ResearchBenchmarksStatic-Obstacle Avoidance on Real-robot static-obstacle avoidance (50 trials)Static-Obstacle Avoidance on Real-robot static-obstacle avoidance (50 trials)Follow100Success RateOurs11.634.5557.580.45Jun 12, 2026Evaluation resultsMethodMethodLinksSuccess RateFiltered Success RateViolation RateOursSurrogate filter (Psi)=FMSurrogate filter (Psi)=FM2026.0610032.615.4VanillaSurrogate filter (Psi)=FMSurrogate filter (Psi)=FM2026.069034.315.5OursSurrogate filter (Psi)...Surrogate filter (Psi)=ENS2026.067559.255.7OursSurrogate filter (Psi)...Surrogate filter (Psi)=kNN2026.063842.6VanillaSurrogate filter (Psi)...Surrogate filter (Psi)=kNN2026.06244.72.7VanillaSurrogate filter (Psi)...Surrogate filter (Psi)=ENS2026.061554.350.7