# Graph-Conditioned On-Policy Agent Distillation from Off-the-Shelf Teachers

arXiv: https://arxiv.org/abs/2609.37522 · HTML: https://mlsanity.com/paper/2609.37522/

## Key facts

- No citing papers in the map yet (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 30 references that are in the map.
- First posted on arXiv 29 Sep 2026.

## Placed in

- Knowledge distillation / [On-policy and self-distillation for LLMs](https://mlsanity.com/distill/on-policy-and-self-distillation-for-llms/)

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

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [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)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [ZeRO: Memory Optimizations Toward Training Trillion Parameter Models](https://mlsanity.com/paper/1910.02054/) (2019)
- [WebShop: Towards Scalable Real-World Web Interaction with Grounded Language Agents](https://mlsanity.com/paper/2207.01206/) (2022)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [On-Policy Distillation of Language Models: Learning from Self-Generated Mistakes](https://mlsanity.com/paper/2306.13649/) (2023)
- [Learning by Cheating](https://mlsanity.com/paper/1912.12294/) (2019)
- [ScienceWorld: Is your Agent Smarter than a 5th Grader?](https://mlsanity.com/paper/2203.07540/) (2022)
- [TextWorld: A Learning Environment for Text-based Games](https://mlsanity.com/paper/1806.11532/) (2018)
- [On-Policy Context Distillation for Language Models](https://mlsanity.com/paper/2602.12275/) (2026)
- [Skill-SD: Skill-Conditioned Self-Distillation for Multi-turn LLM Agents](https://mlsanity.com/paper/2604.10674/) (2026)
- [TCOD: Exploring Temporal Curriculum in On-Policy Distillation for Multi-turn Autonomous Agents](https://mlsanity.com/paper/2604.24005/) (2026)
- [OPID: On-Policy Skill Distillation for Agentic Reinforcement Learning](https://mlsanity.com/paper/2606.26790/) (2026)
- [SEED: Self-Evolving On-Policy Distillation for Agentic Reinforcement Learning](https://mlsanity.com/paper/2607.14777/) (2026)
- [Beyond Trajectory-Level Attribution: Graph-Based Credit Assignment for Agentic Reinforcement Learning](https://mlsanity.com/paper/2605.26684/) (2026)
- [TurnOPD: Making On-Policy Distillation Turn-Aware for Efficient Long-Horizon Agent Training](https://mlsanity.com/paper/2607.05804/) (2026)
- [Group-Graph Policy Optimization for Long-Horizon Agentic Reinforcement Learning](https://mlsanity.com/paper/2606.22995/) (2026)
- [AgentOPSD: Recursive Self-Distillation for Agentic Reinforcement Learning](https://mlsanity.com/paper/2608.05987/) (2026)
- [ATOD: Annealed Turn-Aware On-Policy Distillation for Multi-Turn Agentic Tasks](https://mlsanity.com/paper/2606.27814/) (2026)
- [Look Ahead Before You Distill: Future Trajectory Validation of Teacher Guidance for Agentic On-Policy Distillation](https://mlsanity.com/paper/2608.01953/) (2026)
- [PAST: Privileged Adaptation from Complete Student Trajectories for On-Policy Self-Distillation](https://mlsanity.com/paper/2608.08726/) (2026)
- [DART-SD: Diamond-topology Aware Retrieval and Tuning for Self-Distillation of Multi-Turn Tool-Calling Agents](https://mlsanity.com/paper/2608.18524/) (2026)
- [TIGPO: Temporal Instance-Graph Policy Optimization for Long-Horizon LLM Agents](https://mlsanity.com/paper/2609.03383/) (2026)

## Abstract (arXiv)

On-policy distillation (OPD) trains compact language agents with teacher feedback on student-generated trajectories. In multi-turn tasks, compounding errors can move students beyond the teacher's effective supervision. We introduce Graph-Conditioned On-Policy Agent Distillation (GC-OPD), which enriches an off-the-shelf teacher's scoring context with execution evidence. A graph indexes repeated teacher executions by shared states while preserving complete successful and failed histories. After each student episode, GC-OPD retrieves current-state references or historical alternatives and combines them with student hindsight to score the original thought-action tokens. Using the same original teachers, GC-OPD improves mean success over vanilla OPD from 24.70% to 48.78% on ScienceWorld (4B student), from 53.36% to 85.26% on ALFWorld Unseen, and from 29.10% to 37.65% on WebShop. At matched student sizes, it also achieves higher mean success than every evaluated OPD baseline using GRPO-trained teachers on ScienceWorld and ALFWorld; the strongest such ScienceWorld 4B baseline reaches 46.66%. GC-OPD requires no task-specific teacher optimization.