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SCOPE distilled only the steps a Qwen2.5-3B agent actually got wrong, and reached 97.7 percent on ALFWorld while using 46.7 percent fewer interactions than GRPO

AspireAI community · arXiv (SCOPE on-policy self-distillation)
Outcome-based reinforcement learning gives an agent only a coarse signal: failed trajectories can contain correct steps, and successful ones can contain errors, while trajectory-level skills can shift behaviour at unrelated steps. SCOPE has the policy analyse its own trajectories after a supervised warm-up, generate step-specific hindsight skills, and distil that guidance only at selected error steps, stabilised by a bounded signed teacher-student coefficient and a success-relative pairwise length reward. With Qwen2.5-3B it reaches 97.7 percent success on ALFWorld and 85.2 percent on WebShop, beating SEED by 5.9 and 6.3 points, and on unseen ALFWorld tasks it hits 89.6 percent, 23.2 points above GRPO while using 46.7 percent fewer interactions; at Qwen3-32B scale it reports 99.2 percent on seen and 94.0 percent on unseen tasks. The limitation is that the evaluation covers ALFWorld and WebShop only, and the paper does not report results on open-ended tool use or software-engineering trajectories.
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