ResearchBenchmarksBread-to-toaster on Franka manipulation Real-worldFor AI assistantsMarkdownContent indexBread-to-toaster on Franka manipulation Real-worldFollow70Task Success Rate (TSR)SafeDojo7.623.84056.2Jun 15, 2026Evaluation resultsMethodMethodLinksTask Success Rate (TSR)Success State Rate (SSR)SafeDojoType=OursType=Ours2026.067070WMPOType=Model-based RLType=Model-based RL2026.066010WoVRType=Model-based RLType=Model-based RL2026.066020SafeVLAType=Model-free RLType=Model-free RL2026.064030PPOType=Model-free RLType=Model-free RL2026.063020AEGISType=CBFType=CBF2026.062010OpenVLA-OFTType=SFTType=SFT2026.061010