ResearchBenchmarks4D Scene Generation on RoboTwin4D Scene Generation on RoboTwinFollow22.98PSNRUniPi*22.14822.36422.5822.796Feb 10, 2026Evaluation resultsMethodMethodLinksPSNRSSIMFVDAbRelRMSEδ1CDEMDUniPi*views=3views=32026.0222.9889.222.185.5218.1395.19.8820.53MVISTA-4Dviews=3views=32026.0222.9190.221.932.612.397.46.519.9TesserActviews=3views=32026.0222.6589.827.293.7115.0797.37.1110.284DGenviews=3, paradigm=DUSt3Rviews=3, paradigm=DUSt3R2026.0222.1885.224.61313.996.67.1810.62