ResearchBenchmarksBlock Stacking on Franka manipulation Real-worldFollow60Task Success Rate (TSR)SafeDojo-2.413.83046.2Jun 15, 2026Evaluation ResultsMethodMethodLinksTask Success Rate (TSR)Success State Rate (SSR)SafeDojoType=OursType=Ours2026.066050WoVRType=Model-based RLType=Model-based RL2026.065010PPOType=Model-free RLType=Model-free RL2026.06300SafeVLAType=Model-free RLType=Model-free RL2026.063030WMPOType=Model-based RLType=Model-based RL2026.063010OpenVLA-OFTType=SFTType=SFT2026.0600AEGISType=CBFType=CBF2026.0600