This is a bug.
value="true/false" won't work because your radio inputs won't be initialized and checked correctly when your model is loaded, but ng-value="true/false" won't work because "false" selections will cause the form to be invalid.
I was having the same problem and reported it as an issue, but since there's no telling when it will be resolved, I also came up with a workaround: ng-boolean-radio
It basically converts your model's boolean true / false values into string "true" / "false" values, which match your form's string value="true/false" attributes. This will allow the corresponding radio inputs to be checked by default when the model loads. It will also allow you to save "false" values because "false" != false.
Finally, it preserves the boolean datatype by converting the string "true" / "false" values back to boolean true / false before saving them in the model.
I hope that helps!