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LANTERN: A Closed-Loop Benchmark for VLM-Based Cooperative Driving with Temporally Grounded Warnings

arXiv · AI, language, vision and robotics · article · Sep 6, 2026 · UTC

We present LANTERN, a closed-loop benchmark for temporally grounded cooperative warnings. LANTERN separates warning onset, hazard onset, warning termination, and post-hazard recovery, and evaluates each physical event under matched warning and no-warning executions so that the warning's contribution is measured in isolation rather than confounded with onboard vision. The benchmark spans six safety-critical scenario families and provides 3,272 sequences with 236,309 frames for training, together with 120 matched route pairs for closed-loop evaluation. Each hazard route is evaluated under the wa

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