Supplementary Materials

HorizonForge: Driving Scene Editing with Any Trajectories and Any Vehicles

A focused gallery derived from the user-study assets, highlighting ego behaviors and complex multi-agent edits.

Ego · Direction / Lane / Speed Other Agents · Direction / Lane / Speed / Insertion / Removal Paired video + trajectory overlays

Tasks

8

3 ego controls + 5 edits on other agents.

Curated scenes

32

Four representative sequences per task.

Video files

128

Originals, trajectories, and HorizonForge outputs.

Gallery

Representative HorizonForge results organized by ego-control and other-agent edits.