ResearchBenchmarksDriving Reasoning on BDD-X MediumDriving Reasoning on BDD-X MediumFollow19BLEU-4CPO++14.52815.68916.8518.011Apr 17, 2026Evaluation resultsMethodMethodLinksBLEU-4ROUGE-LCIDErCPO++2026.041944.168.9HoPVenue=ICCV’25Venue=ICCV’252026.041840.865.2CPOVenue=NeurIPS’25Venue=NeurIPS’252026.0417.642.266.7DriveGPT4Venue=RAL’24Venue=RAL’242026.0416.940.565ADAPTVenue=ICRA’23Venue=ICRA’232026.0416.440.862.7LLaVA-1.5Venue=CVPR’24Venue=CVPR’242026.0414.740.363.8