ResearchBenchmarksRobotic Manipulation on SAFELIBERO GOAL Level IIRobotic Manipulation on SAFELIBERO GOAL Level IIFollow82.5Success Rate (SR)KNOWS53.961.32568.7576.175Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.0682.54152No CBFSafety Layer=NoneSafety Layer=None2026.066664.529NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.06553636.5