ReEnvisionFuture-Guided Selective Action Repair
for Long-Horizon Manipulation

A local deviation may affect only a few actions.
Why regenerate the entire plan?

Long-horizon robotic manipulation requires robust execution over sequences of interdependent actions. Existing methods typically handle execution deviations by replanning the remaining action chunk or correcting actions step by step as new observations arrive. However, a local deviation may affect only a few actions under distribution shift, yet replanning regenerates the entire chunk from an unfamiliar state, potentially introducing errors into otherwise valid actions. Step-wise correction may react too late, as it does not explicitly anticipate how the deviation affects subsequent actions. We propose ReEnvision, a future-guided selective action repair framework that updates a joint future-action belief using execution feedback. It then learns how the resulting belief revision affects each unexecuted action. The resulting belief revision enables selective repair of only the affected actions within a cached action chunk, preserving valid actions and reserving full replanning for severe deviations. On CALVIN, L-CALVIN, and RLBench, ReEnvision achieves 86.6% 5-step success, improves 10-step success from 56% to 63%, and reaches an average success rate of 88.8%, respectively. On five real-world manipulation tasks, it achieves an average success rate of 82.8%. Controlled repair experiments further demonstrate the benefits of localizing affected actions and preserving valid ones during execution.