In pages 277-301 and 166-185 of [https://github.com/OpenDriveLab/AgiBot-World/blob/main/go1/internvl/model/go1/modeling_action_expert.py](url), an issue of duplicate concatenation of the VLM's key-value cache occurred in the Action Expert Network. <img width="1392" height="719" alt="Image" src="https://github.com/user-attachments/assets/c43f00f9-1f03-4259-bf95-106782190e72" />
In pages 277-301 and 166-185 of https://github.com/OpenDriveLab/AgiBot-World/blob/main/go1/internvl/model/go1/modeling_action_expert.py,
an issue of duplicate concatenation of the VLM's key-value cache occurred in the Action Expert Network.