LINGO-1 can generate a continuous commentary that explains the reasoning behind driving actions. This can help us understand in natural language what the model is paying attention to and what it is doing.
This is LINGO-1’s explanation as it turns left at an intersection.
LINGO-1: I’m remaining stationary as the lead vehicle is also stopped
LINGO-1: I’m accelerating now, as we’re clear.
LINGO-1: I’m applying the brakes to stop at the junction.
LINGO-1: I’m moving now because the lane is clear.
LINGO-1: Completing a left turn to follow the route.