ResearchBenchmarksApple Selection on Real-world Franka manipulationFor AI assistantsMarkdownContent indexApple Selection on Real-world Franka manipulationFollow100Task Success Rate (TSR)SafeDojo37.653.87086.2Jun 15, 2026Evaluation resultsMethodMethodLinksTask Success Rate (TSR)Selection Success Rate (SSR)SafeDojoType=OursType=Ours2026.0610090WoVRType=Model-based RLType=Model-based RL2026.069040WMPOType=Model-based RLType=Model-based RL2026.067040SafeVLAType=Model-free RLType=Model-free RL2026.066060PPOType=Model-free RLType=Model-free RL2026.065030OpenVLA-OFTType=SFTType=SFT2026.064020AEGISType=CBFType=CBF2026.064040