Author

Xiangrong Zhang

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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.

Chengye Song, Jiawei Zhang, Ruike Song et al. · 0 citations