@misc{liu2025truly,
  title={Truly Self-Improving Agents Require Intrinsic Metacognitive Learning},
  author={Tennison Liu and Mihaela van der Schaar},
  year={2025},
  eprint={2506.05109},
  archivePrefix={arXiv},
  primaryClass={cs.AI},
  url={https://arxiv.org/abs/2506.05109}
}