Environments as Scaffold: Enriching Feedback to Bootstrap Self-Evolving Agents in Long-Horizon Tasks

Reinforcement learning (RL) has emerged as a powerful paradigm for training Large Language Models (LLMs) as agents. However, conventional RL methods for long-horizon agentic tasks often struggle with sparse outcome rewards. Intuitively, this overlooks the rich environment dynamics information contained in rollout interaction trajectories. We argue that the interaction experience inherently serves as an implicit supervision signal, reveals the underlying transition mechanisms of the environment, and enables the agent to construct a more accurate internal model of the environment.. Therefore, in this work, we investigate how to leverage this additional signal to improve policy learning. Specifically, we propose EnvRL, a framework that incorporates environment dynamics learning into agentic RL via two auxiliary objectives: state prediction and inverse dynamics. By jointly optimizing with the primary RL objective, we encourage the agent to internalize environment dynamics from its own interaction experience. Extensive experiments on two long-horizon agentic benchmarks demonstrate that EnvRL achieves significant improvements on success-rates over RL-only baselines, e.g., when trained with GRPO, lifting Qwen-2.5-1.5B-Instruct from 72.8% to 77.4% on ALFWorld, and from 56.8% to 67.0% on WebShop.

Training long-horizon LLM agents with reinforcement learning is challenging because sparse outcome rewards reveal whether a task succeeds, but not which intermediate actions caused the outcome or how they should be corrected. Recent methods alleviate this issue by generating rewards or textual hints from turn-level action-output signals, or by using feedback-conditioned self-distillation. However, generating feedback at every turn is inefficient when many intermediate turns are already successful or neutral, and applying feedback at a fixed or misaligned turn often fails to supervise the actions that contributed to the failure. To bridge this gap, we propose HINT-SD, a targeted self-distillation framework that uses full-trajectory hindsight to select failure-relevant actions and applies feedback-conditioned distillation only on targeted action spans. Experiments on BFCL v3 and AppWorld show that our method improves over the dense per-turn feedback baseline by up to 18.80 percent while achieving 2.26$\times$ lower time per training step, suggesting that selecting where to distill is a key factor for both effective and efficient long-horizon agent training.

Large Language Models (LLMs) as agents often fail to improve in new environments. We identify and characterize a failure mode we call exploration collapse: under reinforcement learning (RL) in environments whose states are unfamiliar to the policy, Pass@k, the probability that at least one of k sampled trajectories succeeds, drops markedly over training even as Pass@1 edges up, revealing increasingly brittle exploration; environments closer to the pretraining distribution show no such decline. We trace this collapse to weak grounding in environment states and dynamics, and study a simple remedy: explicitly teaching the agent to estimate the current state and predict its transitions before optimizing for reward. We instantiate it as SPA, an explore-then-exploit recipe that cold-starts the policy with a Self-Experience supervised finetuning (SFT) stage, collecting the model's own interaction trajectories and supervising state and next-state prediction, and then runs standard RL. The resulting world model serves as a grounded initialization for RL rather than an inference-time planner. Across unseen environments, SPA consistently and substantially improves over vanilla RL: for example, it raises the Sokoban success rate from 25.6% to 59.8% on Qwen2.5-1.5B-Instruct, letting sub-3B models surpass a 20B baseline on these tasks. Controlled studies indicate that the gains track four factors: grounded state representations, explicit transition modeling, self-experience trajectories from a sufficiently strong exploration policy, and adequate coverage of transition data.