sections/difficulty.html

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<h2>Kubric-4D &mdash; difficulty curve (clean GT, camera-angle bins 30&#8594;180&#176;)<span class="dc-tag">Headline</span></h2>
<p class="dc-sub">The <b>primary, confound-free dynamic anchor</b>: Kubric-4D has <b>perfect ground-truth</b>
poses, depth and segmentation, so there is <b>no depth/scale/warp confound</b>. Targets are binned by
<b>optical-axis change from the input view</b> into 5 difficulty bins (standard GCD / AnyView
protocol). The curves below show how every method <b>degrades as the viewpoint widens</b> &mdash;
easy near-views (30&#176;) on the left, hard back-views (120&#176;/180&#176;) on the right. Ours
(VACE-14B) is the <b style="color:#0a7d2c">bold green</b> line.</p>
<p class="dc-binline">Clips per bin &mdash; 30&#176;: n=20 &middot; 60&#176;: n=20 &middot; 90&#176;: n=20 &middot; 120&#176;: n=20 &middot; 180&#176;: n=20. Only methods/metrics with scored data are drawn; nothing is interpolated or fabricated.</p>
<div style="margin:6px 0 4px"><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #1f77b4;border-radius:2px"></span>GEN3C</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #9467bd;border-radius:2px"></span>Voyager</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #8c564b;border-radius:2px"></span>FlexWorld</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #e377c2;border-radius:2px"></span>ViewCrafter</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #d62728;border-radius:2px"></span>FrameCrafter</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #ff7f0e;border-radius:2px"></span>NVS-Solver</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #7f7f7f;border-radius:2px"></span>TrajectoryCrafter</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:500;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:2.5px solid #17becf;border-radius:2px"></span>Shape-of-Motion</span><span style="display:inline-flex;align-items:center;gap:5px;margin:0 12px 6px 0;font-size:11.5px;font-weight:750;color:#1b1f24"><span style="display:inline-block;width:15px;height:0;border-top:4px solid #0a7d2c;border-radius:2px"></span>Ours · VACE-14B (Ours)</span></div>
<div class="dc-grid">
<div class="dc-cell"><svg viewBox="0 0 430 290" width="100%" preserveAspectRatio="xMidYMid meet" role="img" aria-label="Full-frame PSNR vs camera-angle bin" style="font-family:-apple-system,Segoe UI,Roboto,Helvetica,Arial,sans-serif;background:#fff"><text x="52" y="16" font-size="13" font-weight="700" fill="#0b2545">Full-frame PSNR</text><text x="416" y="16" font-size="9.5" text-anchor="end" fill="#8a929c">&#8593; higher better</text><line x1="52" y1="250.0" x2="416" y2="250.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="253.0" font-size="9" text-anchor="end" fill="#6b7480">11.16</text><line x1="52" y1="195.0" x2="416" y2="195.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="198.0" font-size="9" text-anchor="end" fill="#6b7480">15.58</text><line x1="52" y1="140.0" x2="416" y2="140.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="143.0" font-size="9" text-anchor="end" fill="#6b7480">19.99</text><line x1="52" y1="85.0" x2="416" y2="85.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="88.0" font-size="9" text-anchor="end" fill="#6b7480">24.41</text><line x1="52" y1="30.0" x2="416" y2="30.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="33.0" font-size="9" text-anchor="end" fill="#6b7480">28.83</text><line x1="52" y1="250" x2="416" y2="250" stroke="#c2ccd6" stroke-width="1.2"/><line x1="52.0" y1="250" x2="52.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="52.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">30&#176;</text><line x1="143.0" y1="250" x2="143.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="143.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">60&#176;</text><line x1="234.0" y1="250" x2="234.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="234.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">90&#176;</text><line x1="325.0" y1="250" x2="325.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="325.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">120&#176;</text><line x1="416.0" y1="250" x2="416.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="416.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">180&#176;</text><text x="234.0" y="286" font-size="9.5" text-anchor="middle" fill="#54606e">camera-angle bin (optical-axis change from input view)</text><text x="13" y="140.0" font-size="9.5" text-anchor="middle" fill="#54606e" transform="rotate(-90 13 140.0)">PSNR (dB)</text><path d="M52.0,139.0 L143.0,142.0 L234.0,151.9 L325.0,153.0 L416.0,156.6" fill="none" stroke="#1f77b4" stroke-width="1.6" stroke-linejoin="round" stroke-linecap="round" opacity="0.92"/><circle cx="52.0" cy="139.0" r="2.1" fill="#1f77b4"/><circle cx="143.0" cy="142.0" r="2.1" fill="#1f77b4"/><circle cx="234.0" cy="151.9" r="2.1" fill="#1f77b4"/><circle cx="325.0" cy="153.0" r="2.1" fill="#1f77b4"/><circle cx="416.0" cy="156.6" r="2.1" fill="#1f77b4"/><path d="M52.0,186.0 L143.0,183.8 L234.0,198.1 L325.0,221.4 L416.0,227.4" 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x="416" y="16" font-size="9.5" text-anchor="end" fill="#8a929c">&#8593; higher better</text><line x1="52" y1="250.0" x2="416" y2="250.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="253.0" font-size="9" text-anchor="end" fill="#6b7480">5.29</text><line x1="52" y1="195.0" x2="416" y2="195.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="198.0" font-size="9" text-anchor="end" fill="#6b7480">7.77</text><line x1="52" y1="140.0" x2="416" y2="140.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="143.0" font-size="9" text-anchor="end" fill="#6b7480">10.25</text><line x1="52" y1="85.0" x2="416" y2="85.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="88.0" font-size="9" text-anchor="end" fill="#6b7480">12.73</text><line x1="52" y1="30.0" x2="416" y2="30.0" stroke="#eef1f5" stroke-width="1"/><text x="46" y="33.0" font-size="9" text-anchor="end" fill="#6b7480">15.22</text><line x1="52" y1="250" x2="416" y2="250" stroke="#c2ccd6" stroke-width="1.2"/><line x1="52.0" y1="250" x2="52.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="52.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">30&#176;</text><line x1="143.0" y1="250" x2="143.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="143.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">60&#176;</text><line x1="234.0" y1="250" x2="234.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="234.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">90&#176;</text><line x1="325.0" y1="250" x2="325.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="325.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">120&#176;</text><line x1="416.0" y1="250" x2="416.0" y2="254" stroke="#c2ccd6" stroke-width="1"/><text x="416.0" y="266" font-size="9.5" text-anchor="middle" fill="#3a4452">180&#176;</text><text x="234.0" y="286" font-size="9.5" text-anchor="middle" fill="#54606e">camera-angle bin (optical-axis change from input view)</text><text x="13" y="140.0" font-size="9.5" text-anchor="middle" fill="#54606e" transform="rotate(-90 13 140.0)">moving-region PSNR (dB)</text><path d="M52.0,110.1 L143.0,105.8 L234.0,107.3 L325.0,113.2 L416.0,105.0" fill="none" stroke="#1f77b4" stroke-width="1.6" stroke-linejoin="round" stroke-linecap="round" opacity="0.92"/><circle cx="52.0" cy="110.1" r="2.1" fill="#1f77b4"/><circle cx="143.0" cy="105.8" r="2.1" fill="#1f77b4"/><circle cx="234.0" cy="107.3" r="2.1" fill="#1f77b4"/><circle cx="325.0" cy="113.2" r="2.1" fill="#1f77b4"/><circle cx="416.0" cy="105.0" r="2.1" fill="#1f77b4"/><path d="M52.0,157.8 L143.0,158.1 L234.0,78.6 L325.0,45.2 L416.0,77.2" fill="none" stroke="#9467bd" stroke-width="1.6" stroke-linejoin="round" stroke-linecap="round" opacity="0.92"/><circle cx="52.0" cy="157.8" r="2.1" fill="#9467bd"/><circle cx="143.0" cy="158.1" r="2.1" fill="#9467bd"/><circle cx="234.0" cy="78.6" r="2.1" fill="#9467bd"/><circle cx="325.0" cy="45.2" r="2.1" fill="#9467bd"/><circle cx="416.0" cy="77.2" r="2.1" 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</div>
<p class="dc-take"><b>Takeaway:</b> all methods degrade with viewpoint change &mdash; the gap at
<b>120&#8211;180&#176;</b> is the real test. Full-frame PSNR/LPIPS fall off monotonically as the
back-views come in, and the honest <b>moving-object-masked mPSNR collapses to ~11&#8211;14&nbsp;dB</b>
across all bins (the static background hides this in full-frame numbers). Ours (VACE-14B) keeps camera-trajectory error low and roughly flat across bins (COLMAP ATE 0.024&#8594;0.050 scene-units, 30&#176;&#8594;180&#176;) — warp-anchored control stays on-trajectory even at the hard back-views.</p>
<p class="dc-note">x = camera-angle bin (optical-axis change vs. input view). PSNR/mPSNR higher-is-better;
LPIPS &amp; COLMAP-ATE lower-is-better. Ours (vace14b) and TrajectoryCrafter don't follow the exact
GT target poses, so they have no reconstruction PSNR/mPSNR/LPIPS on this protocol (drawn only on the
camera-trajectory chart, where Ours' warp-anchored control is the standout). Charts are inline SVG
&mdash; fully offline, no external libraries.</p>
</section>