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Recursive self-improvement: AI systems that improve their own code, training or reasoning
OverviewFrom Good to today
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1311325414811129142132Goedel MachinesSchmidhuber et al. · 2003 · 113 cites4Self-Taught Optimizer (STOP)Zelikman et al. · 2023 · 179 cites129AlphaEvolveAlexander et al. · 2025 · 1,019 citesAutonomous Research AgentsFormal Safety and StabilityLLM Self-Training MechanismsEvolutionary Agent ArchitecturesSelf-Optimizing Computational WorkflowsFormally Verified Self-ModificationRecursive Code GenerationAutomated Scientific DiscoveryRecursive self-improvement, 1965 → today
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How did the idea of recursive self-improvement develop, from the earliest theory to today’s systems?

Recursive self-improvement has evolved from speculative foundations in the mid-20th century to concrete, empirically validated systems.

Early theory. I.J. Good’s 1965 paper 131 introduced the “intelligence explosion”: an ultraintelligent machine could design even better machines. Schmidhuber’s Goedel Machine 132 (2003) was the first rigorous framework: a system that rewrites its own code once it can prove the rewrite pays off. Nivel et al. 5 added bounds to keep it from degenerating.

The LLM era. STOP 4 showed an LLM improving its own “improver” code. Promptbreeder 148 and Gödel Agent 11 let agents mutate their own prompts and reasoning strategies.

Today. AlphaEvolve 129 scales the loop with evolutionary search, and Meta-Harness 142 has agents rewrite their own scaffolding to beat human-designed baselines.

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world models embodied AI latent planning
  1. DINOv2: Learning Robust Visual Features without SupervisionarXiv, 2023Cited by 11,212
  2. Scalable Diffusion Models with TransformersIEEE International Conference on Computer Vision, 2022Cited by 7,655
  3. RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic ControlarXiv, 2023Cited by 4,698
  4. Diffusion policy: Visuomotor policy learning via action diffusionRobotics: Science and Systems Conference, 2023Cited by 4,698
  5. OpenVLA: An Open-Source Vision-Language-Action ModelarXiv, 2024Cited by 3,910
  6. Mastering Atari, Go, chess and shogi by planning with a learned modelNature, 2019Cited by 2,791
A list of results. Ranked by keywords. You see what you already knew to ask for.
World models for embodied AI: learning to predict and plan in latent space
OverviewWhere to start
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12345Visual Foundation Models for PlanningModel-Based Reinforcement LearningJoint-Embedding Predictive ArchitecturesVision-Language-Action ModelsDiffusion Models for Robotic ManipulationEmbodied Intelligence SurveysPredictive Coding and Cognitive RoboticsLLM-Driven Task PlanningReading path
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Gut-Inflammation Link?Gut-Inflammation Link
Gut-brain axis and microglia↔Neuroinflammation pharmacological interventions

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Walk me through the below-threshold surface code experiment: setup, decoder, and results.
Reading full text3 of 3 full texts available
Looking at the figure

Experimental setup. The experiments use superconducting transmon qubits in 2D grids with nearest-neighbour coupling, the native topology for the surface code.

Figure 1: Surface code performance. a, a distance-7 surface code on a 105-qubit processor; b, error probabilities of its operations; c–d, logical error per cycle, which halves with each step up in code distance.Figure 1 · Quantum error correction below… — Surface code performance. shows the layout on Google’s Willow processor. Three code distances were tested on the same chip: distance-3, distance-5 and a single 101-qubit distance-7 code 1.

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198519922018202020222023202420252026↑ more cited145 Dream to Control18 Hafner 2018147 Hafner 2023149 V-JEPA 21 Li 2025Lineage · World models for embodied AI: learning to predict and plan in latent space

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Example map · World models for embodied AI
World models for embodied AI: learning to predict and plan in latent space
OverviewWhere to start
Share
12345Visual Foundation Models for PlanningModel-Based Reinforcement LearningJoint-Embedding Predictive ArchitecturesVision-Language-Action ModelsDiffusion Models for Robotic ManipulationPredictive Coding and Cognitive RoboticsLLM-Driven Task PlanningMobile Robot Path PlanningReading path
TerritoryLineageList
Which papers should I read first, and in what order?
Drawing a reading path

I recommend a reading path that moves from foundational concepts to modern architectures and finally to specialized applications.

  1. 145 Dream to Control (Hafner et al., 2019) — introduced learning latent dynamics for planning.
  2. 18 Learning Latent Dynamics for Planning from Pixels — lays the groundwork for latent dynamic models.
  3. 147 Mastering Diverse Domains through World Models — scales the approach up across domains.
  4. 149 V-JEPA 2 — a shift towards joint-embedding predictive architectures.
Ask about this map…
Reading path
  1. 1
    Dream to Control: Learning Behaviors by Latent Imagination2019 · arXiv
  2. 2
    Learning Latent Dynamics for Planning from Pixels2018 · arXiv
  3. 3
    Mastering Diverse Domains through World Models2023 · arXiv
  4. 4
    V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning2025 · arXiv
  5. 5
    A Comprehensive Survey on World Models for Embodied AI2025 · arXiv

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How is this different from a search engine or a citation map?

A search engine gives you a ranked list for the keywords you typed. A citation map shows who cites whom around a paper you already have. LitLit is an agent: it runs the searches for you, reads and screens every paper against your question, organises the field by ideas, and then answers questions on the map, growing it when it runs out.

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Any field indexed by OpenAlex and Semantic Scholar: more than 300 million works across the sciences, medicine, engineering and the humanities, updated continuously. Preprints from arXiv are included.

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