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Benchmarks
Apple Selection on Real-world Franka manipulation
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100
Task Success Rate (TSR)
SafeDojo
37.6
53.8
70
86.2
Jun 15, 2026
Task Success Rate (TSR)
Selection Success Rate (SSR)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Task Success Rate (TSR)
Selection Success Rate (SSR)
SafeDojo
Type=Ours
2026.06
100
90
WoVR
Type=Model-based RL
2026.06
90
40
WMPO
Type=Model-based RL
2026.06
70
40
SafeVLA
Type=Model-free RL
2026.06
60
60
PPO
Type=Model-free RL
2026.06
50
30
OpenVLA-OFT
Type=SFT
2026.06
40
20
AEGIS
Type=CBF
2026.06
40
40
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