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.