@article{nuscenesspatialqaaspatialunderstanding,
  title = {NuScenes-SpatialQA: A Spatial Understanding and Reasoning Benchmark for Vision-Language Models in Autonomous Driving},
  author = {Kexin Tian and Jingrui Mao and Yunlong Zhang and Jiwan Jiang and Yang Zhou and Zhengzhong Tu},
  year = {2025},
  eprint = {2504.03164},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.03164v1},
}