# RoadSceneVQA: Benchmarking Visual Question Answering in Roadside Perception Systems for Intelligent Transportation System

arXiv: https://arxiv.org/abs/2511.18286 · HTML: https://mlsanity.com/paper/2511.18286/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 27 of its 49 references that are in the map.
- First posted on arXiv 23 Nov 2025.

## Builds on (most cited first, 27 of 27)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [Linformer: Self-Attention with Linear Complexity](https://mlsanity.com/paper/2006.04768/) (2020)
- [Bottom-Up and Top-Down Attention for Image Captioning and Visual Question Answering](https://mlsanity.com/paper/1707.07998/) (2017)
- [MiniCPM-V: A GPT-4V Level MLLM on Your Phone](https://mlsanity.com/paper/2408.01800/) (2024)
- [Multimodal Chain-of-Thought Reasoning in Language Models](https://mlsanity.com/paper/2302.00923/) (2023)
- [Stacked Attention Networks for Image Question Answering](https://mlsanity.com/paper/1511.02274/) (2015)
- [NuScenes-QA: A Multi-modal Visual Question Answering Benchmark for Autonomous Driving Scenario](https://mlsanity.com/paper/2305.14836/) (2023)
- [Talk2Car: Taking Control of Your Self-Driving Car](https://mlsanity.com/paper/1909.10838/) (2019)
- [Vision Language Models in Autonomous Driving: A Survey and Outlook](https://mlsanity.com/paper/2310.14414/) (2023)
- [Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data, and Metric Perspectives](https://mlsanity.com/paper/2501.04003/) (2025)
- [Dual Attention Networks for Multimodal Reasoning and Matching](https://mlsanity.com/paper/1611.00471/) (2016)
- [Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Task](https://mlsanity.com/paper/2203.13608/) (2022)
- [Automated Evaluation of Large Vision-Language Models on Self-driving Corner Cases](https://mlsanity.com/paper/2404.10595/) (2024)
- [Multi-Frame, Lightweight & Efficient Vision-Language Models for Question Answering in Autonomous Driving](https://mlsanity.com/paper/2403.19838/) (2024)
- [Ask Your Neurons: A Neural-based Approach to Answering Questions about Images](https://mlsanity.com/paper/1505.01121/) (2015)
- [CoT-Drive: Efficient Motion Forecasting for Autonomous Driving with LLMs and Chain-of-Thought Prompting](https://mlsanity.com/paper/2503.07234/) (2025)
- [TUMTraffic-VideoQA: A Benchmark for Unified Spatio-Temporal Video Understanding in Traffic Scenes](https://mlsanity.com/paper/2502.02449/) (2025)
- [Talk2Radar: Bridging Natural Language with 4D mmWave Radar for 3D Referring Expression Comprehension](https://mlsanity.com/paper/2405.12821/) (2024)
- [FindVehicle and VehicleFinder: A NER dataset for natural language-based vehicle retrieval and a keyword-based cross-modal vehicle retrieval system](https://mlsanity.com/paper/2304.10893/) (2023)
- [WaterVG: Waterway Visual Grounding based on Text-Guided Vision and mmWave Radar](https://mlsanity.com/paper/2403.12686/) (2024)
- [3D Question Answering for City Scene Understanding](https://mlsanity.com/paper/2407.17398/) (2024)
- [Large Foundation Models for Trajectory Prediction in Autonomous Driving: A Comprehensive Survey](https://mlsanity.com/paper/2509.10570/) (2025)

## Built on by (most cited first, 4 of 4)

- [SAME: Stabilized Mixture-of-Experts for Multimodal Continual Instruction Tuning](https://mlsanity.com/paper/2602.01990/) (2026)
- [TAU-R1: Visual Language Model for Traffic Anomaly Understanding](https://mlsanity.com/paper/2603.19098/) (2026)
- [CoVLM-Bench: A Real-World Benchmark for Cooperative Driving Question Answering and Planning](https://mlsanity.com/paper/2609.35823/) (2026)
- [Answer with Evidence: Consistency-Aware Grounded Visual Question Answering for Roadside Traffic Scenes](https://mlsanity.com/paper/2610.05274/) (2026)

## Abstract (arXiv)

Current roadside perception systems mainly focus on instance-level perception, which fall short in enabling interaction via natural language and reasoning about traffic behaviors in context. To bridge this gap, we introduce RoadSceneVQA, a large-scale and richly annotated visual question answering (VQA) dataset specifically tailored for roadside scenarios. The dataset comprises 34,736 diverse QA pairs collected under varying weather, illumination, and traffic conditions, targeting not only object attributes but also the intent, legality, and interaction patterns of traffic participants. RoadSceneVQA challenges models to perform both explicit recognition and implicit commonsense reasoning, grounded in real-world traffic rules and contextual dependencies. To fully exploit the reasoning potential of Multi-modal Large Language Models (MLLMs), we further propose CogniAnchor Fusion (CAF), a vision-language fusion module inspired by human-like scene anchoring mechanisms. Moreover, we propose the Assisted Decoupled Chain-of-Thought (AD-CoT) to enhance the reasoned thinking via CoT prompting and multi-task learning. Based on the above, we propose the baseline model RoadMind. Experiments on RoadSceneVQA and CODA-LM benchmark show that the pipeline consistently improves both reasoning accuracy and computational efficiency, allowing the MLLM to achieve state-of-the-art performance in structural traffic perception and reasoning tasks.