Author

Xin-Yu Liu

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Preprint Oct 2026

Recursive Self-Improvement of Visuomotor Policies through Local Recovery Supervision

Visuomotor policies can execute familiar tasks yet lack the corrective behavior needed after their own mistakes. We present a framework for recursive self-improvement through local recovery supervision. Each round audits the current policy, generates corrective demonstrations at supported failure states, and uses them...

Yu-Zhi Zhang, Xin-Yu Liu, Yu Zhang · 0 citations

#artificial intelligence Preprint Sep 2026

Rethinking Procedural Audio Pre-training: Source Scaling and Objective Adaptation

Procedural audio has emerged as a viable source for transferable audio representation learning, but its design principles remain unclear.We revisit two questions: how a procedural source should be scaled, and whether training choices developed on natural audio should transfer unchanged to procedural data.Using a contro...

Jia-Jun Peng, Feng-Rui Liu, Xin-Yu Liu et al. · 0 citations