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@@ -24,6 +24,7 @@ Please download the checkpoints and organize them as the following file structur
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  |-- ckpt_carry.pth
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  |-- tokenhsi
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  |-- ckpt_stage1.pth
 
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  |-- ...
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  |-- (more models are coming soon!)
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  ```
@@ -49,7 +50,7 @@ Please download the checkpoints and organize them as the following file structur
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  * Follow: tokenhsi/ckpt_stage2_terrainShape_traj.pth
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  * Carry: tokenhsi/ckpt_stage2_terrainShape_carry.pth
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  * Long-horizon Task Completion
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- * tokenhsi/ckpt_stage2_long_task.pth
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  GitHub repo: https://github.com/liangpan99/TokenHSI
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  arXiv paper: https://huggingface.co/papers/2503.19901
 
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  |-- ckpt_carry.pth
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  |-- tokenhsi
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  |-- ckpt_stage1.pth
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+ |-- ckpt_stage2_longterm.pth
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  |-- ...
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  |-- (more models are coming soon!)
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  ```
 
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  * Follow: tokenhsi/ckpt_stage2_terrainShape_traj.pth
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  * Carry: tokenhsi/ckpt_stage2_terrainShape_carry.pth
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  * Long-horizon Task Completion
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+ * tokenhsi/ckpt_stage2_longterm.pth
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  GitHub repo: https://github.com/liangpan99/TokenHSI
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  arXiv paper: https://huggingface.co/papers/2503.19901