AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。
[Submitted on 22 Sep 2026] Title:CoVLM-Bench: A Real-World Benchmark for Cooperative Driving Question Answering and Planning View a PDF of the paper titled CoVLM-Bench: A Real-World Benchmark for Cooperative Driving Question Answering and Planning, by Kang Yang and 5 other authors View PDF HTML (experimental) Abstract:Vision-language models (VLMs) have made substantial progress in autonomous driving, but their success has primarily been studied in ego-centric scenes. Infrastructure-side observations provide views beyond the ego vehicle's field of view, yet conventional cooperative-driving systems typically transform them into geometric representations for downstream perception and planning. Directly incorporating these views into VLMs offers an opportunity to improve cooperative scene understanding and trajectory planning. However, question answering and trajectory planning have not been jointly evaluated on the same real-world vehicle-infrastructure scenes. We present CoVLM-Bench, a benchmark for cooperative driving question answering (CDQA) and cooperative planning (CP) on vehicle-infrastructure paired scenes. CoVLM-Bench provides scene-grounded CDQA annotations, three-part rationales as auxiliary supervision, and future trajectory targets derived from recorded ego motion. It contains 2,196 paired frames with 35,136 CDQA annotations, while CP predicts six waypoints over a three-second horizon. The annotations combine model-assisted drafting, record-based computation, and human verification. Built upon CoVLM-Bench, we introduce CoVLM-Drive, a unified VLM baseline that directly uses paired views for both CDQA and CP. Experiments show that CDQA adaptation improves answer accuracy and that CoVLM-Drive reaches a lower FDE than the compared V2X planners; QA initialization and rationale supervision each reduce planning error. Together, CoVLM-Bench and CoVLM-Drive support the training and comparison of VLMs for cooperative scene understanding and planning. Comments: 32 pages, 11 figures, 13 tables. Main text 9 pages; appendices from page 17 Subjects: Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2609.35823 [cs.CV] (or arXiv:2609.35823v1 [cs.CV] for this version) https://doi.org/10.48550/arXiv.2609.35823 arXiv-issued DOI via DataCite Submission history From: Kang Yang [view email] [v1] Tue, 22 Sep 2026 10:40:16 UTC (7,633 KB) Full-text links: Access Paper: View a PDF of the paper titled CoVLM-Bench: A Real-World Benchmark for Cooperative Driving Question Answering and Planning, by Kang Yang and 5 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.CV new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)