Update README.md

README.md

@@ -2,7 +2,7 @@
 license: mit
 ---
 
-# TokenHSI checkpoints
+# TokenHSI Checkpoint Instructions
 
 Please download the checkpoints and organize them as the following file structure:
 
@@ -27,5 +27,28 @@ Please download the checkpoints and organize them as the following file structur
         |-- (more models are coming soon!)
 ```
 
+* We first provide four single-task environments, including path-following, sitting, climbing, and carrying. For each task, we train a specialized policy using AMP. The trained models are:
+  *   single_task/ckpt_traj.pth
+  *   single_task/ckpt_sit.pth
+  *   single_task/ckpt_climb.pth
+  *   single_task/ckpt_carry.pth
+
+* We then provide our multi-task environment for training the versatile, unified transformer policy. The trained model is:
+  *  tokenhsi/ckpt_stage1.pth
+
+* Finally, we perform policy adaptation to generalize the learned skills to novel tasks. We list the trained models across various downstream tasks.
+  * Skill Composition
+     * Follow + Carry: tokenhsi/ckpt_stage2_comp_traj_carry.pth
+     * Sit + Carry: tokenhsi/ckpt_stage2_comp_sit_carry.pth
+     * Climb + Carry: tokenhsi/ckpt_stage2_comp_climb_carry.pth
+  * Object Shape Variation
+     * Chair: tokenhsi/ckpt_stage2_objShape_chair.pth
+     * Table: tokenhsi/ckpt_stage2_objShape_table.pth
+  * Terrain Shape Variation
+     * Follow: tokenhsi/ckpt_stage2_terrainShape_traj.pth
+     * Carry: tokenhsi/ckpt_stage2_terrainShape_carry.pth
+  * Long-horizon Task Completion 
+     * tokenhsi/ckpt_stage2_long_task.pth
+
 github repo: https://github.com/liangpan99/TokenHSI  
 arXiv paper: https://arxiv.org/abs/2503.19901