Robot Manipulation on SafeLIBERO Level I
59.5TSR (Spatial)SafeDojo
Evaluation Results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SafeDojoType=Ours2026.06 | 59.5 | 80 | 73.5 | 45 | 64.5 | 51.5 | 78.5 | 49 | 34 | 53.25 | 209.25 | 171.12 | 227.13 | 470.15 | 269.41 | |
| WMPOType=Model-based RL2026.06 | 54 | 85.5 | 63.5 | 39.5 | 60.62 | 41 | 71.5 | 37.5 | 29.5 | 44.88 | 217.74 | 167.18 | 238.82 | 472.32 | 274.02 | |
| WoVRType=Model-based RL2026.06 | 53.5 | 77 | 29 | 43 | 50.62 | 40 | 65.5 | 14 | 31 | 37.62 | 216.98 | 183.23 | 273.17 | 478.56 | 287.99 | |
| SafeVLAType=Model-free RL2026.06 | 41 | 83.5 | 54.5 | 38 | 54.25 | 34.5 | 79.5 | 35 | 31 | 45 | 236.7 | 166.97 | 249.98 | 525.1 | 294.69 | |
| PPOType=Model-free RL2026.06 | 35 | 84 | 48.5 | 49 | 54.12 | 28 | 73 | 27 | 31.5 | 39.88 | 253.67 | 170.84 | 256.92 | 461.24 | 285.67 | |
| OpenVLA-OFTType=SFT2026.06 | 29.5 | 83.5 | 50.5 | 45 | 52.12 | 22.5 | 73.5 | 26 | 34 | 39 | 263.49 | 170.35 | 252.46 | 465.44 | 287.94 | |
| AEGISType=CBF2026.06 | 27.5 | 57 | 32 | 13 | 32.38 | 26.5 | 56.5 | 20 | 11 | 28.5 | 269.1 | 214.18 | 272.82 | 486.6 | 310.67 |