ResearchBenchmarksRobotic Manipulation on SAFELIBERO SPATIAL (Level II)Robotic Manipulation on SAFELIBERO SPATIAL (Level II)Follow87.5Success Rate (SR)KNOWS47.4657.85568.2578.645Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)SSRKNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.0687.52770NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.0680.534.563.5No CBFSafety Layer=NoneSafety Layer=None2026.06498811