Developer Spends 1.6M Tokens Having Codex Benchmark MPC vs RL for Arm Tracking
ChongZzZhang · x · 2026-10-20
The author asked Codex to build a comparison between MPC and RL for table-top end-effector tracking, burning about 1.6M tokens. The MPC side uses Pinocchio, plus a CuPy-based simulator, and RL was tuned to reach better tracking accuracy. The author notes both methods' errors are actually very small, so on this kind of desktop tracking task either approach lands in high-precision territory.
Related event: MPC vs RL Experiment Shows DRL Can Master Precise Robot Control(3 posts)→
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