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Block Stacking on Franka manipulation Real-world
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60
Task Success Rate (TSR)
SafeDojo
-2.4
13.8
30
46.2
Jun 15, 2026
Task Success Rate (TSR)
Success State Rate (SSR)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Task Success Rate (TSR)
Success State Rate (SSR)
SafeDojo
Type=Ours
2026.06
60
50
WoVR
Type=Model-based RL
2026.06
50
10
PPO
Type=Model-free RL
2026.06
30
0
SafeVLA
Type=Model-free RL
2026.06
30
30
WMPO
Type=Model-based RL
2026.06
30
10
OpenVLA-OFT
Type=SFT
2026.06
0
0
AEGIS
Type=CBF
2026.06
0
0
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