arxivcs.ROcs.LG2026-07-17
Foresight Residual RL for Long-Horizon Robot Manipulation with Vision-Language-Action Models
Yuhan Liu, Xinyu Zhang, Litao Liu, Abdeslam Boularias
Vision-Language-Action (VLA) policies offer strong general-purpose manipulation priors, but often fail on tight-tolerance, contact-rich assembly due to long-horizon credit assignment and subtask coupling: a state that is geometrically successful for the current skill can be britt…