@article{foresightfailuredetectionforlonghorizonr,
  title = {Foresight: Failure Detection for Long-Horizon Robotic Manipulation with Action-Conditioned World Model Latents},
  author = {Haoran Zhang and Yifu Lu and Boyang Wang and Xuhui Kang and Yen-Ling Kuo and Zezhou Cheng and Mengdi Wang and Odest Chadwicke Jenkins},
  year = {2026},
  eprint = {2606.23085},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.23085},
}