Update model card: rename model files, fix download script flags

README.md

@@ -141,8 +141,8 @@ All checkpoints (ONNX format) are available directly in this repository. Inferen
 
 | Checkpoint | File | Description |
 |---|---|---|
-| Policy encoder | `model_releasev1-1_encoder.onnx` | Encodes motion reference into latent |
-| Policy decoder | `model_releasev1-1_decoder.onnx` | Decodes latent into joint actions |
+| Policy encoder | `model_encoder.onnx` | Encodes motion reference into latent |
+| Policy decoder | `model_decoder.onnx` | Decodes latent into joint actions |
 | Kinematic planner | `planner_sonic.onnx` | Real-time locomotion style planner |
 
 **Quick download** (requires `pip install huggingface_hub`):
@@ -155,8 +155,8 @@ snapshot_download(repo_id="nvidia/GEAR-SONIC", local_dir="gear_sonic_deploy")
 Or use the download script from the GitHub repo:
 
 ```bash
-python download_from_hf.py           # policy only
-python download_from_hf.py --planner # policy + planner
+python download_from_hf.py             # policy + planner (default)
+python download_from_hf.py --no-planner # policy only
 ```
 
 See the [Download Models guide](https://nvlabs.github.io/GR00T-WholeBodyControl/getting_started/download_models.html) for full instructions.