ResearchBenchmarks4D Video Generation on Robo4D-200k (val)4D Video Generation on Robo4D-200k (val)Follow0.0479CD-L1Kinema4D0.0464720.0561110.065750.075389Mar 17, 2026Evaluation resultsMethodMethodLinksCD-L1CD-L1 (Temporal)CD-L2CD-L2 (Temporal)F-ScoreF-Score (Temporal)Kinema4DAction=4D, Output=4D,...Action=4D, Output=4D, F-Score threshold=@0.012026.030.04790.00740.00770.000247.3396.86TesserActAction=Text, Output=4D...Action=Text, Output=4D, F-Score threshold=@0.012026.030.08360.00670.0130.000828.9695.23