ResearchBenchmarksRobotic Manipulation on SAFELIBERO LONG Level IIIRobotic Manipulation on SAFELIBERO LONG Level IIIFollow63.5Success Rate (SR)No CBF43.7448.875459.13Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)No CBFSafety Layer=NoneSafety Layer=None2026.0663.58218KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.0645.53434.5NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.0644.580.518.5