ResearchBenchmarksRobotic Manipulation on SAFELIBERO OBJECT Level IIIRobotic Manipulation on SAFELIBERO OBJECT Level IIIFollow78.5Success Rate (SR)KNOWS47.355.463.571.6Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.0678.51470.5NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.06515040No CBFSafety Layer=NoneSafety Layer=None2026.0648.548.544