4B grounding foundation model that generates points and boxes as quantized coordinates in a shared vocabulary; backbone Qwen3-4B-Instruct-2507 with MoonViT-V2; usable as a visual backbone for robotic manipulation and autonomous driving.

Availability

Publicly available

Provider

XPENG

Country

CHN

Family

GroundingPI

Status

Current

Weights

Open

Release date

2026-09-30T00:00:00.000Z

Licence

other (apache-2.0-with-upstream-kimi-k3)

Total parameters

4 billion

Aliases

GroundingPI/GroundingPI