# Beyond Visual Quality: Evaluating Physical Consistency under Ego-Motion with EgoGenEval

arXiv: https://arxiv.org/abs/2609.11172 · HTML: https://mlsanity.com/paper/2609.11172/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 34 of its 47 references that are in the map.
- First posted on arXiv 10 Sep 2026.

## Builds on (most cited first, 30 of 34)

- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Photorealistic Text-to-Image Diffusion Models with Deep Language Understanding](https://mlsanity.com/paper/2205.11487/) (2022)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [MUSIQ: Multi-scale Image Quality Transformer](https://mlsanity.com/paper/2108.05997/) (2021)
- [Exploring CLIP for Assessing the Look and Feel of Images](https://mlsanity.com/paper/2207.12396/) (2022)
- [GenEval: An Object-Focused Framework for Evaluating Text-to-Image Alignment](https://mlsanity.com/paper/2310.11513/) (2023)
- [Emerging Properties in Unified Multimodal Pretraining](https://mlsanity.com/paper/2505.14683/) (2025)
- [Recurrent World Models Facilitate Policy Evolution](https://mlsanity.com/paper/1809.01999/) (2018)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstruction](https://mlsanity.com/paper/2109.00512/) (2021)
- [Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding](https://mlsanity.com/paper/2011.02523/) (2020)
- [DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision](https://mlsanity.com/paper/2312.16256/) (2023)
- [Seedance 1.0: Exploring the Boundaries of Video Generation Models](https://mlsanity.com/paper/2506.09113/) (2025)
- [OmniGen2: Towards Instruction-Aligned Multimodal Generation](https://mlsanity.com/paper/2506.18871/) (2025)
- [ImgEdit: A Unified Image Editing Dataset and Benchmark](https://mlsanity.com/paper/2505.20275/) (2025)
- [In-Context Edit: Enabling Instructional Image Editing with In-Context Generation in Large Scale Diffusion Transformer](https://mlsanity.com/paper/2504.20690/) (2025)
- [WorldScore: A Unified Evaluation Benchmark for World Generation](https://mlsanity.com/paper/2504.00983/) (2025)
- [Envisioning Beyond the Pixels: Benchmarking Reasoning-Informed Visual Editing](https://mlsanity.com/paper/2504.02826/) (2025)
- [ACE++: Instruction-Based Image Creation and Editing via Context-Aware Content Filling](https://mlsanity.com/paper/2501.02487/) (2025)
- [ACE: All-round Creator and Editor Following Instructions via Diffusion Transformer](https://mlsanity.com/paper/2410.00086/) (2024)
- [MindJourney: Test-Time Scaling with World Models for Spatial Reasoning](https://mlsanity.com/paper/2507.12508/) (2025)
- [WBench: A Comprehensive Multi-turn Benchmark for Interactive Video World Model Evaluation](https://mlsanity.com/paper/2605.25874/) (2026)
- [HiDream-O1-Image: A Natively Unified Image Generative Foundation Model with Pixel-level Unified Transformer](https://mlsanity.com/paper/2605.11061/) (2026)
- [Everything in Its Place: Benchmarking Spatial Intelligence of Text-to-Image Models](https://mlsanity.com/paper/2601.20354/) (2026)
- [Walk through Paintings: Egocentric World Models from Internet Priors](https://mlsanity.com/paper/2601.15284/) (2026)
- [GEditBench v2: A Human-Aligned Benchmark for General Image Editing](https://mlsanity.com/paper/2603.28547/) (2026)

## Abstract (arXiv)

Recent visual generators produce high-fidelity images yet often violate physical consistency under ego-motion, limiting their use for spatial reasoning and embodied planning. Existing benchmarks largely focus on isolated images or single-step quality, leaving this challenge underexplored. We introduce EgoGenEval, a geometry-grounded, pose-free benchmark designed to evaluate the physical consistency of visual generators under ego-motion, and organize our study into two parts. (1) EgoGenEval contains 1,400 cases and 2,360 target views spanning single-step and multi-step ego-motion. It separately measures Camera Motion Grounding (CMG) and Scene State Preservation (SSP), with both metrics validated against blinded human judgments. Evaluating 16 pose-free generators together with two pose-conditioned references reveals that current models struggle to execute camera motion while maintaining scene state, and that no system performs well on both axes at once. (2) To examine whether benchmark-derived data can improve these capabilities, we build EgoGen-Train from the same geometry-grounded pipeline and run controlled SFT studies. These show that pairwise supervision does not reliably improve camera-motion grounding and scene-state preservation together: even at the full training pool and the longest budget, scene preservation gains a fraction of what camera motion does. This points to the pairwise teacher-forced objective itself as the binding constraint, motivating a trajectory-centric paradigm that couples self-conditioned rollouts with explicit pose and visibility supervision.