Preprint
Aug 2026
PACE: Phase-Progress-Aware Credit for Long-Horizon Embodied Manipulation
PACE, a credit-assignment framework for post-training on long-horizon manipulation, centered on a phase-progress-aware critic, is presented, demonstrating that PACE consistently achieves significant improvements over the strongest baseline.
Cheng-Ye Song, Jia-Wei Zhang, Rui-Ke Song et al.
· 1 citation