Paper Citation Record · LEDGER

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving

As of 17 August 2026, this Paper Citation Record lists 26 of 26 outbound references and 1 inbound Pith citation observation for arXiv:2507.19370.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2507.19370 v1

Coverage vector

measured 26 of 26 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-15T17:59:05.006971Z

measured 27 of 27 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-16T06:30:59.297886+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-15T13:44:18.418529Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

26 of 26 outbound references displayed

verified exact0
verified fuzzy20
unresolved6
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 7f036cf7-25b5-4b4d-ba2a-cfe6d0b0efbb · outbound

This paper cites Explaining autonomous driving actions with visual question answering.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Explaining autonomous driving actions with visual question answering

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.497724Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 7dbcef4f-04c6-49e5-800c-9278c925e901 · outbound

This paper cites Lang, Sourabh V ora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Lang, Sourabh V ora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.476802Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 813b0ede-424b-4f2b-b27e-fc11fd850594 · outbound

This paper cites BERT: Pre-training of deep bidirectional transformers for language understanding.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving BERT: Pre-training of deep bidirectional transformers for language understanding

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.460492Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation aaf05b8e-3dec-48e9-bd2b-f9a1970af63b · outbound

This paper cites The Llama 3 Herd of Models.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving The Llama 3 Herd of Models

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-15T17:59:04.897689Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1c06142c-ea50-4a50-b1e9-725254abd343 · outbound

This paper cites Lora: Low-rank adaptation of large language models.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Lora: Low-rank adaptation of large language models

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.442938Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation ef40de80-61eb-4258-b48a-a241b5f16895 · outbound

This paper cites EMMA: End-to-End Multimodal Model for Autonomous Driving.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving EMMA: End-to-End Multimodal Model for Autonomous Driving

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-15T17:59:04.907318Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dbbb62e5-1a96-4b7d-a281-717a55472900 · outbound

This paper cites Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-15T17:59:04.913412Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7921eda4-8a38-47a0-91ef-033f2fa295f8 · outbound

This paper cites Adapt: Action-aware driving caption trans- former.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Adapt: Action-aware driving caption trans- former

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.418052Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 0d70e261-5d0f-43ee-bcc6-f9968395b7dc · outbound

This paper cites Tod3cap: Towards 3d dense captioning in outdoor scenes.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Tod3cap: Towards 3d dense captioning in outdoor scenes

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.404009Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 11025f80-c5d5-423b-95db-5c17b5037c68 · outbound

This paper cites BLIP-2: Bootstrapping language-image pre-training with frozen image encoders and large language models.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving BLIP-2: Bootstrapping language-image pre-training with frozen image encoders and large language models

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.390739Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation ea1c2567-0282-4445-99ac-f70f6a1cfd55 · outbound

This paper cites Improved baselines with visual instruction tuning.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Improved baselines with visual instruction tuning

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.376614Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation a12bcb04-e76c-4a90-a668-c193cb2340dd · outbound

This paper cites Bevfusion: Multi-task multi-sensor fusion with unified bird’s-eye view representation.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Bevfusion: Multi-task multi-sensor fusion with unified bird’s-eye view representation

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.362983Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 78e54f74-f78f-48d7-95ec-b84f5a434e67 · outbound

This paper cites Drama: Joint risk localization and captioning in driving.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Drama: Joint risk localization and captioning in driving

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.349306Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 2fa17cb7-c2bb-4d3a-80fe-b1c834859147 · outbound

This paper cites Image captioning for near-future events from vehicle camera images and motion information.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Image captioning for near-future events from vehicle camera images and motion information

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.332913Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation c20e470c-4ebd-46a7-922b-f0b65c4cae2e · outbound

This paper cites Bleu: a method for automatic evaluation of machine translation.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Bleu: a method for automatic evaluation of machine translation

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.314809Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 94a6851d-13c2-495b-86e0-b7fca6824231 · outbound

This paper cites Drivelm: Driving with graph visual question answering.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Drivelm: Driving with graph visual question answering

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.300455Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation b8d2aa35-368c-48c4-a04b-d3193d9ad1f5 · outbound

This paper cites Bev-tsr: Text-scene retrieval in bev space for autonomous driving.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Bev-tsr: Text-scene retrieval in bev space for autonomous driving

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.286952Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 01220e1d-dfc2-4c93-86ba-d4468b503cbd · outbound

This paper cites Attention is all you need.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Attention is all you need

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.271439Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation b5fcf54b-2b92-408b-8aac-7b181e77296d · outbound

This paper cites Drivemlm: Aligning multi-modal large language models with behavioral planning states for autonomous driving.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Drivemlm: Aligning multi-modal large language models with behavioral planning states for autonomous driving

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.256113Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 5ca3fe39-ac58-498a-bd7c-36291027cd8a · outbound

This paper cites Drivegpt4: In- terpretable end-to-end autonomous driving via large language model.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Drivegpt4: In- terpretable end-to-end autonomous driving via large language model

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.241491Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 37687f01-88b5-435e-8f5a-de101630a4bc · outbound

This paper cites Lidar-llm: Exploring the potential of large language models for 3d lidar understanding.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Lidar-llm: Exploring the potential of large language models for 3d lidar understanding

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.224797Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 13fffd37-0574-47b1-80bb-bf527d347642 · outbound

This paper cites Rag-driver: Generalisable driving explanations with retrieval-augmented in-context learning in multi- modal large language model.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Rag-driver: Generalisable driving explanations with retrieval-augmented in-context learning in multi- modal large language model

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-15T17:59:04.987813Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 109a2506-0e51-4546-83e3-6bef805f835e · outbound

This paper cites Tsic-clip: Traffic scene image captioning model based on clip.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Tsic-clip: Traffic scene image captioning model based on clip

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.211119Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 762bff50-b218-4dc5-b1af-322e11279379 · outbound

This paper cites LLaMA-Adapter: Efficient Fine-tuning of Language Models with Zero-init Attention.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving LLaMA-Adapter: Efficient Fine-tuning of Language Models with Zero-init Attention

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-15T17:59:04.996323Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 35770311-6dfd-4b02-bb18-df8a01c4a631 · outbound

This paper cites Bertscore: Evaluating text generation with bert.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving Bertscore: Evaluating text generation with bert

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T17:59:05.195720Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation be8e2f3b-f0eb-4978-8fb3-5090d61dc67d · outbound

This paper cites MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models.

BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-15T17:59:05.006971Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation 4f9c9b50-f0d3-482f-8feb-dc6ad8db4541 · inbound

BEVLM: Distilling Semantic Knowledge from LLMs into Bird's-Eye View Representations cites this paper.

BEVLM: Distilling Semantic Knowledge from LLMs into Bird's-Eye View Representations BEV-LLM: Leveraging Multimodal BEV Maps for Scene Captioning in Autonomous Driving

Reference 4

Resolution: unresolved; no resolver link, observed 2026-07-15T13:44:18.418529Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.