Author

Yuhan Liu

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Preprint Jul 2026

Foresight Residual RL for Long-Horizon Robot Manipulation with Vision-Language-Action Models

Foresight Residual RL is proposed, which optimizes handoff quality by augmenting each subtask's sparse success reward with an offline-estimated foresight value -- the probability of future subtask success conditioned on the terminal state of the current subtask.

Yuhan Liu, Xinyu Zhang, Litao Liu et al. · 1 citation