ResearchBenchmarksDriving Reasoning on BDD-X EasyFollow0.211BLEU-4CPO++0.197480.200990.20450.20801Apr 17, 2026Evaluation ResultsMethodMethodLinksBLEU-4ROUGE-LCIDErCPO++2026.040.2110.4911.208ADAPTVenue=ICRA’23Venue=ICRA’232026.040.2090.4621.009CPOVenue=NeurIPS’25Venue=NeurIPS’252026.040.2070.481.18DriveGPT4Venue=RAL’24Venue=RAL’242026.040.2040.4651.132HoPVenue=ICCV’25Venue=ICCV’252026.040.2010.4761.21LLaVA-1.5Venue=CVPR’24Venue=CVPR’242026.040.1980.4761.118