ResearchBenchmarksDriving Reasoning on BDD-X (All)Follow0.195BLEU-4CPO++0.173160.178830.18450.19017Apr 17, 2026Evaluation ResultsMethodMethodLinksBLEU-4ROUGE-LCIDErCPO++2026.040.1950.4771.045DriveGPT4Venue=RAL’24Venue=RAL’242026.040.1830.4470.991CPOVenue=NeurIPS’25Venue=NeurIPS’252026.040.1820.4620.99HoPVenue=ICCV’25Venue=ICCV’252026.040.1790.4581.022ADAPTVenue=ICRA’23Venue=ICRA’232026.040.1740.430.854LLaVA-1.5Venue=CVPR’24Venue=CVPR’242026.040.1740.4540.965