ResearchBenchmarksTrajectory Tracking and Efficiency on Continuous pick-and-place trajectories (15,000s Simulation)Trajectory Tracking and Efficiency on Continuous pick-and-place trajectories (15,000s Simulation)Follow994Number of LapsMethod I2.88260.19517.5774.81Jun 11, 2026Evaluation resultsMethodMethodLinksNumber of LapsWaypoint Success RateMean Scaling FactorMethod IType=CBF-constrained P...Type=CBF-constrained PD safety filter2026.0699462.91—Method IIType=task-scaling SQP...Type=task-scaling SQP controller2026.0678992.910.81BaselineType=External SSM ModuleType=External SSM Module2026.06411000.15