ResearchBenchmarksRobotic Manipulation on SAFELIBERO GOAL Level IRobotic Manipulation on SAFELIBERO GOAL Level IFollow89.5Success Rate (SR)Naive49.4659.85570.2580.645Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.0689.5982KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.06871081No CBFSafety Layer=NoneSafety Layer=None2026.0651955