# Failure Detection on Unitree G1-D Real-robot Pick Yellow Pear (unseen)

Source: [Failure Detection on Unitree G1-D Real-robot Pick Yellow Pear (unseen)](<https://www.sota2.com/research/sota/failure-detection-on-unitree-g1-d-real-robot-pick-yellow-pear-unseen>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-09T08:53:40.825Z

Evaluation of Failure Detection performance on the Unitree G1-D robot performing the 'Pick Yellow Pear' task in unseen environments, measured by the rate of detector-correct trials.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Failure Detection |
| Dataset (including any stated split) | Unitree G1-D Real-robot Pick Yellow Pear (unseen) |
| Metric | Detector Correct Rate |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Detector Correct Rate](<https://www.sota2.com/research/sota/failure-detection-on-unitree-g1-d-real-robot-pick-yellow-pear-unseen.md?metric=Detector%20Correct%20Rate>): Higher is better; unit: SCALAR.

## Recorded results

| Method | Detector Correct Rate | Result date | Report paper |
| --- | --- | --- | --- |
| ActProbe | 0.5 | Not recorded | 6a279e1f90966ade919bf751 |
| SAFE-MLP | 0.16666666666666666 | Not recorded | 6a279e1f90966ade919bf751 |
| STAC-Single | 0 | Not recorded | 6a279e1f90966ade919bf751 |

### ActProbe

Detector Correct Rate: 0.5. Result ID: 6a27d420fbc373592c24b0c1.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e1f90966ade919bf751.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a279e1f90966ade919bf751.md>)

Recorded evaluation configuration: {"Zero-shot":"true","Deployment":"Real-robot"}. This record does not assert independent reproduction.

### SAFE-MLP

Detector Correct Rate: 0.16666666666666666. Result ID: 6a27d420fbc373592c24b0c3.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e1f90966ade919bf751.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79651e209131cea7d68e.md>)

Recorded evaluation configuration: {"Zero-shot":"true","Deployment":"Real-robot"}. This record does not assert independent reproduction.

### STAC-Single

Detector Correct Rate: 0. Result ID: 6a27d420fbc373592c24b0c2.

[Reporting paper](<https://www.sota2.com/research/paper/6a279e1f90966ade919bf751.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa757c1e209131cea68461.md>)

Recorded evaluation configuration: {"Zero-shot":"true","Deployment":"Real-robot"}. This record does not assert independent reproduction.

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