| SimForge Pilot-4B v1.5 | |
| Copyright 2026 SimForge | |
| This product is a derivative of Qwen-Drive-1.0 (https://github.com/QwenLM/Qwen-Drive-1.0, | |
| https://huggingface.co/Qwen/Qwen-Drive-1.0-4B), Copyright 2026 Alibaba Group Holding Limited, | |
| licensed under the Apache License, Version 2.0. | |
| - model.safetensors, perception/ and the configuration, tokenizer and template files are the | |
| Qwen-Drive-1.0-4B release files at revision 28484089a7cc8c335cf5089fb0745cf7c49b6eaa, unmodified. | |
| - pilot/lib/qwen_drive and pilot/lib/qwen_drive_perception are derived from the Qwen-Drive-1.0 code | |
| (commit 28091c1532e869bc7aee91fc0aef6b3e6fd0b2e0) and include modifications by SimForge. | |
| - planner-navs2-002000/ was trained by SimForge, starting from the Qwen-Drive-1.0 planning expert | |
| architecture. | |
| - pilot/driver, pilot/qd, pilot/train, pilot/serve.py, pilot/triton_cache.py, inference.py and | |
| run_alpasim_driver.sh are SimForge code. | |
| The closed-loop service speaks the AlpaSim egodriver interface (https://github.com/NVlabs/alpasim), | |
| which is installed separately (requirements.txt) and is not redistributed here. | |