AHEAD: Adaptive Hindsight with Environment-Augmented Distillation for Agentic RL

Training multi-turn LLM agents with reinforcement learning typically relies on trajectory-level rewards, which assign a uniform advantage to every step and cannot identify which decisions led to success or failure. Self-distillation methods can provide finer-grained supervision by augmenting RL with privileged information. However, existing approaches usually apply the same type of privileged information to every step in an indistinguishable manner, ignoring a key asymmetry: routine steps need little additional guidance, while critical error steps require corrective direction that environment feedback alone cannot provide. We propose \method, a step-aware framework that matches different supervision sources to different step types. The teacher receives environment feedback on all steps as a grounded dense signal, and additionally receives LLM-generated corrective hints on error steps to supply the direction that environment feedback lacks. The method introduces minimal changes to the standard GRPO algorithm. Across ALFWorld, WebShop, and Search-based QA, and across three model scales, \method raises task success ($+13.3$ points on ALFWorld and $+11.0$ on WebShop at 7B over GRPO), reaches a given success rate in fewer training steps, and solves tasks within tighter interaction budgets than outcome-only RL and prior self-distillation baselines.