# Instruction-Conditioned Exploration for Reinforcement Learning with Self-Distillation to an Unconditioned Policy

arXiv: https://arxiv.org/abs/2608.02087 · HTML: https://mlsanity.com/paper/2608.02087/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in On-policy and self-distillation for LLMs, one of 12 directions in Knowledge distillation.
- Builds on 26 of its 44 references that are in the map.
- First posted on arXiv 3 Aug 2026.

## Placed in

- Knowledge distillation / [On-policy and self-distillation for LLMs](https://mlsanity.com/distill/on-policy-and-self-distillation-for-llms/)
- Deep reinforcement learning methods / [RL training of language and agent models](https://mlsanity.com/deeprl/rl-training-of-language-and-agent-models/)

## Builds on (most cited first, 26 of 26)

- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Measuring Mathematical Problem Solving With the MATH Dataset](https://mlsanity.com/paper/2103.03874/) (2021)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Self-Refine: Iterative Refinement with Self-Feedback](https://mlsanity.com/paper/2303.17651/) (2023)
- [Does Reinforcement Learning Really Incentivize Reasoning Capacity in LLMs Beyond the Base Model?](https://mlsanity.com/paper/2504.13837/) (2025)
- [Beyond the 80/20 Rule: High-Entropy Minority Tokens Drive Effective Reinforcement Learning for LLM Reasoning](https://mlsanity.com/paper/2506.01939/) (2025)
- [Language Models can Solve Computer Tasks](https://mlsanity.com/paper/2303.17491/) (2023)
- [MathArena: Evaluating LLMs on Uncontaminated Math Competitions](https://mlsanity.com/paper/2505.23281/) (2025)
- [WebRL: Training LLM Web Agents via Self-Evolving Online Curriculum Reinforcement Learning](https://mlsanity.com/paper/2411.02337/) (2024)
- [The Invisible Leash: Why RLVR May or May Not Escape Its Origin](https://mlsanity.com/paper/2507.14843/) (2025)
- [Outcome-based Exploration for LLM Reasoning](https://mlsanity.com/paper/2509.06941/) (2025)
- [Rewarding the Unlikely: Lifting GRPO Beyond Distribution Sharpening](https://mlsanity.com/paper/2506.02355/) (2025)
- [Breaking the Exploration Bottleneck: Rubric-Scaffolded Reinforcement Learning for General LLM Reasoning](https://mlsanity.com/paper/2508.16949/) (2025)
- [Isambard-AI: a leadership class supercomputer optimised specifically for Artificial Intelligence](https://mlsanity.com/paper/2410.11199/) (2024)
- [Scaf-GRPO: Scaffolded Group Relative Policy Optimization for Enhancing LLM Reasoning](https://mlsanity.com/paper/2510.19807/) (2025)
- [On Entropy Control in LLM-RL Algorithms](https://mlsanity.com/paper/2509.03493/) (2025)
- [Diversity-Incentivized Exploration for Versatile Reasoning](https://mlsanity.com/paper/2509.26209/) (2025)
- [Nudging the Boundaries of LLM Reasoning](https://mlsanity.com/paper/2509.25666/) (2025)
- [Self-Hinting Language Models Enhance Reinforcement Learning](https://mlsanity.com/paper/2602.03143/) (2026)
- [RAGEN-2: Reasoning Collapse in Agentic RL](https://mlsanity.com/paper/2604.06268/) (2026)
- [Can LLMs Guide Their Own Exploration? Gradient-Guided Reinforcement Learning for LLM Reasoning](https://mlsanity.com/paper/2512.15687/) (2025)
- [Expanding LLM Agent Boundaries with Strategy-Guided Exploration](https://mlsanity.com/paper/2603.02045/) (2026)
- [Nudging Beyond the Comfort Zone: Efficient Strategy-Guided Exploration for RLVR](https://mlsanity.com/paper/2605.15726/) (2026)
- [DPEPO: Diverse Parallel Exploration Policy Optimization for LLM-based Agents](https://mlsanity.com/paper/2604.24320/) (2026)

## Built on by (most cited first, 2 of 2)

- [Decoupling Exploration from Optimization in RLVR](https://mlsanity.com/paper/2610.10536/) (2026)
- [Explore with Memory, Learn without It: In-Context Exploration and Self-Distillation for LLM Reasoning](https://mlsanity.com/paper/2610.17734/) (2026)

## Abstract (arXiv)

Post-training Large Language Models (LLMs) with Reinforcement Learning (RL) has become an important tool for improving model capabilities, but the LLM action-space structure introduces challenges distinct from classical RL, with implications for inducing exploration. New methods are required that leverage the broad knowledge and flexibility of pre-trained LLMs to deliberately generate diverse experience at training time. We propose Instruction-Conditioned Exploration (ICE), which appends one of a small fixed set of instructions to task prompts during training, using the same set for every problem, increasing the coverage of behaviours attempted. To facilitate ICE, we combine RL on the instruction-conditioned policy with self-distillation of its correct rollouts into the unconditioned test-time policy. ICE with this objective improves Qwen3-1.7B held-out pass@1 performance at 4K response length on mathematical reasoning tasks by 5.0% relative to training with DAPO, with improvement persisting at a longer 8K context. The improvement does not appear for Qwen3-4B at 4K, where the instructions do not expand base-model coverage.