# OpenClaw-RL: Train Any Agent Simply by Talking

arXiv: https://arxiv.org/abs/2603.10165 · HTML: https://mlsanity.com/paper/2603.10165/

## Key facts

- Cited by 90 papers in the map (data through 14 Oct 2026).
- Placed in Reinforcement learning for LLM agents, one of 16 directions in LLM agents and tool use.
- Builds on 56 of its 85 references that are in the map.
- First posted on arXiv 10 Mar 2026.

## Placed in

- LLM agents and tool use / [Reinforcement learning for LLM agents](https://mlsanity.com/agents/reinforcement-learning-for-llm-agents/)

## Builds on (most cited first, 30 of 56)

- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Training Verifiers to Solve Math Word Problems](https://mlsanity.com/paper/2110.14168/) (2021)
- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Direct Preference Optimization: Your Language Model is Secretly a Reward Model](https://mlsanity.com/paper/2305.18290/) (2023)
- [Toolformer: Language Models Can Teach Themselves to Use Tools](https://mlsanity.com/paper/2302.04761/) (2023)
- [Deep reinforcement learning from human preferences](https://mlsanity.com/paper/1706.03741/) (2017)
- [Let's Verify Step by Step](https://mlsanity.com/paper/2305.20050/) (2023)
- [SWE-bench: Can Language Models Resolve Real-World GitHub Issues?](https://mlsanity.com/paper/2310.06770/) (2023)
- [DAPO: An Open-Source LLM Reinforcement Learning System at Scale](https://mlsanity.com/paper/2503.14476/) (2025)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [Fine-Tuning Language Models from Human Preferences](https://mlsanity.com/paper/1909.08593/) (2019)
- [HybridFlow: A Flexible and Efficient RLHF Framework](https://mlsanity.com/paper/2409.19256/) (2024)
- [SWE-agent: Agent-Computer Interfaces Enable Automated Software Engineering](https://mlsanity.com/paper/2405.15793/) (2024)
- [MemGPT: Towards LLMs as Operating Systems](https://mlsanity.com/paper/2310.08560/) (2023)
- [OSWorld: Benchmarking Multimodal Agents for Open-Ended Tasks in Real Computer Environments](https://mlsanity.com/paper/2404.07972/) (2024)
- [A-MEM: Agentic Memory for LLM Agents](https://mlsanity.com/paper/2502.12110/) (2025)
- [STaR: Bootstrapping Reasoning With Reasoning](https://mlsanity.com/paper/2203.14465/) (2022)
- [On-Policy Distillation of Language Models: Learning from Self-Generated Mistakes](https://mlsanity.com/paper/2306.13649/) (2023)
- [Math-Shepherd: Verify and Reinforce LLMs Step-by-step without Human Annotations](https://mlsanity.com/paper/2312.08935/) (2023)
- [Mem0: Building Production-Ready AI Agents with Scalable Long-Term Memory](https://mlsanity.com/paper/2504.19413/) (2025)
- [Self-Rewarding Language Models](https://mlsanity.com/paper/2401.10020/) (2024)
- [UI-TARS: Pioneering Automated GUI Interaction with Native Agents](https://mlsanity.com/paper/2501.12326/) (2025)
- [Process Reinforcement through Implicit Rewards](https://mlsanity.com/paper/2502.01456/) (2025)
- [Group-in-Group Policy Optimization for LLM Agent Training](https://mlsanity.com/paper/2505.10978/) (2025)
- [Open-Reasoner-Zero: An Open Source Approach to Scaling Up Reinforcement Learning on the Base Model](https://mlsanity.com/paper/2503.24290/) (2025)
- [Zep: A Temporal Knowledge Graph Architecture for Agent Memory](https://mlsanity.com/paper/2501.13956/) (2025)
- [ReTool: Reinforcement Learning for Strategic Tool Use in LLMs](https://mlsanity.com/paper/2504.11536/) (2025)
- [Reinforcement Learning via Self-Distillation](https://mlsanity.com/paper/2601.20802/) (2026)

## Built on by (most cited first, 30 of 90)

- [A Survey of On-Policy Distillation for Large Language Models](https://mlsanity.com/paper/2604.00626/) (2026)
- [Revisiting On-Policy Distillation: Empirical Failure Modes and Simple Fixes](https://mlsanity.com/paper/2603.25562/) (2026)
- [Skill-SD: Skill-Conditioned Self-Distillation for Multi-turn LLM Agents](https://mlsanity.com/paper/2604.10674/) (2026)
- [SkillClaw: Let Skills Evolve Collectively with Agentic Evolver](https://mlsanity.com/paper/2604.08377/) (2026)
- [Unifying Group-Relative and Self-Distillation Policy Optimization via Sample Routing](https://mlsanity.com/paper/2604.02288/) (2026)
- [Uni-OPD: Unifying On-Policy Distillation with a Dual-Perspective Recipe](https://mlsanity.com/paper/2605.03677/) (2026)
- [TCOD: Exploring Temporal Curriculum in On-Policy Distillation for Multi-turn Autonomous Agents](https://mlsanity.com/paper/2604.24005/) (2026)
- [Continual Harness: Online Adaptation for Self-Improving Foundation Agents](https://mlsanity.com/paper/2605.09998/) (2026)
- [Dynamic Dual-Granularity Skill Bank for Agentic RL](https://mlsanity.com/paper/2603.28716/) (2026)
- [SOD: Step-wise On-policy Distillation for Small Language Model Agents](https://mlsanity.com/paper/2605.07725/) (2026)
- [ECHO: Terminal Agents Learn World Models for Free](https://mlsanity.com/paper/2605.24517/) (2026)
- [SkillsVote: Lifecycle Governance of Agent Skills from Collection, Recommendation to Evolution](https://mlsanity.com/paper/2605.18401/) (2026)
- [GroupMemBench: Benchmarking LLM Agent Memory in Multi-Party Conversations](https://mlsanity.com/paper/2605.14498/) (2026)
- [Are Full Rollouts Necessary for On-Policy Distillation?](https://mlsanity.com/paper/2605.31490/) (2026)
- [ClawGym: A Scalable Framework for Building Effective Claw Agents](https://mlsanity.com/paper/2604.26904/) (2026)
- [SAGE-OPD: Selective Agent-Guided Intervention for Multi-Turn On-Policy Distillation](https://mlsanity.com/paper/2606.19659/) (2026)
- [ClawGUI: A Unified Framework for Training, Evaluating, and Deploying GUI Agents](https://mlsanity.com/paper/2604.11784/) (2026)
- [Preference-Based Self-Distillation: Beyond KL Matching via Reward Regularization](https://mlsanity.com/paper/2605.05040/) (2026)
- [ToolCUA: Towards Optimal GUI-Tool Path Orchestration for Computer Use Agents](https://mlsanity.com/paper/2605.12481/) (2026)
- [Sequential Beats Joint: On the Interplay between On-Policy Distillation and RLVR](https://mlsanity.com/paper/2609.04108/) (2026)
- [HINT-SD: Targeted Hindsight Self-Distillation for Long-Horizon Agents](https://mlsanity.com/paper/2605.17873/) (2026)
- [The Illusion of Certainty: Decoupling Capability and Calibration in On-Policy Distillation](https://mlsanity.com/paper/2604.16830/) (2026)
- [PAST-Bench: Benchmarking the Foundations of Recursive Self-Improvement in Personal Agents](https://mlsanity.com/paper/2608.04003/) (2026)
- [ClawEnvKit: Automatic Environment Generation for Claw-Like Agents](https://mlsanity.com/paper/2604.18543/) (2026)
- [π-Play: Multi-Agent Self-Play via Privileged Self-Distillation without External Data](https://mlsanity.com/paper/2604.14054/) (2026)
- [ThoughtTrace: Understanding User Thoughts in Real-World LLM Interactions](https://mlsanity.com/paper/2605.20087/) (2026)
- [OpenForgeRL: Train Harness-native Agents in Any Environment](https://mlsanity.com/paper/2607.21557/) (2026)
- [ScienceBuddy: Recursive-in-Recursive Self-Improvement for Interactive Scientific Agents](https://mlsanity.com/paper/2609.17523/) (2026)
- [OPSD Compresses What RLVR Teaches: A Post-RL Compaction Stage for Reasoning Models](https://mlsanity.com/paper/2605.06188/) (2026)
- [Bridging the Agent-World Gap: Text World Models for LLM-based Agents](https://mlsanity.com/paper/2606.09032/) (2026)

## Abstract (arXiv)

Every agent interaction generates a next-state signal, namely the user reply, tool output, terminal or GUI state change that follows each action, yet no existing agentic RL system recovers it as a live, online learning source. We present OpenClaw-RL, a framework that employs next-state signals to optimize personal agents online through infrastructure and methodology innovations. On the infrastructure side, we extend existing RL systems to a server-client architecture where the RL server hosts the policy behind an inference API and user terminals stream interaction data back over HTTP. From each observed next state, the system extracts two complementary training signals, evaluative and directive, via a separate asynchronous server so that neither signal extraction nor optimization blocks inference. On the methodology side, we introduce a hybrid RL objective that unifies both signal types in a single update: directive signals provide richer, token-level supervision but are sparser, while evaluative signals are more broadly available. To stabilize distillation under teacher-student mismatch, we propose overlap-guided hint selection, which picks the hint whose induced teacher distribution maximally overlaps with the student's top-k tokens, together with a log-probability-difference clip that bounds per-token advantages. Applied to personal agents, OpenClaw-RL enables an agent to improve simply by being used, recovering conversational signals from user re-queries, corrections, and explicit feedback. Applied to general agents, OpenClaw-RL is the first RL framework to unify real-world agent settings spanning terminal, GUI, SWE, and tool-call environments, where we additionally demonstrate the utility of next-state signals in long-horizon settings.