ResearchBenchmarksDriving Reasoning on BDD-X HardDriving Reasoning on BDD-X HardFollow15.6BLEU-4CPO++11.4412.5213.614.68Apr 17, 2026Evaluation resultsMethodMethodLinksBLEU-4ROUGE-LCIDErCPO++2026.0415.645.864.2ADAPTVenue=ICRA’23Venue=ICRA’232026.0413.640.552.7CPOVenue=NeurIPS’25Venue=NeurIPS’252026.0413.542.962.4HoPVenue=ICCV’25Venue=ICCV’252026.041343.560.4DriveGPT4Venue=RAL’24Venue=RAL’242026.0412.342.157.3LLaVA-1.5Venue=CVPR’24Venue=CVPR’242026.0411.64249.8