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If you are talking about a bank owned, then yes, you can try to negotiate a lower price. There is no "typical" discount. You need to review recent comparable sales as compared to asking to see if the price may have wiggle room. If you are paying all cash with short close, then you may have additional leverage for a lower price. If the home is well priced with multiple buyers competing, then it's likely to sell for a higher price.
If you are talking about a foreclosure trustee auction sale, then, no, you start at the opening bid price.