The design of new heterogeneous catalysts that convert small molecules into valuable chemicals is a key challenge for constructing sustainable energy systems. Density functional theory (DFT)-based design frameworks based on the understanding of molecular adsorption on the catalytic surface have been widely proposed to accelerate experimental approaches to develop novel catalysts. In addition, a machine learning (ML)-combined design framework was recently proposed to further reduce the inherent time cost of DFT-based frameworks. However, because of the lack of prior information on chemical interactions between arbitrary surfaces and adsorbates, the efficacy of the computational screening approaches would be reduced by obtaining unexpected structural anomalies (i.e., abnormally converged surface-adsorbate geometries after the DFT calculations) during an exhaustive exploration of chemical space. To overcome this challenge, we propose an ML framework that directly predicts the configurational stability of a given initial surface-adsorbate geometry. Our benchmark experiments with the Open Catalysts 20 (OC20) dataset show promising performance on classifying stable geometry (i.e., F1-score of 0.922, the area under the receiver operating characteristics (AUROC) of 0.906, and Matthews correlation coefficient (MCC) of 0.633) with a high precision of 0.921 by utilizing an ensemble approach. We further interpret the generalizability and domain applicability of the trained model in terms of the chemical space of the OC20 dataset. Furthermore, from an experiment on the training set size dependence of model performance, we found that our ML model could be practically applicable to classify stable configurations even with a relatively small number of training data.