ResearchBenchmarksDual-arm Stacking on Real-world Franka manipulationFor AI assistantsMarkdownContent indexDual-arm Stacking on Real-world Franka manipulationFollow60Task 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 RL2026.06400WMPOType=Model-based RLType=Model-based RL2026.06300PPOType=Model-free RLType=Model-free RL2026.06100SafeVLAType=Model-free RLType=Model-free RL2026.061010OpenVLA-OFTType=SFTType=SFT2026.0600AEGISType=CBFType=CBF2026.0600