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Both JSON-LD [1] and Turtle [2] clearly say that resource IDs are expressed in IRI format. Then, I think IDs in models would be written in IRI, when they are serialized into each format.
On the other hand, the model document uses "URI" in many places, and it might make developers uncertain whether the IDs should be percentage encoded/decoded or not, in serialization/parsing processes.
To remove such ambiguities from the document, the terms URI in the document should be replaced with IRI.