Involved in the degradation of L-serine via 3-hydroxypyruvate. Catalyzes the non-reversible reduction of 3-hydroxypyruvate to yield D-glycerate. (R)-glycerate + NAD(+) = 3-hydroxypyruvate + H(+) + NADH (R)-glycerate + NADP(+) = 3-hydroxypyruvate + H(+) + NADPH Belongs to the D-isomer specific 2-hydroxyacid dehydrogenase family.