# From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention > Source: > Published: 2026-09-21 18:00:00+00:00 A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supervised fine-tuning (SFT) requires operators to repeat behaviors the policy already performs well. Reinforcement learning