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A Good Self-Teacher Meets the Student Where They Are: Joint On-Policy Learning and Teaching

Ardywibowo, Randy et al.
arXiv (All) · Papers
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machine-learning
Reinforcement Learning (RL) from outcome rewards suffers from sparse supervision, particularly on difficult, long-horizon tasks where successful trajectories are rare and costly to generate. On-Policy Distillation (OPD) offers an attractive alternative by providing dense token-level supervision from
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