As human-agent interaction (HAI) evolves toward long-term social companionship, users expect *Original Character (OC)* agents to maintain a consistent persona, manage shared memories, and adapt to ever-changing preferences. However, LLM-based agents optimized by prompting or SFT exhibit a generalization gap: they behave as myopic instruction followers, leading to cascading errors in multi-turn interactions. For the agents to learn trajectory-level value functions that enable farsighted decision-making, we propose the NSARL framework, which formalizes OC companion agents’ interactions as a POMDP and decomposes the agent into three sub-policies (Router, Memory, and Persona), optimized via closed-loop RL from AI feedback (RLAIF) with verifiable rewards in a graph-constrained action space. Our preliminary experiments indicate a trade-off: SFT yields stronger persona generation, while NSARL improves structural logic, through conservative strategies (e.g., over-routing) that increase workflow completeness, advocating for a hybrid deployment strategy.