# Learning from Failures: Correction-Oriented Policy Optimization with Verifiable Rewards

arXiv: https://arxiv.org/abs/2605.14539 · HTML: https://mlsanity.com/paper/2605.14539/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Reinforcement learning for reasoning, one of 17 directions in LLM reasoning.
- Builds on 31 of its 40 references that are in the map.
- First posted on arXiv 14 May 2026.

## Placed in

- LLM reasoning / [Reinforcement learning for reasoning](https://mlsanity.com/lr/reinforcement-learning-for-reasoning/)

## Builds on (most cited first, 30 of 31)

- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Let's Verify Step by Step](https://mlsanity.com/paper/2305.20050/) (2023)
- [HybridFlow: A Flexible and Efficient RLHF Framework](https://mlsanity.com/paper/2409.19256/) (2024)
- [LiveCodeBench: Holistic and Contamination Free Evaluation of Large Language Models for Code](https://mlsanity.com/paper/2403.07974/) (2024)
- [Solving Quantitative Reasoning Problems with Language Models](https://mlsanity.com/paper/2206.14858/) (2022)
- [Hindsight Experience Replay](https://mlsanity.com/paper/1707.01495/) (2017)
- [OlympiadBench: A Challenging Benchmark for Promoting AGI with Olympiad-Level Bilingual Multimodal Scientific Problems](https://mlsanity.com/paper/2402.14008/) (2024)
- [Scaling Laws for Reward Model Overoptimization](https://mlsanity.com/paper/2210.10760/) (2022)
- [Teaching Large Language Models to Self-Debug](https://mlsanity.com/paper/2304.05128/) (2023)
- [Does Reinforcement Learning Really Incentivize Reasoning Capacity in LLMs Beyond the Base Model?](https://mlsanity.com/paper/2504.13837/) (2025)
- [Math-Shepherd: Verify and Reinforce LLMs Step-by-step without Human Annotations](https://mlsanity.com/paper/2312.08935/) (2023)
- [Solving math word problems with process- and outcome-based feedback](https://mlsanity.com/paper/2211.14275/) (2022)
- [Process Reinforcement through Implicit Rewards](https://mlsanity.com/paper/2502.01456/) (2025)
- [Improve Mathematical Reasoning in Language Models by Automated Process Supervision](https://mlsanity.com/paper/2406.06592/) (2024)
- [Training Language Models to Self-Correct via Reinforcement Learning](https://mlsanity.com/paper/2409.12917/) (2024)
- [Reinforcement Learning via Self-Distillation](https://mlsanity.com/paper/2601.20802/) (2026)
- [RLEF: Grounding Code LLMs in Execution Feedback with Reinforcement Learning](https://mlsanity.com/paper/2410.02089/) (2024)
- [Risk-sensitive Reinforcement Learning](https://mlsanity.com/paper/1311.2097/) (2013)
- [Self-Evolving Curriculum for LLM Reasoning](https://mlsanity.com/paper/2505.14970/) (2025)
- [Why Does Self-Distillation (Sometimes) Degrade the Reasoning Capability of LLMs?](https://mlsanity.com/paper/2603.24472/) (2026)
- [Learning From Mistakes Makes LLM Better Reasoner](https://mlsanity.com/paper/2310.20689/) (2023)
- [CriticBench: Benchmarking LLMs for Critique-Correct Reasoning](https://mlsanity.com/paper/2402.14809/) (2024)
- [DebugBench: Evaluating Debugging Capability of Large Language Models](https://mlsanity.com/paper/2401.04621/) (2024)
- [LeetCodeDataset: A Temporal Dataset for Robust Evaluation and Efficient Training of Code LLMs](https://mlsanity.com/paper/2504.14655/) (2025)
- [Critique Fine-Tuning: Learning to Critique is More Effective than Learning to Imitate](https://mlsanity.com/paper/2501.17703/) (2025)
- [FullStack Bench: Evaluating LLMs as Full Stack Coders](https://mlsanity.com/paper/2412.00535/) (2024)
- [Rethinking Reward Model Evaluation: Are We Barking up the Wrong Tree?](https://mlsanity.com/paper/2410.05584/) (2024)
- [Critic-CoT: Boosting the reasoning abilities of large language model via Chain-of-thoughts Critic](https://mlsanity.com/paper/2408.16326/) (2024)
- [CAPO: Towards Enhancing LLM Reasoning through Generative Credit Assignment](https://mlsanity.com/paper/2508.02298/) (2025)
- [Rewarding the Rare: Uniqueness-Aware RL for Creative Problem Solving in LLMs](https://mlsanity.com/paper/2601.08763/) (2026)

## Abstract (arXiv)

Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as an effective paradigm for improving the reasoning capabilities of large language models. However, RLVR training is often hindered by sparse binary rewards and weak credit assignment, resulting in ambiguous optimization signals and underutilization of the useful information embedded in failed trajectories. To address this challenge, we propose Correction-Oriented Policy Optimization (CIPO), a simple and effective extension to RLVR that converts on-policy failed trajectories into correction-oriented supervision, without relying on any external signals. By jointly optimizing correction samples derived from the model's own failed attempts together with the standard RLVR objective, CIPO improves learning effectiveness while explicitly enhancing the model's ability to correct its own errors. Extensive experiments across 11 benchmarks spanning mathematical reasoning and code generation demonstrate that CIPO consistently and significantly outperforms strong baselines in both reasoning and correction performance. Moreover, CIPO yields stronger pass@K gains, indicating that it improves the model's intrinsic reasoning capacity rather than merely redistributing probability mass over existing correct answers.