Rollout-level failure detection on Franka arm GR00T N1.5 policy rollouts
89ROC-AUCForesight-Transformer
Evaluation results
| Method | Links | |
|---|---|---|
| Foresight-TransformerArchitecture=Transformer2026.06 | 89 | |
| FAIL-Detect2026.06 | 88 | |
| SAFE-LSTM2026.06 | 79 | |
| Foresight-LSTMArchitecture=LSTM2026.06 | 66 | |
| RND2026.06 | 64 | |
| Foresight-MLPArchitecture=MLP2026.06 | 59 | |
| SAFE-MLP2026.06 | 50 |