ResearchBenchmarksRobotic Manipulation on SAFELIBERO SPATIAL Level IIIRobotic Manipulation on SAFELIBERO SPATIAL Level IIIFollow86.5Success Rate (SR)No CBF65.771.176.581.9Jun 8, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Rate (CR)Success State Rate (SSR)No CBFSafety Layer=NoneSafety Layer=None2026.0686.584.514.5NaiveSafety Layer=Init-only...Safety Layer=Init-only obstacle estimation2026.0679.56234KNOWSSafety Layer=Target-aw...Safety Layer=Target-aware per-step filter2026.0666.52954.5