Sparse rewards pose a significant challenge to achieving high sample efficiency in goal-conditioned reinforcement learning (RL). Specifically, in sequential manipulation tasks, the agent receives failure rewards until it successfully completes the entire manipulation task, which leads to low sample efficiency. To tackle this issue and improve sample efficiency, we propose a novel model-based RL framework called Model-based Relay Hindsight Experience Replay (MRHER). MRHER breaks down a continuous task into subtasks with increasing complexity and utilizes the previous subtask to guide the learning of the subsequent one. Instead of using Hindsight Experience Replay (HER) in every subtask, we design a new robust model-based relabeling method called Foresight relabeling (FR). FR predicts the future trajectory of the hindsight state and relabels the expected goal as a goal achieved on the virtual future trajectory. By incorporating FR, MRHER effectively captures more information from historical experiences, leading to improved sample efficiency, particularly in object-manipulation environments. Experimental results demonstrate that MRHER exhibits state-of-the-art sample efficiency in benchmark tasks, outperforming RHER by 13.79% and 14.29% in the FetchPush-v1 environment and FetchPickandPlace-v1 environment, respectively.