Article

RGraph-Eval: Evaluating Robot Video Generation with Task Scene Graphs

The authors propose RGraph-Eval, a reference-demonstration-based framework for evaluating robot videos that uses task scene graphs to explicitly expose interaction errors in generated videos, such as errors involving objects, grasps, and placements. The framework uses a foundation-model pipeline to identify manipulation roles, locate object masks, infer and verify state transitions and action intervals, and reconstruct the 3D motion of manipulated objects. It outputs an interpretable score that covers visible objects, relation changes, and 3D path shape.

Part of the event: RGraph-Eval: Evaluating Robot Video Generation with Task Scene Graphs

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