Learning from Revision Consequences: Hindsight Meta-Experience Distillation for Self-Improving Agents

Abstract: As agents continuously improve by generating and revising Skills, the process that discovers and refines those Skills becomes a learnable object in its own right. Task-Skills directly act on task execution, whereas Meta-Skills govern how agents discover and improve future Skills; their value therefore emerges through the subsequent search processes they induce. Existing approaches improve Meta-Skills from observed raw Skill-search trajectories and branch outcomes. However, branch performance entangles the effects of the initial discovery state and the Meta-Skill revision that generated the search process, making it difficult to characterize what a particular revision actually changed, and pushing updates toward revisions that benefit from favorable states rather than those that improve the process. We introduce HMED (Hindsight Meta-Experience Distillation), a mechanism for constructing Meta-Experience for self-improving agents. HMED revisits the completed event from which a revision originates and re-executes the incumbent and revised Meta-Skills from the same restored discovery state, so that the changes associated with the revision can be observed under a shared condition. Each comparison is distilled into a Meta-Experience, a structured record that can be reused by future updates, so that even revisions that are not ultimately retained still contribute a learning signal. Across three interactive agent benchmarks and both open-source and closed-source models, HMED consistently improves Skill discovery performance over strong baselines, shifting Meta-Skill learning beyond branch outcomes toward the consequences of changing the improvement process.