BINARY TASK REWARD TWO FINGERS / NO STAGES ASSEMBLED? 0 1 r = 1  IF ASSEMBLED r = 0  OTHERWISE − SMALL COST ON MOTION EMERGENT MOVES 01PIVOT 02REGRASP 03SLIDE 04TAP 05SHOVEL 06THREAD NONE PROGRAMMED r(t) 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 t → 20 ASSEMBLIES · ONE POLICY · LEARNED IN SIMULATION