# On Training Large Language Models for Long-Horizon Tasks: An Empirical Study of Horizon Length

arXiv: https://arxiv.org/abs/2605.02572 · HTML: https://mlsanity.com/paper/2605.02572/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 63 of its 80 references that are in the map.
- First posted on arXiv 4 May 2026.

## Builds on (most cited first, 30 of 63)

- [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)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [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)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Efficient Memory Management for Large Language Model Serving with PagedAttention](https://mlsanity.com/paper/2309.06180/) (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)
- [HybridFlow: A Flexible and Efficient RLHF Framework](https://mlsanity.com/paper/2409.19256/) (2024)
- [WebArena: A Realistic Web Environment for Building Autonomous Agents](https://mlsanity.com/paper/2307.13854/) (2023)
- [Megatron-LM: Training Multi-Billion Parameter Language Models Using Model Parallelism](https://mlsanity.com/paper/1909.08053/) (2019)
- [Self-RAG: Learning to Retrieve, Generate, and Critique through Self-Reflection](https://mlsanity.com/paper/2310.11511/) (2023)
- [Search-R1: Training LLMs to Reason and Leverage Search Engines with Reinforcement Learning](https://mlsanity.com/paper/2503.09516/) (2025)
- [Understanding R1-Zero-Like Training: A Critical Perspective](https://mlsanity.com/paper/2503.20783/) (2025)
- [WebShop: Towards Scalable Real-World Web Interaction with Grounded Language Agents](https://mlsanity.com/paper/2207.01206/) (2022)
- [SGLang: Efficient Execution of Structured Language Model Programs](https://mlsanity.com/paper/2312.07104/) (2023)
- [Dota 2 with Large Scale Deep Reinforcement Learning](https://mlsanity.com/paper/1912.06680/) (2019)
- [OpenHands: An Open Platform for AI Software Developers as Generalist Agents](https://mlsanity.com/paper/2407.16741/) (2024)
- [Does Reinforcement Learning Really Incentivize Reasoning Capacity in LLMs Beyond the Base Model?](https://mlsanity.com/paper/2504.13837/) (2025)
- [Super-NaturalInstructions: Generalization via Declarative Instructions on 1600+ NLP Tasks](https://mlsanity.com/paper/2204.07705/) (2022)
- [Group Sequence Policy Optimization](https://mlsanity.com/paper/2507.18071/) (2025)
- [SFT Memorizes, RL Generalizes: A Comparative Study of Foundation Model Post-training](https://mlsanity.com/paper/2501.17161/) (2025)
- [PyTorch FSDP: Experiences on Scaling Fully Sharded Data Parallel](https://mlsanity.com/paper/2304.11277/) (2023)
- [Kimi K2: Open Agentic Intelligence](https://mlsanity.com/paper/2507.20534/) (2025)
- [Executable Code Actions Elicit Better LLM Agents](https://mlsanity.com/paper/2402.01030/) (2024)
- [Group-in-Group Policy Optimization for LLM Agent Training](https://mlsanity.com/paper/2505.10978/) (2025)
- [AFlow: Automating Agentic Workflow Generation](https://mlsanity.com/paper/2410.10762/) (2024)
- [TheAgentCompany: Benchmarking LLM Agents on Consequential Real World Tasks](https://mlsanity.com/paper/2412.14161/) (2024)
- [MiniMax-M1: Scaling Test-Time Compute Efficiently with Lightning Attention](https://mlsanity.com/paper/2506.13585/) (2025)

## Built on by (most cited first, 6 of 6)

- [Training AI Scientists to Replicate Research](https://mlsanity.com/paper/2608.13331/) (2026)
- [Agentic ESOpt: Fine-Tuning Long-Horizon LLM Agents with Minimal GPU Requirements](https://mlsanity.com/paper/2608.17310/) (2026)
- [Learning from Environmental Feedback: Credit Assignment across Multiple Timescales for Agentic Reinforcement Learning](https://mlsanity.com/paper/2608.08255/) (2026)
- [Benchmarking the Residual: What Long-Horizon Evaluations Add Beyond Matched Short-Task Performance](https://mlsanity.com/paper/2607.27283/) (2026)
- [One to More, More to One: Category-Aware Iterative Expert Training for Software Engineering Agents](https://mlsanity.com/paper/2609.23377/) (2026)
- [State Representation Shapes Long-Horizon Agent Learning and Transfer: An Empirical Study](https://mlsanity.com/paper/2610.15407/) (2026)

## Abstract (arXiv)

Large language models (LLMs) have shown promise as interactive agents that solve tasks through extended sequences of environment interactions. While prior work has primarily focused on system-level optimizations or algorithmic improvements, the role of task horizon length in shaping training dynamics remains poorly understood. In this work, we present a systematic empirical study that examines horizon length through controlled task constructions. Specifically, we construct controlled tasks in which agents face identical decision rules and reasoning structures, but differ only in the length of action sequences required for successful completion. Our results reveal that increasing horizon length alone constitutes a training bottleneck, inducing severe training instability driven by exploration difficulties and credit assignment challenges. We demonstrate that horizon reduction is a key principle to address this limitation, stabilizing training and achieving better performance in long-horizon tasks. Moreover, we find that horizon reduction is related to stronger generalization across horizon lengths: models trained under reduced horizons generalize more effectively to longer-horizon variants at inference time, a phenomenon we refer to as horizon generalization.