If RSD goes through the process (which, if flashing 2.0.1 should take at least a few minutes!) and the phone reboots, even if RSD is saying failed, you're good to go - the key being that it goes through the process before it says fail - not an immediate "fail". I believe (and could be wrong!) one of the last things it does is "flash ram bootloader", so if you're seeing that and then it fails, then it likely didn't actually fail.
In addition, if it goes through the process, and RSD says failed, and your phone is still saying "SW Update" (or whatever the wording is), click "show my device" in RSD and it should change to "SW Update Complete" and reboot.
EDIT: RSD is finicky - I've flashed 2.0.1 probably 30+ times over the past few months, and sometimes it will complete and sometimes it will say failed, but if it follows what I typed above, then it worked.