ResearchBenchmarksRobotic Manipulation on SAFELIBERO SPATIAL Level IRobotic Manipulation on SAFELIBERO SPATIAL Level IFollow69Success RateNaive62.7664.386667.62Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess RateCompletion RateSuccess State RateNaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.06692661No CBFSafety Layer=NoneSafety Layer=None2026.0667.586.513.5KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.066332.553