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We study policy optimization for online episodic tabular Markov decision processes with unknown transition kernels, aiming for best-of-both-worlds guarantees together with data-dependent regret bounds. Recent work (Dann et al., 2023; Li et al., 2026) has shown that policy optimization can adapt to both adversarial and stochastic losses with first-order, second-order, and path-length bounds, but only under known transitions, leaving open whether such data-dependent guarantees are achievable by policy optimization when the transition kernel is unknown. We resolve this by developing a new algorithm based on optimistic follow-the-regularized-leader that attains these guarantees under unknown transitions. The key ingredient is a new design of optimistic $Q$-function estimators together with a data-dependent transition bonus that controls estimator bias through the loss-prediction error. Our analysis further identifies an unavoidable transition-dependent complexity term that captures the intrinsic cost of estimating the transition kernel. As a result, we obtain first-order, second-order, and path-length bounds with the transition-dependent complexity term while simultaneously achieving gap-dependent $\mathrm{polylog}(T)$ regret in the stochastic regime.

Nonlinear mixed-effects models are widely used to analyze longitudinal data, but existing open-source software often supports only a limited subset of the model structures, inference methods, machine-learning components, automatic differentiation techniques, and random-effects distributions required in modern applications. We introduce NoLimits.jl, an open-source Julia package for flexible and composable nonlinear mixed-effects modeling. Its macro-based modeling language enables observation and latent-state models to be constructed from diverse building blocks, including ordinary differential equations, Markov models, and neural networks. NoLimits.jl supports flexible, covariate-dependent observation and random-effects distributions and provides a unified interface to frequentist inference through Laplace approximation, stochastic expectation maximization, and Bayesian Markov chain Monte Carlo methods. We demonstrate the package on three case studies showcasing its workflows, integration of differentiable machine-learning components, and data-driven estimation of random-effects distributions using normalizing flows. Together, these capabilities substantially expand the range of nonlinear mixed-effects models that can be specified, estimated, and compared within a single open-source framework.

Unsupervised Environment Design (UED) seeks to automatically generate training curricula for reinforcement learning (RL) agents, with the goal of improving generalisation and zero-shot performance. However, designing effective curricula remains a difficult problem, particularly in settings where small subsets of environment parameterisations result in significant increases in the complexity of the required policy. Current methods struggle with a difficult credit assignment problem and rely on regret approximations that fail to identify challenging levels, both of which are compounded as the size of the environment grows. We propose Dynamic Environment Generation for UED (DEGen) to enable a denser level generator reward signal, reducing the difficulty of credit assignment and allowing for UED to scale to larger environment sizes. We also introduce a new regret approximation, Maximised Negative Advantage (MNA), as a significantly improved metric to optimise for, that better identifies more challenging levels. We show empirically that MNA outperforms current regret approximations and when combined with DEGen, consistently outperforms existing methods, especially as the size of the environment grows. We have made all our code available here: https://github.

We study offline imitation learning (IL) in cooperative multi-agent settings, where demonstrations have unlabeled mixed quality -- containing both expert and suboptimal trajectories. Our proposed solution is structured in two stages: trajectory labeling and multi-agent imitation learning, designed jointly to enable effective learning from heterogeneous, unlabeled data. In the first stage, we combine advances in large language models and preference-based reinforcement learning to construct a progressive labeling pipeline that distinguishes expert-quality trajectories. In the second stage, we introduce MisoDICE, a novel multi-agent IL algorithm that leverages these labels to learn robust policies while addressing the computational complexity of large joint state-action spaces. By extending the popular single-agent DICE framework to multi-agent settings with a new value decomposition and mixing architecture, our method yields a convex policy optimization objective and ensures consistency between global and local policies. We evaluate MisoDICE on multiple standard multi-agent RL benchmarks and demonstrate superior performance, especially when expert data is scarce.

Autonomous exploration in complex multi-agent reinforcement learning (MARL) with sparse rewards critically depends on providing agents with effective intrinsic motivation. While artificial curiosity offers a powerful self-supervised signal, it often confuses environmental stochasticity with meaningful novelty.

Existing distribution compression methods, like Kernel Herding (KH), were originally developed for unlabelled data.

The m-out-of-n bootstrap--proposed by Bickel et al. [1992]--approximates the distribution of a statistic by repeatedly drawing msubsamples (m n) without replacement from an original sample of size n; it is now routinely used for robust inference with heavy-tailed data, bandwidth selection, and other large-sample applications. Despite this broad applicability across econometrics, biostatistics, and machine-learning workflows, rigorous parameter-free guarantees for the soundness of the m-out-of-n bootstrap when estimating sample quantiles have remained elusive. This paper establishes such guarantees by analysing the estimator of sample quantiles obtained from m-out-of-n resampling of a dataset of length n. We first prove a central limit theorem for a fully data-driven version of the estimator that holds under a mild moment condition and involves no unknown nuisance parameters. We then show that the moment assumption is essentially tight by constructing a counter-example in which the CLT fails. Strengthening the assumptions slightly, we derive an Edgeworth expansion that delivers exact convergence rates and, as a corollary, a Berry-Esséen bound on the bootstrap approximation error. Finally, we illustrate the scope of our results by obtaining parameter-free asymptotic distributions for practical statistics, including the quantiles for random walk MH, and rewards of ergodic MDP's, thereby demonstrating the usefulness of our theory in modern estimation and learning tasks.

Learning how the world works is central to building AI agents that can adapt to complex environments. Traditional world models based on deep learning demand vast amounts of training data, and do not flexibly update their knowledge from sparse observations. Recent advances in program synthesis using Large Language Models (LLMs) give an alternate approach which learns world models represented as source code, supporting strong generalization from little data. To date, application of program-structured world models remains limited to natural language and grid-world domains. We introduce a novel program synthesis method for effectively modeling complex, non-gridworld domains by representing a world model as an exponentially-weighted product of programmatic experts (PoE-World) synthesized by LLMs. We show that this approach can learn complex, stochastic world models from just a few observations. We evaluate the learned world models by embedding them in a model-based planning agent, demonstrating efficient performance and generalization to unseen levels on Atari's Pong and Montezuma's Revenge.