—In this paper, we consider a dual-hop Multiple Input Multiple Output (MIMO) wireless multi-relay network, in which a source-destination pair both equipped with multiple antennas communicates through multiple half-duplex amplify-and-forward (AF) relay terminals which are also with multiple antennas. Imperfect channel estimations for all nodes are considered. We propose a novel robust linear beamforming at the relays, based on the QR decomposition filter at the destination node which performs successive interference cancellation (SIC). Using Law of Large Number, we obtain the asymptotic rate, upon which the proposed relay beamforming is optimized. Simulation results show that the asymptotic rate matches with the ergodic rate well. Analysis and simulation results demonstrate that the proposed beamforming outperforms the conventional beamforming schemes. Index Terms—MIMO relay, successive interference cancellation (SIC) detection, relay beamforming, channel estimation, rate.