ResearchBenchmarksRobotic Manipulation on SAFELIBERO OBJECT Level IIRobotic Manipulation on SAFELIBERO OBJECT Level IIFollow87.5Success Rate (SR)Naive68.2673.25578.2583.245Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Successful State Rate (SSR)NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.0687.51180KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.0679.517.569No CBFSafety Layer=NoneSafety Layer=None2026.06697225.5