ResearchBenchmarksRobotic Manipulation on SAFELIBERO LONG Level IFollow60.5Success Rate (SR)Naive48.5451.64554.7557.855Jun 8, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.0660.53236.5No CBFSafety Layer=NoneSafety Layer=None2026.0658.58613.5KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.064945.535