RGraph-Eval: Task-Grounded Scene Graphs for Evaluating Robot Video Generation

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Article Summary

Generated robot videos can look convincing while depicting the wrong interac- tion: a different object is moved, a grasp disappears, or a placement ends out- side its destination. We introduce RGraph-Eval, a reference-based framework that makes these discrepancies explicit through task-grounded temporal scene graphs. Unlike approaches that construct separate evidence representations for different evaluation dimensions, we organize task entities, interactions, and motion within a unified, interpretable scene graph representation. A foundation-model pipeline identifies manipulation roles, grounds persistent object masks, infers and verifies state transitions and action intervals, and reconstructs manipulated- object motion in three dimensions. Applying this representation to a generated video and a reference demonstration supports an interpretable RGraph-Eval score with visible-object, relation-change, and 3D path-shape components. We also introduce ShareRobot-SG, a collection of 1,000 manipulation scenes from ten ShareRobot sources annotated with the multimodal representation. Our eval- uation separates graph-generation quality from agreement with human video judgments, and includes comparisons with adapted SVG2 and SG-Ego, a bench- mark of three video generators. The framework connects robot-video assessment to the observable entities and interactions underlying a task, while making the graph annotations reusable beyond evaluation. Code will be publicly available at https://github.com/SashaDance/rgraph-eval.

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