Machine Heart

Apr 14, 2026 · Artificial Intelligence

Why Binary Success Rate Is Obsolete: Introducing PRM-as-a-Judge for Dense Evaluation of Embodied Tasks

The article critiques binary success rate for long‑horizon robotic tasks, proposes the PRM-as-a-Judge framework with a potential‑based progress signal and the three‑layer OPD metric suite, validates it on the RoboPulse benchmark, and shows how it yields fine‑grained, diagnostic insights into policy performance.