Rollout-level failure detection on LIBERO Long (test)
91ROC-AUCSAFE-LSTM
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| SAFE-LSTMarchitecture=LSTM2026.06 | 91 | 88 | |
| FAIL-Detect2026.06 | 90 | 82 | |
| RND2026.06 | 90 | 83 | |
| Foresight-Transformerarchitecture=Transformer, action-conditioned=true2026.06 | 89 | 94 | |
| Gauge2026.06 | 88 | 81 | |
| Foresight-MLParchitecture=MLP, action-conditioned=true2026.06 | 88 | 80 | |
| Foresight-LSTMarchitecture=LSTM, action-conditioned=true2026.06 | 86 | 89 | |
| SAFE-MLParchitecture=MLP2026.06 | 52 | 50 |