@article{soesampleefficientrobotpolicyselfimprove,
  title = {SOE: Sample-Efficient Robot Policy Self-Improvement via On-Manifold Exploration},
  author = {Yang Jin and Jun Lv and Han Xue and Wendi Chen and Chuan Wen and Cewu Lu},
  year = {2025},
  eprint = {2509.19292},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.19292},
}