{"id":"https://openalex.org/W7162331338","doi":"https://doi.org/10.48550/arxiv.2605.23551","title":"Goal-Conditioned Agents that Learn Everything All at Once","display_name":"Goal-Conditioned Agents that Learn Everything All at Once","publication_year":2026,"publication_date":"2026-05-22","ids":{"openalex":"https://openalex.org/W7162331338","doi":"https://doi.org/10.48550/arxiv.2605.23551"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.23551","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.23551","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.23551","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136949320","display_name":"Michael Matthews","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matthews, Michael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136965023","display_name":"Matthew Jackson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jackson, Matthew","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091348511","display_name":"Michael Beukman","orcid":"https://orcid.org/0000-0002-5468-284X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Beukman, Michael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136987799","display_name":"Thomas Foster","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Foster, Thomas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070313700","display_name":"Alistair Letcher","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Letcher, Alistair","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136901969","display_name":"Scott Fujimoto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fujimoto, Scott","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048471111","display_name":"C\u00e9dric Colas","orcid":"https://orcid.org/0000-0003-0212-427X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Colas, C\u00e9dric","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136936276","display_name":"Jakob Foerster","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Foerster, Jakob","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9132999777793884,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9132999777793884,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.011500000022351742,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.006399999838322401,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7171000242233276},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6657999753952026},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5299000144004822},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4018999934196472},{"id":"https://openalex.org/keywords/error-driven-learning","display_name":"Error-driven learning","score":0.3441999852657318},{"id":"https://openalex.org/keywords/goto","display_name":"Goto","score":0.33739998936653137},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.32919999957084656}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7171000242233276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7106999754905701},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6657999753952026},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5299000144004822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5084999799728394},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4018999934196472},{"id":"https://openalex.org/C47932503","wikidata":"https://www.wikidata.org/wiki/Q5395689","display_name":"Error-driven learning","level":3,"score":0.3441999852657318},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33820000290870667},{"id":"https://openalex.org/C114094675","wikidata":"https://www.wikidata.org/wiki/Q750997","display_name":"Goto","level":2,"score":0.33739998936653137},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.32919999957084656},{"id":"https://openalex.org/C194232998","wikidata":"https://www.wikidata.org/wiki/Q1606712","display_name":"Transition (genetics)","level":3,"score":0.3093999922275543},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2948000133037567},{"id":"https://openalex.org/C24138899","wikidata":"https://www.wikidata.org/wiki/Q17141258","display_name":"Instance-based learning","level":3,"score":0.2802000045776367},{"id":"https://openalex.org/C90329073","wikidata":"https://www.wikidata.org/wiki/Q914232","display_name":"Ask price","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.23551","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.23551","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.23551","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.23551","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.4531261622905731,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"A":[0],"goal-conditioned":[1,114],"reinforcement":[2],"learning":[3,41,168],"agent":[4],"exploring":[5],"an":[6],"environment":[7],"will":[8],"see":[9],"a":[10,15,87,94,128,154,159,175],"wealth":[11],"of":[12,18],"information":[13],"throughout":[14],"trajectory,":[16],"most":[17],"which":[19],"is":[20,38,56,117],"discarded":[21],"when":[22,60],"only":[23],"performing":[24],"on-policy":[25],"updates":[26,85],"with":[27,43,86,119],"respect":[28,44],"to":[29,45,50,132,139],"the":[30,91],"commanded":[31],"goal.":[32],"All-goals":[33],"learning,":[34],"where":[35],"each":[36],"transition":[37],"used":[39],"for":[40,75,81,178],"off-policy":[42],"every":[46,76],"goal,":[47],"allows":[48],"agents":[49],"extract":[51],"maximal":[52],"information,":[53],"however":[54],"it":[55],"usually":[57],"computationally":[58],"infeasible":[59],"done":[61],"via":[62],"naive":[63],"relabelling.":[64,134],"This":[65],"can":[66,144,172],"be":[67,145],"overcome":[68],"by":[69,150,165],"jointly":[70],"outputting":[71],"values":[72],"and":[73,116],"actions":[74],"goal":[77],"at":[78,101,169],"once,":[79],"allowing":[80],"efficient,":[82],"parallel":[83],"all-goals":[84,133,167],"single":[88],"pass":[89],"through":[90],"network,":[92,156],"in":[93,181],"process":[95],"we":[96],"call":[97],"Learning":[98],"Everything":[99],"all":[100],"Once":[102],"(LEO).":[103],"We":[104,135,162,184],"show":[105,140],"that":[106,141],"this":[107,142],"approach":[108,143],"significantly":[109],"outperforms":[110],"other":[111],"methods":[112],"on":[113,122,138],"Craftax":[115],"competitive":[118],"existing":[120],"baselines":[121],"continuous":[123],"control":[124],"environments,":[125],"while":[126],"achieving":[127],">250x":[129],"speed-up":[130],"compared":[131],"then":[136],"go":[137],"made":[146],"even":[147],"more":[148],"powerful":[149],"using":[151],"LEO":[152,171],"as":[153,174],"teacher":[155],"rather":[157],"than":[158],"direct":[160],"actor.":[161],"hope":[163],"that,":[164],"unlocking":[166],"scale,":[170],"serve":[173],"useful":[176],"tool":[177],"RL":[179],"practitioners":[180],"complex":[182],"environments.":[183],"open":[185],"source":[186],"our":[187],"code.":[188]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-26T00:00:00"}