ResearchBenchmarksRobotic Manipulation on SAFELIBERO OBJECT Level IRobotic Manipulation on SAFELIBERO OBJECT Level IFollow73Success Rate (SR)Naive41.849.95866.1Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.0673473KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.06716.570.5No CBFSafety Layer=NoneSafety Layer=None2026.06438314