DL-OPSD: Dual-Level Selective On-Policy Self-Distillation for Skill Internalization
2026.05 – 2026.09
When self-guidance and execution feedback disagree, how should a model learn from itself?
DL-OPSD selects positive-advantage trajectories for auxiliary distillation and weights teacher-supported tokens according to student uncertainty and teacher certainty. Reinforcement learning uses all trajectories, and the student requires no skill access at inference.


