Author

Ziyi Wang

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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