Fair common-N comparison

Why this section? Different methods were scored on different numbers of clips (different N) — some runs are partial, some methods skip clips they cannot handle — so the headline aggregates elsewhere are not strictly comparable. Here we fix that per benchmark: we take the intersection of clip ids (cid) present in every scored method, then recompute each method’s mean metrics over that identical clip set and report N_common. Methods still scoring or with very few clips are marked pending and excluded from the intersection (so a half-finished run does not collapse N_common). Where a model does not produce reference-pixel metrics (it generates freely instead of following exact poses), we split into a pixel-metric group (exact-pose methods) and a pose-free group (geometry/perceptual metrics, all methods incl. Ours), each with its own N_common. All numbers below are recomputed from per-clip rows on disk — arrows mark higher-(↑) or lower-(↓) better; green = best, the highlighted row is Ours.

Kubric-4D (synthetic dynamic NVS, perfect-GT anchor)

Exact-pose methods are scored with reference pixel metrics; our model and TrajCrafter generate freely (do not follow exact 81 poses) so they have only pose-free metrics. We therefore form two common-N groups.

Pixel-metric group: N_common = 90 (intersection of 6 methods)

Methods (reference-pixel): FlexWorld, FrameCrafter, GEN3C, I2V-Base, NVS-Solver, ViewCrafter. Intersection gated on [psnr_full]; every aggregate recomputed on this identical clip set.

Method	PSNR↑	SSIM↑	LPIPS↓	PSNR-dyn↑ cov ≥0/90
I2V-Base	27.48	0.7393	0.2782	–
FrameCrafter	26.78	0.6807	0.3183	10.98
NVS-Solver	25.21	0.7196	0.2777	14.00
ViewCrafter	25.01	0.7299	0.3256	11.52
GEN3C	19.48	0.7220	0.3419	11.75
FlexWorld	15.32	0.5904	0.4047	12.10

Pose-free group: N_common = 60 (intersection of 7 methods)

Methods (all incl. Ours): FlexWorld, FrameCrafter, GEN3C, NVS-Solver, TrajCrafter, VACE-14B (Ours), ViewCrafter. Intersection gated on [met3r, flow_warp_psnr]; every aggregate recomputed on this identical clip set.

Method	MEt3R↓	FlowWarp-PSNR↑	COLMAP-ATE↓ cov ≥37/60
VACE-14B (Ours)	0.0143	44.45	0.0774
GEN3C	0.0343	37.33	1.3646
FlexWorld	0.0428	40.80	0.2454
NVS-Solver	0.0633	29.76	2.1745
TrajCrafter	0.0900	30.52	0.8654
ViewCrafter	0.1076	25.42	0.3584
FrameCrafter	0.1125	24.56	0.0003

Pending (still scoring / too few clips, excluded from the intersection so they do not shrink N_common): Shape-of-Motion (N=15), Voyager (N=5).

NVIDIA Dynamic Scenes (real dynamic, mono diagonal protocol)

Same split as Kubric-4D: pixel metrics over exact-pose methods; pose-free metrics (MEt3R, COLMAP-ATE) include our model and TrajCrafter.

Pixel-metric group: N_common = 18 (intersection of 9 methods)

Methods (reference-pixel): FlexWorld, FrameCrafter, GEN3C, I2V-Base, NVS-Solver, Shape-of-Motion, ViewCrafter, ViewExtrapolator, Voyager. Intersection gated on [psnr_full]; every aggregate recomputed on this identical clip set.

Method	PSNR↑	SSIM↑	LPIPS↓	PSNR-dyn↑ cov ≥0/18
FrameCrafter	29.09	0.6780	0.1622	13.62
I2V-Base	27.27	0.6407	0.3461	–
NVS-Solver	26.64	0.6801	0.2892	13.85
ViewCrafter	25.80	0.6219	0.3590	11.30
GEN3C	18.77	0.5559	0.3713	13.20
ViewExtrapolator	15.52	0.3462	0.5637	12.32
FlexWorld	14.89	0.3479	0.4851	12.00
Shape-of-Motion	14.89	0.4226	0.7855	10.71
Voyager	13.91	0.2932	0.6010	11.39

Pose-free group: N_common = 18 (intersection of 10 methods)

Methods (all incl. Ours): FlexWorld, FrameCrafter, GEN3C, I2V-Base, NVS-Solver, Shape-of-Motion, VACE-14B (Ours), ViewCrafter, ViewExtrapolator, Voyager. Intersection gated on [met3r]; every aggregate recomputed on this identical clip set.

Method	MEt3R↓	COLMAP-ATE↓ cov ≥10/18
VACE-14B (Ours)	0.0267	0.1330
FlexWorld	0.0673	0.5131
Voyager	0.0707	2.8937
I2V-Base	0.0977	2.9697
GEN3C	0.1050	1.5978
NVS-Solver	0.1063	0.6997
ViewCrafter	0.1123	0.3383
FrameCrafter	0.1230	0.7612
ViewExtrapolator	0.1239	0.6799
Shape-of-Motion	0.2834	0.1046

Pending (still scoring / too few clips, excluded from the intersection so they do not shrink N_common): TrajCrafter (N=14).

SpatialVid (in-the-wild dynamic camera-trajectory set)

Our model follows exact poses on a subset of clips, so it appears in the pixel-metric group on those common clips; the pose-free group spans all methods including TrajCrafter.

Pixel-metric group: N_common = 10 (intersection of 8 methods)

Methods (reference-pixel): FrameCrafter, GEN3C, I2V-Base, NVS-Solver, VACE-14B (Ours), ViewCrafter, ViewExtrapolator, Voyager. Intersection gated on [psnr_full]; every aggregate recomputed on this identical clip set.

Method	PSNR↑	SSIM↑	LPIPS↓	PSNR-dyn↑ cov ≥0/10
FrameCrafter	27.22	0.7099	0.2537	16.83
I2V-Base	27.03	0.7096	0.3263	–
ViewCrafter	24.82	0.6481	0.3977	12.40
NVS-Solver	24.71	0.7059	0.3146	16.79
GEN3C	16.62	0.5925	0.4093	16.33
VACE-14B (Ours)	15.53	0.4318	0.5736	15.85
ViewExtrapolator	14.70	0.4599	0.5535	14.74
Voyager	13.79	0.4977	0.5456	14.97

Pose-free group: N_common = 14 (intersection of 9 methods)

Methods (all incl. Ours): FrameCrafter, GEN3C, I2V-Base, NVS-Solver, TrajCrafter, VACE-14B (Ours), ViewCrafter, ViewExtrapolator, Voyager. Intersection gated on [met3r]; every aggregate recomputed on this identical clip set.

Method	MEt3R↓	COLMAP-ATE↓ cov ≥13/14
I2V-Base	0.0608	0.5303
GEN3C	0.0613	0.7709
Voyager	0.0638	0.2891
VACE-14B (Ours)	0.0711	0.1443
NVS-Solver	0.0787	0.3673
TrajCrafter	0.0898	0.4490
ViewCrafter	0.1001	0.1211
ViewExtrapolator	0.1089	0.2257
FrameCrafter	0.1416	0.3547

DL3DV eval50 (50-clip static-scene extrapolation)

All methods follow exact poses except TrajCrafter; the pixel group covers exact-pose methods (incl. Ours), the pose-free group adds TrajCrafter.

Pixel-metric group: N_common = 34 (intersection of 9 methods)

Methods (reference-pixel): FlexWorld, FrameCrafter, GEN3C, I2V-Base, NVS-Solver, VACE-14B (Ours), ViewCrafter, ViewExtrapolator, Voyager. Intersection gated on [psnr_full]; every aggregate recomputed on this identical clip set.

Method	PSNR↑	SSIM↑	LPIPS↓
FrameCrafter	26.48	0.6586	0.2365
I2V-Base	24.66	0.5968	0.3598
ViewCrafter	24.61	0.6160	0.3512
NVS-Solver	23.26	0.6302	0.3726
GEN3C	14.68	0.4444	0.5896
VACE-14B (Ours)	14.48	0.4286	0.5201
FlexWorld	13.82	0.4052	0.5987
ViewExtrapolator	13.31	0.3611	0.6557
Voyager	11.54	0.3621	0.7170

Pose-free group: N_common = 32 (intersection of 10 methods)

Methods (all incl. Ours): FlexWorld, FrameCrafter, GEN3C, I2V-Base, NVS-Solver, TrajCrafter, VACE-14B (Ours), ViewCrafter, ViewExtrapolator, Voyager. Intersection gated on [met3r]; every aggregate recomputed on this identical clip set.

Method	MEt3R↓	COLMAP-ATE↓ cov ≥21/32
I2V-Base	0.0529	1.9535
NVS-Solver	0.0772	1.3416
Voyager	0.1023	0.4459
FlexWorld	0.1057	0.4528
VACE-14B (Ours)	0.1172	0.4089
FrameCrafter	0.1337	0.6157
GEN3C	0.1345	0.6805
ViewCrafter	0.1382	0.1749
TrajCrafter	0.1883	0.7994
ViewExtrapolator	0.1987	0.5425

Long-Horizon DL3DV (extended-trajectory generation)

Reference pixels exist only on the GT-backed extrapolation clips (psnr_extrapGT), so the pixel group intersects over those clips; the pose-free group uses MEt3R / drift-ATE / collision over all clips. All scored methods follow exact poses here.

Reference-pixel + pose-free group: N_common = 9 (intersection of 11 methods)

Methods (reference-pixel): FlexWorld, FrameCrafter, GEN3C, Lyra2, MatrixGame3, NVS-Solver, TrajCrafter, VACE-14B (Ours), ViewCrafter, ViewExtrapolator, Voyager. Intersection gated on [psnr_extrapGT]; every aggregate recomputed on this identical clip set.

Method	PSNR-extrapGT↑	SSIM-extrapGT↑	LPIPS-extrapGT↓
VACE-14B (Ours)	13.89	0.4248	0.6366
NVS-Solver	12.64	0.3949	0.7173
Lyra2	12.61	0.3708	0.7094
GEN3C	12.57	0.3795	0.6887
FlexWorld	12.55	0.4041	0.6826
FrameCrafter	12.33	0.3290	0.6099
ViewCrafter	12.11	0.3511	0.6747
Voyager	11.55	0.3758	0.7398
TrajCrafter	11.40	0.3521	0.7530
MatrixGame3	11.27	0.3556	0.7565
ViewExtrapolator	10.63	0.2602	0.7728

Pending (still scoring / too few clips, excluded from the intersection so they do not shrink N_common): VACE-14B-ft (Ours, LH-ft) (N=13).

All aggregates in every table above are recomputed on the identical intersected clip set for that group — no method is averaged over clips another method in the group did not see.