ResearchBenchmarksCommentary Generation on Bench2Drive CARLA v0.9.15 (val)Follow51.8Commentary Quality ScoreSimLingo50.86451.10751.3551.593Jun 12, 2026Evaluation ResultsMethodMethodLinksCommentary Quality ScoreSimLingoModality=Vision+Langua...Modality=Vision+Language, Time / Frame=1544.34 ms2026.0651.8RT-VLAModality=Vision+Langua...Modality=Vision+Language, Time / Frame=196 ms2026.0650.9