Reward model shows near-perfect progress prediction on bimanual precision robot task
DominiqueCAPaul · x · 2026-10-13
The author shares early results fine-tuning a reward model on a bimanual robot task: on an unseen trajectory with interweaving errors and recoveries, the model produced near-perfect progress prediction.
The task is a good challenge for both reward model and policy:
- Bimanual + multi-view: requires coordinating both arms and reasoning across three on-robot camera views, with no external global camera
- Precision: inserting an actuator into a hole where near-miss vs. success differ only subtly in appearance
- Per-episode randomization: different actuator to pick up, different hole to insert into
The task sits right at the edge of hard but achievable — the team reports over a 99% success rate.
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