Introduce a pluralism about badness/goodness. Good (Value) refers to intrinsic goods, extrinsic goods, and saving goods. These are objective, undeniable, judgment-independent, and mistake-making in a non-goal sense.
That is, if a certain intrinsic good takes place, and someone denies that it takes place, then the denier is wrong. They are mistaken. And they are mistaken regardless of anyone's judgment as to whether they are mistaken. They are mistaken relative to a non-goal fact.
A failure, by contrast, is a mistake relative to a goal fact. Epistemic mistakes are failures, though in some cases they can be bad too. For example, it's bad to believe p without evidence that p. This is bad (failure), and may also be bad (value).
A mistake is to regard p as true when p is not true, where 'regarding' is some minimal doxastic attitude.
So just as physical facts (e.g. the earth is round) are mistake-making in a non-relative sense, value facts are mistake-making in a non-relative sense. Value facts include facts about happiness and pain, which are instantiations of intrinsic good and intrinsic evil. Depending on philosophy of mind, value facts are physical facts. Or you could say there are goal facts and non-goal facts (world facts). Both physical facts and value facts are world facts.
Good / bad (success) is when something is a success / failure with respect to some goal.
If I write 'snuflowre', that's a mistake relative to the goal of spelling 'sunflower' correctly. Snuflowre is bad (success) spelling, but not necessarily bad (value).
The problem with only having value facts is that there are epistemic facts that are undeniable mistakes, but they don't necessarily constitute extrinsic or depriving evils. So we have to introduce a second kind of badness.
This seems to cut against monoaxiology. There is, in fact, more than one kind of badness / being wrong. Failure is not necessarily intrinsically bad, extrinsically bad, or a depriving bad. Depending on the system, failure can be intrinsically, extrinsically, and/or a saving good.