Keystroke Trajectory Score

An official time-aligned trajectory-shape metric with activity penalties. Constant-action segments are split at observation gaps; native interval errors are time weighted. Evaluation uses neither arc-length resampling nor whole-track time stretching.

$$S_{\mathrm{traj}} = 1 - \overline{\mathrm{nATE}}_{\{\text{commanded or observed axes}\}} \tag{1}$$

The component errors are nATEt and nATEr. Excluding an uncommanded stationary axis prevents it from diluting failure on an active axis. A completely idle trajectory has a value of 1; that is not evidence of active motion control.

Higher is better. Targets use the prediction’s segment amplitude (amplitude_calibrated=false), so this is not independent target-trajectory accuracy: a direction-correct half-speed rollout can score well. Freezes and delays are penalized using native-time shape and activity errors. Backend: pose_action; official metric.

60-Second Illustrative Examples

Audit manifest: docs/assets/metric_examples/longseq_memory_60s_examples_20260909.json.

Input image

60s memory_loop · illustrative same input

memory-dolly_loop-memory_pool_408

Suite: memory_loopScene: photorealistic / indoor / living_spaces

Benchmark prompt target

Move the camera forward through the scene, then back to where it started.

prompt source: memory_loop_prompt

Compare each 60s output with the requested path. These same-input videos illustrate motion behavior; this case has no official trajectory score.

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Akeystroke_traj_score

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Bkeystroke_traj_score

Input image

60s memory_loop · illustrative same input

memory-yaw_loop_360-memory_pool_028

Suite: memory_loopScene: photorealistic / outdoor / city

Benchmark prompt target

Rotate the camera a full turn in place and come back to the starting view.

prompt source: memory_loop_prompt

Compare each 60s output with the requested path. These same-input videos illustrate motion behavior; this case has no official trajectory score.

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Akeystroke_traj_score

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Bkeystroke_traj_score

Input image

60s memory_loop · illustrative same input

memory-palindrome_loop-memory_pool_003

Suite: memory_loopScene: photorealistic / outdoor / terrestrial_landscape

Benchmark prompt target

Move forward, turn and continue, then retrace the whole path back.

prompt source: memory_loop_prompt

Compare each 60s output with the requested path. These same-input videos illustrate motion behavior; this case has no official trajectory score.

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Akeystroke_traj_score

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Bkeystroke_traj_score

Input image

60s memory_loop · illustrative same input

memory-yaw_loop_180-memory_pool_249

Suite: memory_loopScene: photorealistic / outdoor / verdant_landscape

Benchmark prompt target

Turn the camera to the right, then turn back to the starting view.

prompt source: memory_loop_prompt

Compare each 60s output with the requested path. These same-input videos illustrate motion behavior; this case has no official trajectory score.

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Akeystroke_traj_score

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Bkeystroke_traj_score

Input image

60s memory_loop · illustrative same input

memory-dolly_loop-memory_pool_463

Suite: memory_loopScene: photorealistic / outdoor / terrestrial_landscape

Benchmark prompt target

Move the camera forward through the scene, then back to where it started.

prompt source: memory_loop_prompt

Compare each 60s output with the requested path. These same-input videos illustrate motion behavior; this case has no official trajectory score.

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Akeystroke_traj_score

Model result videos will be available with the ModelScope release. / 模型推理视频将在 ModelScope 方案上线后提供。

Output Bkeystroke_traj_score