diff --git a/pyproject.toml b/pyproject.toml
index 953352f3..93c339a0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -7,6 +7,7 @@ description = "Evaluate Lidar-Inertial Odometry on public datasets"
 readme = "README.md"
 requires-python = ">=3.11"
 dependencies = [
+    "asteval>=1.0.6",
     "distinctipy>=1.3.4",
     "gdown>=5.2.0",
     "joblib>=1.5.2",
diff --git a/python/evalio/cli/stats.py b/python/evalio/cli/stats.py
index 5c63576d..8973f187 100644
--- a/python/evalio/cli/stats.py
+++ b/python/evalio/cli/stats.py
@@ -11,8 +11,6 @@
 from rich import box
 
 from evalio import types as ty, stats
-
-import numpy as np
 import typer
 
 import distinctipy
@@ -290,11 +288,9 @@ def evaluate_typer(
     if filter_str is None:
         filter_method = lambda r: True  # noqa: E731
     else:
-        filter_method = lambda r: eval(  # noqa: E731
-            filter_str,
-            {"__builtins__": None},
-            {"np": np, **r},
-        )
+        from asteval import Interpreter
+
+        filter_method = lambda r: Interpreter(user_symbols=r).eval(filter_str)
 
     original_filter = filter_method
     if only_complete:
diff --git a/python/typings/asteval/__init__.pyi b/python/typings/asteval/__init__.pyi
new file mode 100644
index 00000000..19b6e57a
--- /dev/null
+++ b/python/typings/asteval/__init__.pyi
@@ -0,0 +1,73 @@
+"""
+This type stub file was generated by pyright.
+"""
+
+from typing import Any, Iterable, Optional
+
+class Interpreter:
+    """create an asteval Interpreter: a restricted, simplified interpreter
+    of mathematical expressions using Python syntax.
+
+    Parameters
+    ----------
+    symtable : dict or `None`
+        dictionary or SymbolTable to use as symbol table (if `None`, one will be created).
+    nested_symtable : bool, optional
+        whether to use a new-style nested symbol table instead of a plain dict [False]
+    user_symbols : dict or `None`
+        dictionary of user-defined symbols to add to symbol table.
+    writer : file-like or `None`
+        callable file-like object where standard output will be sent.
+    err_writer : file-like or `None`
+        callable file-like object where standard error will be sent.
+    use_numpy : bool
+        whether to use functions from numpy.
+    max_statement_length : int
+        maximum length of expression allowed [50,000 characters]
+    readonly_symbols : iterable or `None`
+        symbols that the user can not assign to
+    builtins_readonly : bool
+        whether to blacklist all symbols that are in the initial symtable
+    minimal : bool
+        create a minimal interpreter: disable many nodes (see Note 1).
+    config : dict
+        dictionay listing which nodes to support (see note 2))
+
+    Notes
+    -----
+    1. setting `minimal=True` is equivalent to setting a config with the following
+       nodes disabled: ('import', 'importfrom', 'if', 'for', 'while', 'try', 'with',
+       'functiondef', 'ifexp', 'listcomp', 'dictcomp', 'setcomp', 'augassign',
+       'assert', 'delete', 'raise', 'print')
+    2. by default 'import' and 'importfrom' are disabled, though they can be enabled.
+    """
+    def __init__(
+        self,
+        symtable: dict[Any, Any] = ...,
+        nested_symtable: bool = ...,
+        user_symbols: dict[Any, Any] = ...,
+        writer: Optional[Any] = ...,
+        err_writer: Optional[Any] = ...,
+        use_numpy: bool = ...,
+        max_statement_length: int = ...,
+        minimal: bool = ...,
+        readonly_symbols: Optional[Iterable[str]] = ...,
+        builtins_readonly: bool = ...,
+        config: dict[str, Any] = ...,
+        **kws: dict[Any, Any],
+    ) -> None:
+        pass
+
+    def eval(
+        self,
+        expr: str,
+        lineno: int = ...,
+        show_errors: bool = ...,
+        raise_errors: bool = ...,
+    ) -> Any:
+        """Evaluate a single statement."""
+        ...
+
+__all__ = [
+    "Interpreter",
+]
diff --git a/uv.lock b/uv.lock
index 17154e60..b7aeca51 100644
--- a/uv.lock
+++ b/uv.lock
@@ -25,6 +25,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/a1/ee/48ca1a7c89ffec8b6a0c5d02b89c305671d5ffd8d3c94acf8b8c408575bb/anyio-4.9.0-py3-none-any.whl", hash = "sha256:9f76d541cad6e36af7beb62e978876f3b41e3e04f2c1fbf0884604c0a9c4d93c", size = 100916, upload-time = "2025-03-17T00:02:52.713Z" },
 ]
 
+[[package]]
+name = "asteval"
+version = "1.0.6"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/2b/f0/ad92c4bc565918713f9a4b54f06d06ec370e48079fdb50cf432befabee8b/asteval-1.0.6.tar.gz", hash = "sha256:1aa8e7304b2e171a90d64dd269b648cacac4e46fe5de54ac0db24776c0c4a19f", size = 52079, upload-time = "2025-01-19T21:44:03.291Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/13/ac/19dbba27e891f39feb4170b884da449ee2699ef4ebb88eefeda364bbbbcf/asteval-1.0.6-py3-none-any.whl", hash = "sha256:5e119ed306e39199fd99c881cea0e306b3f3807f050c9be79829fe274c6378dc", size = 22406, upload-time = "2025-01-19T21:44:01.323Z" },
+]
+
 [[package]]
 name = "attrs"
 version = "25.3.0"
@@ -285,6 +294,7 @@ name = "evalio"
 version = "0.3.0"
 source = { editable = "." }
 dependencies = [
+    { name = "asteval" },
     { name = "distinctipy" },
     { name = "gdown" },
     { name = "joblib" },
@@ -326,6 +336,7 @@ dev = [
 
 [package.metadata]
 requires-dist = [
+    { name = "asteval", specifier = ">=1.0.6" },
     { name = "distinctipy", specifier = ">=1.3.4" },
     { name = "gdown", specifier = ">=5.2.0" },
     { name = "joblib", specifier = ">=1.5.2" },