pretty_name: Syn4D multi-task benchmark files
Syn4D multi-task benchmark files
This directory contains the portable ground-truth release and protocol metadata for the 512-sequence Syn4D benchmark. The evaluator and model adapters are maintained in Syn4D_benchmark.
Contents
data/tracking_gt/<variant>/<scene>/<sequence>.npy: one structured tracking ground-truth file per sequence;sequences.jsonl: portable sequence index with paths relative to a localkaggle_evalroot;protocol.json: task definitions, alignment rules, metrics, and aggregation;baselines.json: official baseline repositories, revisions, and task support;SHA256SUMS: integrity checksums for all tracking ground-truth files.
There are 512 sequences: four variants (mixed, mixed_no_bedlam, og, and
sim) times eight scenes, eight base sequences, and two cameras. Every task
uses frames 0, 6, ..., 186 (32 frames).
Tracking NPY schema
Each file is a non-pickled structured NumPy scalar using schema
syn4d-tracking-gt-v1 and can be loaded with np.load(path, allow_pickle=False).
| Field | Shape | Description |
|---|---|---|
schema |
scalar | Schema identifier |
sequence_id |
scalar | <variant>/<scene>/<sequence> |
tracks_ref0 |
[32,512,3] |
3D trajectories in OpenCV frame-0 camera coordinates |
visibility |
[32,512] |
Valid/visible correspondence mask |
dynamic |
[512] |
Dynamic-query labels |
query_uv |
[512,2] |
Frame-0 source-image query pixels |
frame_indices |
[32] |
Evaluated source-frame indices |
intrinsics |
[4] |
[fx, fy, cx, cy] |
image_size |
[2] |
[height, width] |
The tracking benchmark evaluates these fixed 512 sparse queries. The intermediate 4096-query WorldTrack conversion files are not required for evaluation and are intentionally omitted.
Model inputs and the remaining task ground truth are included under this
directory's challenge_eval subtree:
<variant>/<scene>/mp4/<sequence>.mp4: 512 model-input videos;<variant>/<scene>/exr_layers/depth/<sequence>/: the 32 evaluated depth EXRs;<variant>/<scene>/ground_truth/meta_exr_csv/: camera-pose metadata.
Download and use
git clone https://github.com/jzr99/Syn4D_benchmark.git
cd Syn4D_benchmark
python -m pip install -r requirements.txt
python download_benchmark.py --output data/release
export SYN4D_DATA_ROOT="$PWD/data/release/benchmark/challenge_eval"
export SYN4D_TRACKING_GT="$PWD/data/release/benchmark/data/tracking_gt"
The downloader fetches only the release files needed for evaluation, resumes partial downloads, and verifies the expected file counts. It does not download the much larger source-PNG mirror. See the GitHub README for task-specific downloads and the prediction contract.
Verify the release with:
cd Syn4D_Benchmark/benchmark
sha256sum --check SHA256SUMS
Baseline results
All values are macro-averages over 512 sequences. A dash means the official method does not expose that task through a compatible inference interface.
| Method | Track score | APD | Dynamic APD | EPE (m) | Depth AbsRel | Depth delta1 | Pose ATE (m) | RPE trans. (m) | RPE rot. (deg) |
|---|---|---|---|---|---|---|---|---|---|
| Open-D4RT | 0.3043 | 0.3631 | 0.2317 | 2.3298 | 0.1290 | 0.8408 | 0.0676 | 0.0355 | 0.3872 |
| 4RC | 0.4763 | 0.5848 | 0.3417 | 1.5925 | 0.0775 | 0.9195 | 0.0370 | 0.0218 | 0.1593 |
| V-DPM | 0.4880 | 0.5774 | 0.3757 | 1.6371 | 0.0891 | 0.9022 | 0.0375 | 0.0265 | 0.1693 |
| Any4D | 0.2776 | 0.3676 | 0.1701 | 1.8578 | 0.1040 | 0.8874 | 0.1611 | 0.1382 | 0.7645 |
| TraceAnything | 0.2206 | 0.3240 | 0.1003 | 2.3577 | - | - | - | - | - |
| St4RTrack | 0.2575 | 0.3302 | 0.1667 | 2.2390 | - | - | - | - | - |
| SpaTrackerV2 | 0.4334 | 0.5452 | 0.2960 | 1.6163 | 0.0727 | 0.9210 | 0.0444 | 0.0332 | 0.1569 |