SOURCE-LINKED INTELLIGENCE
Do LiDAR Language Models Really Understand Spatio-temporal Relationships?
Recent 4D LiDAR language models aim to reason about objects and their evolving spatial relationships. Yet, in our evaluation, always selecting the same option nearly matches the multiple-choice accuracy of two B4DL-derived configurations. We introduce LiDAR-Hallu, a geometry-referenced benchmark and diagnostic protocol with 10,000 questions across 150 nuScenes scenes. It covers object existence, ego-relative position, distance ordering, relative motion, and temporal localization, with explicit rules for selecting objects, comparing times, and determining reference answers. Our protocol combine
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-21T11:59:07.000Z
First collected: 2026-09-23T08:01:43.213Z. This is not the publication date.