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LICENSE

@@ -0,0 +1,661 @@
+                    GNU AFFERO GENERAL PUBLIC LICENSE
+                       Version 3, 19 November 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
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LICENSE-Apache-2.0

@@ -0,0 +1,202 @@
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+   limitations under the License.

NOTICE

@@ -0,0 +1,13 @@
+NavGPT3-4B
+Copyright 2026 The Metacognition Team.
+
+These weights are licensed under the GNU Affero General Public License v3.0
+(see LICENSE).
+
+They are a modified version of Qwen3-VL-4B-Instruct by the Qwen team, Alibaba Cloud
+(https://huggingface.co/Qwen/Qwen3-VL-4B-Instruct), licensed under the Apache License,
+Version 2.0 (see LICENSE-Apache-2.0).
+
+Changes from the base model: fine-tuned for vision-and-language navigation,
+an MLP action head added, and tensor names and configuration files adapted
+for the NavGPT3 model classes. The tokenizer and chat template are unchanged.

README.md

@@ -0,0 +1,97 @@
+---
+license: agpl-3.0
+base_model:
+- Qwen/Qwen3-VL-4B-Instruct
+base_model_relation: finetune
+pipeline_tag: robotics
+language:
+- en
+tags:
+- vision-language-navigation
+- vision-language-action
+- embodied-ai
+- qwen3-vl
+---
+
+# NavGPT3-4B
+
+NavGPT3-4B is the 4B NavGPT VLA, the low-level navigation policy of
+NavGPT-3. Given a natural-language instruction and a history of four-view RGB
+observations (front, right, back, left), it predicts the next eight waypoints.
+In NavGPT-3, a Planner chooses the instructions and decides when to stop; the
+VLA carries them out.
+
+## Resources
+
+- Code and paper: links will be added at release
+- Other size: [NavGPT3-8B](https://huggingface.co/Metacognition-AI/NavGPT3-8B)
+
+## Model details
+
+| | |
+|---|---|
+| Base model | [Qwen3-VL-4B-Instruct](https://huggingface.co/Qwen/Qwen3-VL-4B-Instruct) |
+| Parameters | 4.44B, BF16 |
+| Action head | Two-layer MLP on the final hidden state of the last prompt token; outputs 8 waypoints of (x, y, θ), normalised |
+| Observations | Up to 16 history steps × 4 views, 400×400 at 120° field of view |
+| Visual tokens | One budget of 3,072 tokens shared by all images, split per image by recency, camera and how much the frame changed |
+| Training data | About 19.28M examples: vision-and-language navigation, embodied navigation QA, cross-embodiment navigation and grounding |
+| Code | NavGPT3 classes on Transformers 5.18 |
+
+## Results
+
+Vision-and-language navigation on the R2R-CE and RxR-CE Val-Unseen splits, as
+reported in the NavGPT-3 paper. The NavGPT3 rows are the model on its own,
+without the NavGPT-3 Planner.
+
+| Method | Size | R2R NE↓ | R2R OSR↑ | R2R SR↑ | R2R SPL↑ | RxR NE↓ | RxR nDTW↑ | RxR SR↑ | RxR SPL↑ |
+|---|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| NavFoM | 7B | 4.61 | 72.1 | 61.7 | 55.3 | 4.74 | 65.8 | 64.4 | 56.2 |
+| ABot-N0 | 4B | 3.78 | 70.8 | 66.4 | 63.9 | 3.83 | – | 69.3 | 60.0 |
+| AstraNav-World | 3B+5B | 3.86 | 73.9 | 67.9 | 65.4 | 3.82 | – | 72.9 | 61.5 |
+| OmniNav | 3B | 3.74 | 74.6 | 69.5 | 66.1 | 3.77 | – | 73.6 | 62.0 |
+| Qwen-RobotNav | 4B | 3.80 | 77.2 | 69.5 | 63.6 | 3.80 | 71.9 | 75.2 | 65.0 |
+| Qwen-RobotNav | 8B | 3.53 | 78.5 | 72.1 | 66.6 | 3.58 | 72.5 | 76.5 | 65.7 |
+| Robostral Navigate | 8B | 3.20 | 81.3 | 77.4 | 74.2 | 3.47 | – | 75.1 | 68.7 |
+| **NavGPT3-4B** | **4B** | **3.41** | **79.91** | **72.54** | **67.19** | **3.35** | **73.33** | **76.77** | **67.77** |
+| NavGPT3-8B | 8B | 3.29 | 80.19 | 74.51 | 68.54 | 3.05 | 74.85 | 78.19 | 68.98 |
+
+NE is navigation error in metres; OSR (oracle success), SR (success), SPL (success
+weighted by path length) and nDTW (path fidelity) are percentages.
+
+In the complete NavGPT-3 system, where a Planner directs NavGPT3-8B, success
+rises to 81.51 SR on R2R-CE and 90.43 SR on RxR-CE.
+
+## Usage
+
+The model needs the NavGPT3 classes from the NavGPT-3 repository; it does not
+load with `AutoModel` alone.
+
+```bash
+hf download Metacognition-AI/NavGPT3-4B --local-dir checkpoints/NavGPT3-4B
+```
+
+```python
+from navgpt.vla.runtime import load_from_pretrained
+
+model, processor = load_from_pretrained("checkpoints/NavGPT3-4B", device="cuda")
+```
+
+`model.predict_actions(**inputs)` returns the normalised waypoints for processor
+outputs. The `navgpt.vla` agent keeps the multi-view history, assigns the
+per-image token budgets and scales the waypoints to metres and radians. To serve
+the model for Habitat evaluation, set its directory in `configs/paths.yaml` and run
+`python -m navgpt.vla --config configs/experiments/vln/vla_4b_r2r.yaml`.
+
+## Limitations
+
+- Trained and evaluated in Habitat simulation (R2R-CE, RxR-CE). Waypoint scales
+  follow the simulated embodiment; other robots need their own scales and testing.
+- Evaluated on English instructions.
+
+## License
+
+The weights are released under the [GNU Affero General Public License v3.0](LICENSE).
+They are fine-tuned from [Qwen3-VL-4B-Instruct](https://huggingface.co/Qwen/Qwen3-VL-4B-Instruct), released by
+the Qwen team under the [Apache License 2.0](LICENSE-Apache-2.0); see [NOTICE](NOTICE).
+The NavGPT-3 source code is licensed separately.

added_tokens.json

@@ -0,0 +1,28 @@
+{
+  "</think>": 151668,
+  "</tool_call>": 151658,
+  "</tool_response>": 151666,
+  "<think>": 151667,
+  "<tool_call>": 151657,
+  "<tool_response>": 151665,
+  "<|box_end|>": 151649,
+  "<|box_start|>": 151648,
+  "<|endoftext|>": 151643,
+  "<|file_sep|>": 151664,
+  "<|fim_middle|>": 151660,
+  "<|fim_pad|>": 151662,
+  "<|fim_prefix|>": 151659,
+  "<|fim_suffix|>": 151661,
+  "<|im_end|>": 151645,
+  "<|im_start|>": 151644,
+  "<|image_pad|>": 151655,
+  "<|object_ref_end|>": 151647,
+  "<|object_ref_start|>": 151646,
+  "<|quad_end|>": 151651,
+  "<|quad_start|>": 151650,
+  "<|repo_name|>": 151663,
+  "<|video_pad|>": 151656,
+  "<|vision_end|>": 151653,
+  "<|vision_pad|>": 151654,
+  "<|vision_start|>": 151652
+}

chat_template.jinja

@@ -0,0 +1,120 @@
+{%- if tools %}
+    {{- '<|im_start|>system\n' }}
+    {%- if messages[0].role == 'system' %}
+        {%- if messages[0].content is string %}
+            {{- messages[0].content }}
+        {%- else %}
+            {%- for content in messages[0].content %}
+                {%- if 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '\n\n' }}
+    {%- endif %}
+    {{- "# Tools\n\nYou may call one or more functions to assist with the user query.\n\nYou are provided with function signatures within <tools></tools> XML tags:\n<tools>" }}
+    {%- for tool in tools %}
+        {{- "\n" }}
+        {{- tool | tojson }}
+    {%- endfor %}
+    {{- "\n</tools>\n\nFor each function call, return a json object with function name and arguments within <tool_call></tool_call> XML tags:\n<tool_call>\n{\"name\": <function-name>, \"arguments\": <args-json-object>}\n</tool_call><|im_end|>\n" }}
+{%- else %}
+    {%- if messages[0].role == 'system' %}
+        {{- '<|im_start|>system\n' }}
+        {%- if messages[0].content is string %}
+            {{- messages[0].content }}
+        {%- else %}
+            {%- for content in messages[0].content %}
+                {%- if 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- endif %}
+{%- endif %}
+{%- set image_count = namespace(value=0) %}
+{%- set video_count = namespace(value=0) %}
+{%- for message in messages %}
+    {%- if message.role == "user" %}
+        {{- '<|im_start|>' + message.role + '\n' }}
+        {%- if message.content is string %}
+            {{- message.content }}
+        {%- else %}
+            {%- for content in message.content %}
+                {%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
+                    {%- set image_count.value = image_count.value + 1 %}
+                    {%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
+                    <|vision_start|><|image_pad|><|vision_end|>
+                {%- elif content.type == 'video' or 'video' in content %}
+                    {%- set video_count.value = video_count.value + 1 %}
+                    {%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
+                    <|vision_start|><|video_pad|><|vision_end|>
+                {%- elif 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- elif message.role == "assistant" %}
+        {{- '<|im_start|>' + message.role + '\n' }}
+        {%- if message.content is string %}
+            {{- message.content }}
+        {%- else %}
+            {%- for content_item in message.content %}
+                {%- if 'text' in content_item %}
+                    {{- content_item.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {%- if message.tool_calls %}
+            {%- for tool_call in message.tool_calls %}
+                {%- if (loop.first and message.content) or (not loop.first) %}
+                    {{- '\n' }}
+                {%- endif %}
+                {%- if tool_call.function %}
+                    {%- set tool_call = tool_call.function %}
+                {%- endif %}
+                {{- '<tool_call>\n{"name": "' }}
+                {{- tool_call.name }}
+                {{- '", "arguments": ' }}
+                {%- if tool_call.arguments is string %}
+                    {{- tool_call.arguments }}
+                {%- else %}
+                    {{- tool_call.arguments | tojson }}
+                {%- endif %}
+                {{- '}\n</tool_call>' }}
+            {%- endfor %}
+        {%- endif %}
+        {{- '<|im_end|>\n' }}
+    {%- elif message.role == "tool" %}
+        {%- if loop.first or (messages[loop.index0 - 1].role != "tool") %}
+            {{- '<|im_start|>user' }}
+        {%- endif %}
+        {{- '\n<tool_response>\n' }}
+        {%- if message.content is string %}
+            {{- message.content }}
+        {%- else %}
+            {%- for content in message.content %}
+                {%- if content.type == 'image' or 'image' in content or 'image_url' in content %}
+                    {%- set image_count.value = image_count.value + 1 %}
+                    {%- if add_vision_id %}Picture {{ image_count.value }}: {% endif -%}
+                    <|vision_start|><|image_pad|><|vision_end|>
+                {%- elif content.type == 'video' or 'video' in content %}
+                    {%- set video_count.value = video_count.value + 1 %}
+                    {%- if add_vision_id %}Video {{ video_count.value }}: {% endif -%}
+                    <|vision_start|><|video_pad|><|vision_end|>
+                {%- elif 'text' in content %}
+                    {{- content.text }}
+                {%- endif %}
+            {%- endfor %}
+        {%- endif %}
+        {{- '\n</tool_response>' }}
+        {%- if loop.last or (messages[loop.index0 + 1].role != "tool") %}
+            {{- '<|im_end|>\n' }}
+        {%- endif %}
+    {%- endif %}
+{%- endfor %}
+{%- if add_generation_prompt %}
+    {{- '<|im_start|>assistant\n' }}
+{%- endif %}

config.json

@@ -0,0 +1,74 @@
+{
+  "action_dim": 24,
+  "action_hidden_size": 512,
+  "action_num_layers": 2,
+  "architectures": [
+    "NavGPT3ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "eos_token_id": 151645,
+  "image_token_id": 151655,
+  "model_type": "navgpt3",
+  "pad_token_id": 151643,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
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+    "dtype": "bfloat16",
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