Tools

Bibliographic and Citation Tools

Bibliographic Explorer Toggle

Bibliographic Explorer ( What is the Explorer? )

Connected Papers Toggle

Connected Papers ( What is Connected Papers? )

Litmaps Toggle

Litmaps ( What is Litmaps? )

scite.ai Toggle

scite Smart Citations ( What are Smart Citations? )

Code, Data, Media

Code, Data and Media Associated with this Article

alphaXiv Toggle

alphaXiv ( What is alphaXiv? )

Links to Code Toggle

CatalyzeX Code Finder for Papers ( What is CatalyzeX? )

DagsHub Toggle

DagsHub ( What is DagsHub? )

GotitPub Toggle

Gotit.pub ( What is GotitPub? )

Huggingface Toggle

Hugging Face ( What is Huggingface? )

ScienceCast Toggle

ScienceCast ( What is ScienceCast? )

Demos

Demos

Replicate Toggle

Replicate ( What is Replicate? )

Spaces Toggle

Hugging Face Spaces ( What is Spaces? )

Spaces Toggle

TXYZ.AI ( What is TXYZ.AI? )

Related Papers

Recommenders and Search Tools

Link to Influence Flower

Influence Flower ( What are Influence Flowers? )

Core recommender toggle

CORE Recommender ( What is CORE? )

Author

Venue

Institution

Topic

About arXivLabs

arXivLabs: experimental projects with community collaborators

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs .

Which authors of this paper are endorsers? |

Disable MathJax ( What is MathJax? )