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T. Tian

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#artificial intelligence Preprint Oct 2026

VeriFine: Scaling Verification for Self-Improvement in Embodied Reasoning

Self-improving policies continually expose new failure patterns, changing what their judges must be able to verify. However, current fixed judges constrain both optimization feedback and the discovery of useful training examples, limiting further self-improvement. This challenge is even more acute in embodied reasoning...

Ze-Wei Zhou, Rachel Luo, Yu-Long Cao et al. · 2 citations
Preprint Jul 2026

CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning

CLIFT: Closed-Loop Iterative Fine-Tuning is introduced, which turns deployment-time reward feedback into API-compatible supervised data and enables closed-loop policy improvement without accessing weights, gradients, likelihoods, or losses-pushing GROD to near-perfect success after two flywheel cycles, all without open...

Yuxin Chen, H. Srikanth, N. Jew et al. · 0 citations

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