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Life sciences · Preprint
arXiv · October 14, 2026
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In reinforcement learning, an agent must explore an unknown environment to learn how to make good decisions. Unlike methods that can freely sample any state--action pair, an agent learning from a single trajectory must spend additional time navigating between states. It is therefore natural to expect that learning from a single trajectory requires more experience. In this paper, we show that this additional cost is not always necessary. For average-reward reinforcement learning, we develop an algorithm that learns where to collect information while ensuring that the required samples can be obtained efficiently. We establish an upper bound on the number of interactions needed to identify a near-optimal policy. Furthermore, we prove a matching information theoretic lower bound, showing that, for a broad class of environments and at sufficiently high accuracy, learning from a single trajectory is no harder in the worst case than learning with unrestricted access to state action samples. Our results reveal that the additional complexity cost of navigation can be avoided by adapting information gathering requirements to how the environment provides information.