Create README.md

README.md

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+---
+license: cc-by-4.0
+viewer: false
+---
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+
+# Model Checkpoints for ManiSkill-HAB
+
+RL (SAC, PPO) and IL (BC) baselines for ManiSkill-HAB. Each checkpoint includes a torch checkpoint `policy.pt` (model, optimizer/scheduler state, other trainable parameters) and a train config `config.yml` with hyperparemeters and env kwargs.
+
+RL Pick/Place policies are trained using SAC due to improved performance, while Open/Close is trained with PPO for wall-time efficiency (see Appendix A.4.3). All-object RL policies are under `all/` directories, while per-object policies are under directories labeled by the object name. IL policies do not have per-object Pick/Place variants.
+
+
+To download these policies, run the following:
+```
+huggingface-cli download arth-shukla/mshab_checkpoints --local-dir mshab_checkpoints
+```