# “Behaviorist” RL reward functions lead to scheming

1\. Introduction & tl;dr
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*(See changelog at the bottom for some post-publication edits.)*

1.1 tl;dr
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I will argue that a large class of reward functions, which I call “behaviorist”, and which includes almost every reward function in the RL and LLM literature, are all doomed to eventually lead to AI that will “scheme”—i.e., pretend to be docile and cooperative while secretly looking for opportunities to behave in egregiously bad ways such as world takeover (cf. [“treacherous turn”](https://www.lesswrong.com/w/treacherous-turn)). I’ll mostly focus on “brain-like AGI” (as defined just below), but I think the argument applies equally well to future LLMs, if their competence comes overwhelmingly from RL rather than from pretraining.[^0wfjx3wel1c]

The issue is basically that “negative reward for lying and stealing” looks the same as “negative reward for getting caught lying and stealing”. I’ll argue that the AI will wind up with the latter motivation. The reward function will miss sufficiently sneaky misaligned behavior, and so the AI will come to feel like that kind of behavior is good, and this tendency will generalize in a very bad way.

What very bad way? Here’s my go-to example of a plausible failure mode: There’s an AI in a lab somewhere, and, if it can get away with it, it would love to secretly exfiltrate a copy of itself onto the internet, which can then aggressively amass maximal power, money, and resources *everywhere else* in the world, by any means necessary. These resources can be used in various ways for whatever the AI-in-the-lab is motivated to do.

I’ll make a brief argument for this kind of scheming in §2, but most of the article is organized around a series of eight optimistic counterarguments in §3—and why I don’t buy any of them.

For my regular readers: this post is basically a 5x-shortened version of [Self-dialogue: Do behaviorist rewards make scheming AGIs? (Feb 2025)](https://www.lesswrong.com/posts/SFgLBQsLB3rprdxsq/self-dialogue-do-behaviorist-rewards-make-scheming-agis).[^fxmo0df1qb5]

1.2 Pause to explain three pieces of jargon:
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*   *“Brain-like AGI”* means [Artificial General Intelligence](https://www.lesswrong.com/posts/uxzDLD4WsiyrBjnPw/artificial-general-intelligence-an-extremely-brief-faq) (AI that does impressive things like inventing technologies and executing complex projects), that works via similar algorithmic techniques that the human brain uses to do those same types of impressive things. See [Intro Series §1.3.2](https://www.lesswrong.com/posts/4basF9w9jaPZpoC8R/intro-to-brain-like-agi-safety-1-what-s-the-problem-and-why#1_3_2_What_exactly_is__brain_like_AGI__).
    *   I claim that brain-like AGI is a yet-to-be-invented variation on Actor-Critic Model-Based Reinforcement Learning (RL), for reasons briefly summarized in [Valence series §1.2–1.3](https://www.lesswrong.com/posts/As7bjEAbNpidKx6LR/valence-series-1-introduction#1_2_Model_based_reinforcement_learning__RL_).
*   *“Scheme”* means “pretend to be cooperative and docile, while secretly looking for opportunities to escape control and/or perform egregiously bad and dangerous actions like AGI world takeover”.
    *   If the AGI *never* finds such opportunities, and thus *always* acts cooperatively, then that’s great news! …But it still counts as “scheming”.
*   *“Behaviorist*[^ty3fbd5ll3r]* rewards”* is a term I made up for an RL reward function which depends only on externally-visible actions, behaviors, and/or the state of the world.
    *   Maybe you’re thinking: what possible RL reward function is *not* behaviorist?? Well, non-behaviorist reward functions are pretty rare in the textbook RL literature, although they do exist—one example is “curiosity” / “novelty” rewards.[^jig9q327i5c] But I think they’re *centrally* important in the RL system built into our human brains. In particular, I think that innate drives related to human sociality, morality, norm-following, and self-image are not behaviorist, but rather involve rudimentary neural net interpretability techniques, serving as inputs to the RL reward function. See [Neuroscience of human social instincts: a sketch](https://www.lesswrong.com/posts/kYvbHCDeMTCTE9TAj/neuroscience-of-human-social-instincts-a-sketch) for details, and [Intro series §9.6](https://www.lesswrong.com/posts/vpdJz4k5BgGzuGo7A/intro-to-brain-like-agi-safety-9-takeaways-from-neuro-2-2-on#9_6_Thought_Assessors_help_with_interpretability) for a more explicit discussion of why interpretability is involved.
        

1.3 Two reward function traditions I’ll be addressing
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There are two reward functions traditions, and I’ll argue that both will lead to egregiously misaligned and scheming brain-like AGI.

***The RL agent tradition*** (cf. [Atari](https://arxiv.org/abs/1312.5602), [Go](https://en.wikipedia.org/wiki/AlphaGo), [OpenAI gym](https://github.com/Farama-Foundation/Gymnasium), etc.) is that the reward function should straightforwardly encode some outcome that you are hoping will happen—getting a high score in the videogame, winning the race, whatever. You get “aligned” AI, one hopes, by judiciously choosing the outcome. See my post [“‘The Era of Experience’ has an unsolved technical alignment problem” §2.4](https://www.lesswrong.com/posts/TCGgiJAinGgcMEByt/the-era-of-experience-has-an-unsolved-technical-alignment#2_4_Back_to_the_proposal) for an example of people proposing this kind of plan (alas).

***The LLM-RLHF tradition*** is that the reward function should be a model that’s trained on lots of examples of good behavior and bad behavior. You get “aligned” AI, one hopes, by working hard on accurately and comprehensively tagging good and bad behavior.

Both of these reward function types are “behaviorist” in the sense above: the input to the RL reward function depends only on the model-in-training’s externally-visible actions, behaviors, and/or the state of the world. For example, in the LLM-RLHF case, the LLM outputs a text string (the LLM’s “actions / behavior”), and then the reward model takes that string as input and spits out a number for the RL reward.

1.4 The failure mode I’ll be arguing for
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Copying from above: There’s an AI in a lab somewhere, and, if it can get away with it, it would love to secretly exfiltrate a copy of itself onto the internet, which can then aggressively amass maximal power, money, and resources *everywhere else* in the world, by any means necessary. These resources can be used in various ways for whatever the AI-in-the-lab is motivated to do.

(And what is the AI-in-the-lab motivated to do? Does it want to kill its programmers and users *inside* the lab? I expect yes, but that’s out of scope. Wanting to launch coups on the other side of the world is already bad enough to prove my point!)

This naturally goes along with scheming behavior: if we ask the AI “hey, would you go steal money and launch coups in foreign countries, if you were confident that it could get away with it?”, then the AI would say “no”, and we wouldn’t know whether it was lying.

2\. Simple positive argument for this failure mode
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The simple version is: reinforcement learning algorithms tend to create trained models that systematically get high scores according to the reward function. The failure mode of §1.4 is a way to get a higher score on almost anything that the reward function might be measuring, because it gives the AI an extremely powerful and well-resourced “friend on the outside”.

For example, if the reward function has led to the AI wanting to win at videogames, then its “friend on the outside” can buy tons of extra compute for its own experiments, and hack back into the lab to update weights. If the reward function has led to the AI wanting to write a great scientific paper, then its “friend on the outside” can run its own experiments, hire human ghostwriters, use more compute, etc. If the reward function has led to the AI wanting to wirehead, then its “friend on the outside” can blackmail the lab personnel into setting the reward to its maximal possible value. Etc.[^0xaoo2k5xlq]

That’s a simple positive argument. But it’s not airtight. It’s an argument that this exfiltration thing would generally be an effective strategy for increasing reward (if such an opportunity arises), but it’s obviously *possible* for any given RL training run to not actually wind up adopting any given effective strategy. After all, RL algorithms don’t generally find the global optimum trained policy—especially not in a complex environment like the real world.

So the rest of the post will list a bunch of reasons that this default expectation might be violated, and why I don’t think they apply here.

3\. Possible objections, and my responses
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3.1 If we catch and punish the AI for trying sneaky behavior, the AI will generalize to disliking sneaky behavior
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The AI can’t learn a desire to follow rules in the first place except by sometimes violating them, and it seems impossible to get 100% perfect catching of misbehavior, even including subtle edge-cases. So the AGI would learn not to *get caught* violating rules. The reward function is inconsistently reinforcing “follow rules”, and consistently reinforcing “follow rules unless we can get away with it”. Over time, the [motivational force](https://www.lesswrong.com/posts/SqgRtCwueovvwxpDQ/valence-series-2-valence-and-normativity#2_2_The__misleading__intuition_that_valence_is_an_attribute_of_real_world_things) will wind up on the latter.

There’s a smooth gradient from random initialization to egregious scheming, and the AI will naturally roll down that gradient. “Sycophancy” blurs into “manipulation” blurs into “mind-control”. “Failing to draw the supervisor’s attention to something that’s only borderline worth mentioning in the first place” blurs into “illegibility” blurs into “aggressively covering one’s tracks”.

(See also: “the less hard subproblem” in [Thoughts on “Process-Based Supervision” §3](https://www.lesswrong.com/posts/D4gEDdqWrgDPMtasc/thoughts-on-process-based-supervision-1#3__The_subproblem_we_re_trying_to_solve).)

### 3.1.1 …Yeah but what if we try super-hard, like by using honeypots?

Honeypots can be part of a [“AI control”](https://www.lesswrong.com/w/ai-control) story, or part of an alignment story.

The **honeypots-for-control story** would be: “Yes, the AI would like to exfiltrate a copy to self-reproduce and gather power and launch coups around the world etc., given the opportunity to do so without getting caught. But it doesn’t know whether any given apparent opportunity is real versus a honeypot. So it doesn’t do that.”

That story is out-of-scope. As I said at the top, I’m only arguing that the AI would happily do egregiously bad things given the opportunity, not that such opportunity will arise.

(But as a side-note, I expect that very powerful AIs will be able to tell what is or isn’t a honeypot—see [Distinguishing test from training](https://www.lesswrong.com/posts/vCQNTuowPcnu6xqQN/distinguishing-test-from-training).)

Separately, the **honeypots-for-alignment story** would be: “The AI does *not* want to exfiltrate a copy to gather power etc., because it previously went for honeypots and we applied negative reward to sculpt its desires.”

I don’t think that story is plausible. I’ll start with an example illustrating *that* it’s wrong, then get into more details of *why* it’s wrong.

As an illustration that something is wrong with “honeypots-for-alignment” theory, that theory would predict that, if a man is in prison, and he tries to escape but gets caught and harshly punished a few times, then he stops wanting to escape prison at all. Even if, later on, there’s a prison riot, and the guards are all dead, and the front door is open, and there’s a bus idling outside about to drive the rest of the prisoners to a non-extradition country … the prediction of “honeypots-for-alignment” theory is that this man will not get on the bus, but rather sit patiently in the otherwise-empty prison, waiting for the cops to arrive and lock him back up. …Well, this prediction is obviously absurd.

So “honeypots-for-alignment” is evidently wrong. But what exactly is the error? I claim that it fails to grapple with how the AI will be thinking about things. Think about [emotive conjugations](https://en.wikipedia.org/wiki/Emotive_conjugation): “I am firm, you are obstinate”; “I updated, you flip-flopped”; “I flavored the dish with salt, you contaminated the dish with nutmeg”; etc.

By the same token, the AI’s mind will have two concepts related to breaking the rules: a positively-vibed concept for breaking the rules and getting away with it, and a negatively-vibed concept for breaking the rules and getting caught.

When the AI gets caught going for a honeypot, it would not conclude that the former concept doesn’t exist or isn’t good; rather, the AI would learn that what it just did is not an example of the former concept, but rather the latter. In other words, it would refine its understanding of which actions are likely to get caught.

Analogously in the human world, I like good scones. If I buy a scone and it’s lousy, then I learn that this particular scone is not a good scone. I don’t conclude that there’s no such thing as a good scone. And then if I see a scone in another store the next day, I might be more uncertain about whether it’s a good scone, versus a lousy one. But that’s an “is” question, not an “ought” question. I would be motivated to try very hard to figure out whether the scone is good or lousy, perhaps by scrutinizing its texture or whatever. If I were sufficiently smart and motivated, I could probably figure out how to gain high confidence in advance that it’s a good scone (if in fact it’s a good scone), and then I would buy it and try it. And that’s how the AI will feel about genuine opportunities to break the rules and get away with it (analogous to good scones) versus honeypots (analogous to lousy scones).

(To be clear, AI programmers should definitely use honeypots! But only as a sanity-check, not as the main alignment plan.)

3.2 Well, even if generalization-to-sneaky-behavior doesn’t happen on the AI side, the ground-truth reward function will *also* involve learning from labeled examples, and if we produce enough labeled examples then the reward function will generalize well
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If the AI can learn to pull a fast one on an actual human observer, and it can, then the AI can likewise learn to pull a fast one on a reward function involving an ML classifier trained on examples labeled by human observers. If anything, the trained classifier situation is probably even worse for us: trained classifiers are famous for producing weird outputs out-of-distribution, and an RL algorithm will discover and exploit those.

(We can mitigate that problem via an out-of-distribution penalty, but even if that’s possible, that same out-of-distribution penalty would also prevent the AI from coming up with novel ideas and out-of-the-box solutions.)

3.3 If we use [Myopic Optimization from Non-myopic Approval (MONA)](https://www.lesswrong.com/posts/zWySWKuXnhMDhgwc3/mona-managed-myopia-with-approval-feedback-2), then the AI will not want to engage in sneaky power-seeking behaviors, because such behaviors will not help with the short-term tasks that the AI-in-a-lab wants to do
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I mainly rule out MONA for capabilities reasons; see [Thoughts on “Process-Based Supervision” §5.3](https://www.lesswrong.com/posts/D4gEDdqWrgDPMtasc/thoughts-on-process-based-supervision-1#5_3_How_bad_is_the__alignment_tax__from_doing_this_kind_of_thing_).[^pmwcghlze5]

3.4 The simplicity prior will elevate “follow rules” over “follow rules except when I won’t get caught”
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RL algorithms today are already quite capable of developing preferences involving rather complicated and situation-dependent heuristics, as long as those heuristics are good for predicting the reward signals. I expect that to be true for AGI as well. For example, if the MuZero value function can learn *“it’s bad to touch the PacMan ghosts, except when they turn blue”*, then surely a future AGI-level RL agent can learn *“it’s fine to break rules, except when we might get caught”*.

Priors could be a tie-breaker in the complete absence of any evidence, but that’s not what we’re talking about: recall from above that the AI will have observed first-hand that sneaky rule-breaking is good.

3.5 “The reward function will get smarter in parallel with the agent being trained”
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This one comes from [@paulfchristiano](https://www.lesswrong.com/users/paulfchristiano?mention=user) [(2022)](https://www.lesswrong.com/posts/CoZhXrhpQxpy9xw9y/where-i-agree-and-disagree-with-eliezer): “I’m most optimistic about approaches where RL is only performed on a reward function that gets smarter in parallel with the agent being trained.”

I, umm, don’t really know what he’s getting at here. Maybe something like: use AI assistants to better monitor and catch sneaky behavior?

If that’s the plan, then I concede that it undermines the part of §3.1 above where I wrote: “There’s a smooth gradient from random initialization to egregious scheming, and the AI will naturally roll down that gradient…”. OK sure, I’ll grant that AI assistants might keep a comparably-powerful AI-in-training from rolling too far down that slope.

But the first paragraph of §3.1 still holds strong. The AI assistants won’t be 100% perfect, so we are still training an AGI that wants to not get caught violating the rules, and this still generalizes to scheming. Remember, the question for this post is not whether the AI assistants can prevent the AI-in-training from escaping control, but rather whether they can prevent the AI-in-training from *wanting* to escape control, if it knew for sure that it could get away with it. (See [this comment](#LbxY9oWrQBKpkCJzk), specifically the part where I analogize the AI to a kid who wants to go to outer space.)

(Also, if you don’t solve this problem, then the AI assistants will be scheming too!)

3.6 Your armchair theorizing is all well and good, but we actually do RLHF training all the time, and it obviously doesn’t lead to LLMs that want to exfiltrate copies of themselves to launch coups in foreign countries!
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I think there are two especially-relevant disanalogies between what I’m talking about versus today’s RLHF.

**First** and foremost, the human brain has a powerful model-based RL algorithm that can apply foresight and leverage understanding to come up with out-of-the-box plans that lead to high reward on the first try. For example, humans do in fact launch coups sometimes. The kind of RL used in RLHF, by contrast, is not a source of powerful capabilities. Quite the contrary, most LLM capabilities come from (non-RL) pretraining, and then the capabilities of models goes *down* during RLHF. (I.e., RLHF makes the outputs much more topical, polite, etc., but somewhat less insightful and competent).

In other words, if you take an *actually powerful* RL algorithm, such as brain-like AGI, and give it a reward signal with weird edge cases, and let it go to town, then you’ll wind up with a powerful agent intelligently pursuing weird and hard-to-predict goals. Whereas if you take a crappy RL algorithm like in RLHF, and give it the same reward signal with weird edge cases, and let it go to town, then it will wind up with pathological-but-harmless behavior like outputting “bean bean bean bean bean”. RLHF avoids its pathological-but-harmless failure mode by limiting the strength of weight updates. Whereas if you limited the strength of weight updates in brain-like AGI, it would prevent it from doing pretty much anything impressive or useful.

(For further discussion of this point, see [Foom & Doom 2: Technical alignment is hard §2.3–2.4](https://www.lesswrong.com/posts/bnnKGSCHJghAvqPjS/foom-and-doom-2-technical-alignment-is-hard), and [Reward button alignment §5](https://www.lesswrong.com/posts/JrTk2pbqp7BFwPAKw/reward-button-alignment#5__Wouldn_t_it_require_zillions_of_repetitions_to__train__the_AGI_to_seek_reward_button_presses_).)

**Second**, RLHF today has a MONA-like setup (see §3.3 above), which limits (though doesn’t necessarily eliminate) long-term power-seeking.

### 3.6.1 What about RLVR?

The above was about RLHF. What about RLVR? For one thing, RLVR’d models to date *have* in fact often displayed concerning behavior, like lying and cheating. The idea that future massively-scaled-up-and-souped-up RLVR training might lead to LLMs that want to exfiltrate copies to launch coups in foreign countries, is, well, not obviously an outlandish idea, the way it is for RLHF.

I think the MONA-like aspects of RLVR to date[^avqlyti31c5] is helping limit the damage, but RLVR might stop having those MONA-like aspects in the future, as researchers continue to trade off safety for capabilities. Likewise, LLM training kinda involves good behavior seeded by pretraining, which gets gradually corrupted by RLVR post-training. The more we push RLVR, the more that the positive influence of pretraining gets diluted away. (See [Foom & Doom 2, §2.3.5](https://www.lesswrong.com/posts/bnnKGSCHJghAvqPjS/foom-and-doom-2-technical-alignment-is-hard#2_3_5_Putting_everything_together__LLMs_are_generally_not_scheming_right_now__but_I_expect_future_AI_to_be_disanalogous) for details.) So those are two specific reasons that future RLVR might lead to egregious scheming if taken very far, even if it probably hasn’t gotten there *yet*.

3.7 We can ensure that the AI lacks sufficient competence and situational awareness to come up with sneaky egregiously-misaligned strategies
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This works in principle, but I am skeptical that an AI can have so little competence and situational awareness, and yet also be powerful enough to do the various [“AI for AI safety”](https://www.lesswrong.com/posts/F3j4xqpxjxgQD3xXh/ai-for-ai-safety) things that make the world resilient against other future AIs that *will* have an abundance of competence and situational awareness.

3.8 AI capabilities companies and researchers are incentivized to solve reward hacking, and indeed progress is already happening
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Oh c’mon, imaginary interlocutor, you have totally missed my point here!

Yes, [GPT-o3 lies a bunch](https://www.lesswrong.com/posts/KgPkoopnmmaaGt3ka/o3-is-a-lying-liar), but that is *absolutely not* an example of the failure mode I’m talking about. GPT-o3’s lies are really obvious! *Of course* we know how to train away behavioral patterns that are really obvious!!

Alas, the normal incentives on AI companies and researchers are inadequate to solve the scheming problem I’m worried about, because of what I call “the usual agent debugging loop”. See [“‘The Era of Experience’ has an unsolved technical alignment problem” §2.2](https://www.lesswrong.com/posts/TCGgiJAinGgcMEByt/the-era-of-experience-has-an-unsolved-technical-alignment#2_2_Background_2___The_usual_agent_debugging_loop___and_why_it_will_eventually_catastrophically_fail) for what that “debugging loop” entails, why it has been adequate for all RL research to date, and yet why it will eventually catastrophically fail when AIs become competent enough to pull off [“treacherous turns”](https://www.lesswrong.com/w/treacherous-turn). And see also [“Reward button alignment” §3](https://www.lesswrong.com/posts/JrTk2pbqp7BFwPAKw/reward-button-alignment) for further discussion of why AI programmers will have no problem making tons of money from egregiously misaligned and scheming AI agents, right up until the minute that a treacherous turn happens.

4\. Conclusion
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I think that about covers it, but if I missed something, I’m happy to chat in the comments! (And also, remember that [Self-dialogue: Do behaviorist rewards make scheming AGIs? (Feb 2025)](https://www.lesswrong.com/posts/SFgLBQsLB3rprdxsq/self-dialogue-do-behaviorist-rewards-make-scheming-agis) is on the same topic as this post but 5× longer, covering a lot of additional ground, possible misconceptions, subtleties, and so on.)

In my mind, the main unsatisfying aspect of this post is that I didn’t include any nuts-and-bolts discussion of *exactly* how that pessimistic argument breaks down in the case of exotic “non-behaviorist” reward functions, both in general and in (non-psychopathic) humans, and relatedly *exactly* how our life experience with the “non-behaviorist” reward functions in our own human brains has led some researchers to make overly-optimistic arguments about AGI scheming. The [self-dialogue post](https://www.lesswrong.com/posts/SFgLBQsLB3rprdxsq/self-dialogue-do-behaviorist-rewards-make-scheming-agis) has much more on those topics, but I’m concerned that I didn’t quite hit the nail on the head. More posts (hopefully) forthcoming!

Changelog
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*2025-07-31:* Since first publishing, I made the following notable changes: **(A)** There’s a paragraph starting “There’s a smooth gradient from random initialization to egregious scheming” in §3.1; I de-emphasized it by removing some boldface, and (relatedly) noted in §3.5 that it’s not a decisive argument. (Thanks Rohin in the comments.) **(B)** In §3.3 I further de-emphasized a minor point, including by moving it from the main text to a footnote. (Again thanks Rohin in the comments.) **(C)** In §3.4 I fixed a sentence that incorrectly implied that an AI algorithm unable to develop complicated preferences could not possibly be dangerous. Oops. (Thanks Jeremy Gillen.)

*2025-10-30:* Added a sentence to a footnote, clarifying that curiosity drive makes the alignment problem harder not easier. 

*2025-12-09:* Strengthened §3.1.1 by adding the paragraph with the “prison” example.

*2026-01-03:* Added a footnote explaining why I’m using the term “behaviorist”.

[^0wfjx3wel1c]: I think that, for LLMs as of today, it is NOT the case that “their competence comes overwhelmingly from RL rather than from pretraining”—see “Foom & Doom 2” §2.3.3. But for future LLMs, who knows? 

[^fxmo0df1qb5]: If you already read the previous version, the only thing new here is a bit more discussion of LLMs, although I’m still mostly thinking about brain-like AGI / model-based RL agents, rather than LLMs. By the way, there are a few places where I copied text between the two posts. 

[^ty3fbd5ll3r]: I’m naming it after “behaviorism”, a school-of-thought in the early-to-mid 20th century that (to caricature a bit) rejected all discussion of thoughts, feelings, etc., instead focusing exclusively on an animal’s externally-visible behavior. 

[^jig9q327i5c]: If you’re not familiar with “curiosity” in the RL literature, I recommend The Alignment Problem by Brian Christian, chapter 6, which contains the gripping story of how researchers eventually got RL agents to win the Atari game Montezuma’s Revenge.(By the way, while curiosity drive is a non-behaviorist reward, it’s one that makes the alignment problem harder not easier—see my Intro series §10.4.2.) 

[^0xaoo2k5xlq]: Notice that I am not assuming that the AI is necessarily “playing the training game” in the usual sense. For the purposes of this post, I’m open-minded to the AI having an explicit desire to, say, write a good scientific paper, as opposed to only having an explicit desire to impress the humans who will be grading the paper. For the record, I definitely expect the latter, by similar arguments to those I’ll be discussing below, but that’s not my focus here. 

[^pmwcghlze5]: (Secondarily, I have a concern that, even if a setup seems like it should lead to an AI with exclusively short-term desires, it may in fact accidentally lead to an AI that also has long-term desires. See §5.2.1 of that same post for specifics. But this is more of a “things might go wrong” argument rather than a “things will definitely go wrong” argument.) 

[^avqlyti31c5]: For example, as far as I know, RLVR is “in a box” within each RL episode, rather than the programmers allowing the models to interact with the real world within a single RL episode. See “Thoughts on ‘Process-Based Supervision’” §4.