Goal-Conditioned Agents that Learn Everything All at Once
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arXiv
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| Format: | Preprint |
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2026
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| author | Matthews, Michael Jackson, Matthew Beukman, Michael Foster, Thomas Letcher, Alistair Fujimoto, Scott Colas, Cédric Foerster, Jakob |
| author_facet | Matthews, Michael Jackson, Matthew Beukman, Michael Foster, Thomas Letcher, Alistair Fujimoto, Scott Colas, Cédric Foerster, Jakob |
| contents | A goal-conditioned reinforcement learning agent exploring an environment will see a wealth of information throughout a trajectory, most of which is discarded when only performing on-policy updates with respect to the commanded goal. All-goals learning, where each transition is used for learning off-policy with respect to every goal, allows agents to extract maximal information, however it is usually computationally infeasible when done via naive relabelling. This can be overcome by jointly outputting values and actions for every goal at once, allowing for efficient, parallel all-goals updates with a single pass through the network, in a process we call Learning Everything all at Once (LEO). We show that this approach significantly outperforms other methods on goal-conditioned Craftax and is competitive with existing baselines on continuous control environments, while achieving a >250x speed-up compared to all-goals relabelling. We then go on to show that this approach can be made even more powerful by using LEO as a teacher network, rather than a direct actor. We hope that, by unlocking all-goals learning at scale, LEO can serve as a useful tool for RL practitioners in complex environments. We open source our code. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_23551 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Goal-Conditioned Agents that Learn Everything All at Once Matthews, Michael Jackson, Matthew Beukman, Michael Foster, Thomas Letcher, Alistair Fujimoto, Scott Colas, Cédric Foerster, Jakob Machine Learning Artificial Intelligence A goal-conditioned reinforcement learning agent exploring an environment will see a wealth of information throughout a trajectory, most of which is discarded when only performing on-policy updates with respect to the commanded goal. All-goals learning, where each transition is used for learning off-policy with respect to every goal, allows agents to extract maximal information, however it is usually computationally infeasible when done via naive relabelling. This can be overcome by jointly outputting values and actions for every goal at once, allowing for efficient, parallel all-goals updates with a single pass through the network, in a process we call Learning Everything all at Once (LEO). We show that this approach significantly outperforms other methods on goal-conditioned Craftax and is competitive with existing baselines on continuous control environments, while achieving a >250x speed-up compared to all-goals relabelling. We then go on to show that this approach can be made even more powerful by using LEO as a teacher network, rather than a direct actor. We hope that, by unlocking all-goals learning at scale, LEO can serve as a useful tool for RL practitioners in complex environments. We open source our code. |
| title | Goal-Conditioned Agents that Learn Everything All at Once |
| topic | Machine Learning Artificial Intelligence |
| url | https://arxiv.org/abs/2605.23551 |