ResearchBenchmarksRobotic Manipulation on SAFELIBERO GOAL Level IIIRobotic Manipulation on SAFELIBERO GOAL Level IIIFollow86Success Rate (SR)KNOWS78.7280.6182.584.39Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.068630.563.5No CBFSafety Layer=NoneSafety Layer=None2026.0679909NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.067990.59.5