{"paper":{"title":"D2-V2X: Depth-Driven Cooperative V2X Reasoning for Autonomous Driving","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Alphin Varghese, Colin Pham, David Oh, Kevin Richard, Srijan Das","submitted_at":"2026-05-22T18:05:10Z","abstract_excerpt":"Single-vehicle Vision-Language Models (VLMs) are fundamentally constrained by sensor occlusions. While Vehicle-to-Everything (V2X) systems mitigate this, current benchmarks lack the cooperative reasoning required for resolving ambiguities in complex environments. We introduce D2-V2X, a spatially-aware Question-Rationale-Answer (QRA) benchmark featuring 8,500 triplets derived from multimodal vehicle and infrastructure sensors. We additionally establish a baseline that aligns 3D LiDAR features with the VLM's latent space. By enforcing natural language Chain-of-Thought rationales prior to structu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24098","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.24098/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}