Training prompts in online reinforcement learning (RL) differ substantially in how informative they are for the current policy: some are already saturated while others are too difficult to yield reliable learning signals, yet both receive equal rollout budget under standard training. We propose an exploration-guided prompt scaffolding framework that adapts the training prompt distribution dynamically throughout RL post-training of multimodal large language models (MLLMs). Central to our approach is the Exploration Potential Score(EPS), a lightweight rollout-based proxy for prompt utility derived from KL-regularized policy improvement theory, computable directly from on-policy rollout statistics without additional overhead. Rather than discarding low-utility prompts, we use a teacher model to generate scaffolded rewrites that preserve the original task intent while making subsequent training more informative, reframing teacher supervision as training-data refinement rather than output imitation. Integrated with GRPO on Geo3K and MMK12, our method consistently outperforms the baseline on both in-domain and out-of-distribution benchmarks, achieving up to 9.7% relative improvement in-domain and gains of 11.5% on MathVision and 11.1% on MMMU-Pro.
Reinforcement learning with verifiable rewards (RLVR) improves the reasoning capabilities of large language models, but prompt groups with identical rollout rewards consume generation budget without effective learning signals. Pre-rollout prompt selection can reduce this waste by screening prompts before rollout generation. However, existing pre-rollout methods struggle to balance exploitation and exploration: repeatedly exploiting historically informative prompts can narrow training coverage, whereas broader exploration can lower the fraction of informative prompts. To address these limitations, we introduce LEEPS, a Latent-Guided Explore--Exploit Prompt Sampler that adaptively balances the reuse of previously observed informative prompts with continued exploration of uncertain ones. LEEPS partitions candidates into exploit and explore portfolios and adaptively allocates rollout budget according to their recent non-trivial ratios. It further uses representation-space neighbors and historical rollout outcomes to prioritize uncertain prompts likely to yield non-zero reward variance, thereby making exploration more targeted without additional rollouts. Across six mathematical reasoning benchmarks, LEEPS achieves the highest average score at both model scales, with relative gains of 2.6% and 3.7% over the strongest baseline for Qwen2.5-Math-1.5B and 7B, respectively, and generally improves faster during the training process. It also achieves the highest average score across the three evaluated OOD general-reasoning benchmarks at both model scales and adds only about 2 seconds of online sampling overhead per training step. Code is available at https://github.com/ShuangLiangX/LEEPS.
Reinforcement Learning with Verifiable Rewards (RLVR) for language-model reasoning can fail at both extremes of task difficulty: easy prompts often produce all-correct, low-diversity rollout groups with little gradient signal, while hard prompts can produce all-incorrect groups with no positive reward. We introduce ExTra (Exploratory Trajectory Optimization), a GRPO-compatible framework that extracts exploration signals from the model's own rollouts. ExTra combines two mechanisms: (i) a novelty reward that adds embedding-based diversity bonuses after GRPO normalization, rewarding diverse correct solutions; and (ii) entropy-guided prefix regeneration, which scores partial trajectories using entropy signals and continues exploration from promising intermediate steps. Across six mathematical reasoning benchmarks, ExTra improves Qwen3-1.7B over GRPO by about +5 points on pass@1 and +7 points on pass@16, showing that trajectory-level exploration signals can improve both single-sample accuracy and inference-time coverage.
Reinforcement Learning with Verifiable Rewards (RLVR) makes Multimodal Large Language Models more accurate, but the gains are brittle: simply paraphrasing a question or changing the prompt template can degrade them, which challenges reliable deployment in high-stakes scenarios like medical VQA. We trace this to two issues of the standard RL objective. First, the binary verifier conflates format with content, so the reward signal cannot tell a wrong answer apart from a misformatted one. Second, the training distribution covers only a thin slice of the real-world prompts that the model might meet at deployment, so policies that perform well on the training distribution can behave differently under unseen prompts during test. Both failures call for a robust post-training method that helps the policy cover a broader distribution of semantically equivalent prompts, and we identify two measures that help achieve this objective: separating format from semantics in the reward, and applying policy invariance across perturbed prompts with equivalent semantics. We therefore propose Prompt-Invariant RLVR (PIRL), consisting of a dynamic trinary reward and a consistency regularizer based on an embedding-space adversary. Under stress testing, PIRL's average accuracy on benchmarks drops by only ≤1%, where GRPO drops ~3%. On dynamic evaluation, PIRL also achieves the smallest performance drop.