{
  "ollama_model": "qwen2.5vl:3b",
  "ollama_host":  "http://127.0.0.1:11434",
  "max_history": 6,
  "num_batch": 16,
  "num_ctx": 1024,
  "subsystems": {
    "vlm":        true,
    "yolo":       true,
    "lidar":      false,
    "voice":      true,
    "imgsearch":  false,
    "autonomous": true
  },
  "num_predict_main": 60,
  "num_predict_goal": 80,
  "num_predict_patrol": 80,
  "num_predict_talk": 60,
  "num_predict_verify": 10
}