Failure Is the Mother of Success: Recovering Supervision with Grounding Hindsight

The paper introduces Replay-Selected Hindsight Distillation (RSHD), a method that transforms failed attempts in GRPO training into useful supervision. By having the policy write corrective notes for each failure and re-solving the problem with those notes, RSHD admits only those notes that lead to higher success rates than the original attempts. This approach enables learning from groups where all rollouts fail and improves performance across multiple model families and domains.

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• efficiency
• benchmarks