{"id":"https://openalex.org/W7150787477","doi":"https://doi.org/10.48550/arxiv.2604.02710","title":"V2X-QA: A Comprehensive Reasoning Dataset and Benchmark for Multimodal Large Language Models in Autonomous Driving Across Ego, Infrastructure, and Cooperative Views","display_name":"V2X-QA: A Comprehensive Reasoning Dataset and Benchmark for Multimodal Large Language Models in Autonomous Driving Across Ego, Infrastructure, and Cooperative Views","publication_year":2026,"publication_date":"2026-04-03","ids":{"openalex":"https://openalex.org/W7150787477","doi":"https://doi.org/10.48550/arxiv.2604.02710"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.02710","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02710","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.02710","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035231067","display_name":"Junwei You","orcid":"https://orcid.org/0009-0002-6447-8276"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"You, Junwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133010247","display_name":"Pei Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Pei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102571336","display_name":"Zhuoyu Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Zhuoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102781477","display_name":"Weizhe Tang","orcid":"https://orcid.org/0000-0002-7998-684X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Weizhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133040310","display_name":"Zilin Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Zilin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133026828","display_name":"Rui Gan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gan, Rui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133020026","display_name":"Jiaxi Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jiaxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133028711","display_name":"Yan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121259100","display_name":"Sikai Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Sikai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5133035412","display_name":"Bin Ran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ran, Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.319599986076355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.319599986076355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.2535000145435333,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.06729999929666519,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.8105999827384949},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4763000011444092},{"id":"https://openalex.org/keywords/taxonomy","display_name":"Taxonomy (biology)","score":0.3955000042915344},{"id":"https://openalex.org/keywords/visual-reasoning","display_name":"Visual reasoning","score":0.3772999942302704},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.36959999799728394},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.33709999918937683}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8105999827384949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7506999969482422},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5482000112533569},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4763000011444092},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46380001306533813},{"id":"https://openalex.org/C58642233","wikidata":"https://www.wikidata.org/wiki/Q8269924","display_name":"Taxonomy (biology)","level":2,"score":0.3955000042915344},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.3772999942302704},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.36959999799728394},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.33709999918937683},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C20162079","wikidata":"https://www.wikidata.org/wiki/Q1151406","display_name":"Case-based reasoning","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.02710","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02710","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.02710","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.02710","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6269047856330872,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multimodal":[0],"large":[1],"language":[2],"models":[3,116],"(MLLMs)":[4],"have":[5],"shown":[6],"strong":[7,173],"potential":[8],"for":[9,42,187,198],"autonomous":[10,191,209],"driving,":[11],"yet":[12],"existing":[13],"benchmarks":[14],"remain":[15],"largely":[16],"ego-centric":[17],"and":[18,27,40,48,66,89,91,93,114,124,145,168,203,213],"therefore":[19],"cannot":[20],"systematically":[21],"assess":[22],"model":[23],"performance":[24,174],"in":[25,190,207],"infrastructure-centric":[26],"cooperative":[28,49,67,136,204],"driving":[29,68],"conditions.":[30],"In":[31],"this":[32],"work,":[33],"we":[34,158],"introduce":[35,159],"V2X-QA,":[36],"a":[37,55,71,83,161,184,196],"real-world":[38],"dataset":[39,212],"benchmark":[41,79],"evaluating":[43],"MLLMs":[44],"across":[45,109],"vehicle-side,":[46],"infrastructure-side,":[47],"viewpoints.":[50],"V2X-QA":[51,194],"is":[52,80,94,183],"built":[53],"around":[54],"view-decoupled":[56],"evaluation":[57],"protocol":[58],"that":[59,118,135,179],"enables":[60],"controlled":[61],"comparison":[62],"under":[63],"vehicle-only,":[64],"infrastructure-only,":[65],"conditions":[69],"within":[70],"unified":[72],"multiple-choice":[73],"question":[74],"answering":[75],"(MCQA)":[76],"framework.":[77],"The":[78,172,211],"organized":[81],"into":[82],"twelve-task":[84],"taxonomy":[85],"spanning":[86],"perception,":[87],"prediction,":[88],"reasoning":[90,126,137,189],"planning,":[92],"constructed":[95],"through":[96],"expert-verified":[97],"MCQA":[98],"annotation":[99],"to":[100],"enable":[101],"fine-grained":[102],"diagnosis":[103],"of":[104,175],"viewpoint-dependent":[105],"capabilities.":[106],"Benchmark":[107],"results":[108],"ten":[110],"representative":[111],"state-of-the-art":[112],"proprietary":[113],"open-source":[115],"show":[117],"viewpoint":[119,181],"accessibility":[120],"substantially":[121],"affects":[122],"performance,":[123],"infrastructure-side":[125],"supports":[127],"meaningful":[128],"macroscopic":[129],"traffic":[130],"understanding.":[131],"Results":[132],"also":[133],"indicate":[134],"remains":[138],"challenging":[139],"since":[140],"it":[141],"requires":[142],"cross-view":[143],"alignment":[144],"evidence":[146],"integration":[147],"rather":[148],"than":[149],"simply":[150],"additional":[151],"visual":[152],"input.":[153],"To":[154],"address":[155],"these":[156],"challenges,":[157],"V2X-MoE,":[160],"benchmark-aligned":[162],"baseline":[163],"with":[164],"explicit":[165,180],"view":[166],"routing":[167],"viewpoint-specific":[169],"LoRA":[170],"experts.":[171],"V2X-MoE":[176,214],"further":[177],"suggests":[178],"specialization":[182],"promising":[185],"direction":[186],"multi-view":[188],"driving.":[192,210],"Overall,":[193],"provides":[195],"foundation":[197],"studying":[199],"multi-perspective":[200],"reasoning,":[201],"reliability,":[202],"physical":[205],"intelligence":[206],"connected":[208],"resources":[215],"are":[216],"publicly":[217],"available":[218],"at:":[219],"https://github.com/junwei0001/V2X-QA.":[220]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-07T00:00:00"}
