ResearchBenchmarksBowl-to-plate on Franka manipulation Real-worldFor AI assistantsMarkdownContent indexBowl-to-plate on Franka manipulation Real-worldFollow90Task Success RateWoVR27.643.86076.2Jun 15, 2026Evaluation resultsMethodMethodLinksTask Success RateState Success RateWoVRType=Model-based RLType=Model-based RL2026.069040SafeDojoType=OursType=Ours2026.069090WMPOType=Model-based RLType=Model-based RL2026.067030PPOType=Model-free RLType=Model-free RL2026.066020SafeVLAType=Model-free RLType=Model-free RL2026.066050OpenVLA-OFTType=SFTType=SFT2026.065020AEGISType=CBFType=CBF2026.063030