ResearchBenchmarksPerception on NuScenes SPerception on NuScenes SFollow34.82BLEU-1DriveLM25.7228.082530.44532.8075Jun 5, 2025Evaluation resultsMethodMethodLinksBLEU-1BLEU-2BLEU-3BLEU-4ROUGE-LCIDEr ScoreAPRecallDriveLM2025.0634.8229.5923.2317.4535.31742130FastDriveNumber of tokens=256Number of tokens=2562025.0626.4815.239.114.7534.77613753FastDriveNumber of tokens=64Number of tokens=642025.0626.0715.178.864.2534.37753145