V2X-QA provides a view-decoupled benchmark showing infrastructure views aid macroscopic traffic understanding while cooperative reasoning requires explicit cross-view alignment, with V2X-MoE as a routing-based baseline that improves performance.
IEEE Robotics and Automation Letters 9, 8186–8193
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V2X-QA: A Comprehensive Reasoning Dataset and Benchmark for Multimodal Large Language Models in Autonomous Driving Across Ego, Infrastructure, and Cooperative Views
V2X-QA provides a view-decoupled benchmark showing infrastructure views aid macroscopic traffic understanding while cooperative reasoning requires explicit cross-view alignment, with V2X-MoE as a routing-based baseline that improves performance.