As another classical guitar player, I have to offer a different perspective than that in Mbo's message above. I think you will find that most classical guitar players do look at their hands -- primarily the left. This is not limited to beginners; check out performance pictures of Segovia, John williams, Christopher Parkening, etc., and you will find that they keep close visual tabs on their left hands.
What concerned me most about your original message is that you said you watch your right hand to improve your picking technique. This might be okay for a short while (I don't know how much of a "neophyte" you really are), but it will become detrimental if you get to rely on it too heavily. If you stop and think about it, your right hand has fewer options available to it, pretty much stays in the same place relative to the instrument, and so should learn "muscle memory" more quickly than the left. This is true for all styles of guitar playing, and while I am not a banjo player, I have played with enough banjo players to know that this is the norm for them as well.
Of course, if you're playing left-handed, forget everything I just said.