ResearchBenchmarksBehavior-Trajectory Alignment on nuScenes (val)Behavior-Trajectory Alignment on nuScenes (val)Follow87.1Longitudinal ScoredVLM-AD66.8272.08577.3582.615Dec 4, 2025Evaluation resultsMethodMethodLinksLongitudinal ScoreLateral ScoreAverage ScoredVLM-ADDecoding Strategy=Diff...Decoding Strategy=Diff., Backbone=LLaDA-V2025.1287.188.587.8VLM-ADDecoding Strategy=AR,...Decoding Strategy=AR, Backbone=LLaVA-OV2025.1285.385.785.5LightEMMADecoding Strategy=AR,...Decoding Strategy=AR, Backbone=Qwen3-VL2025.1276.187.281.7OpenEMMADecoding Strategy=AR,...Decoding Strategy=AR, Backbone=InternVL3.52025.1267.679.673.6