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README.md

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 # ManipGen
 
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+ManipGen is a generalist agent for long-horizon robotic manipulation. It leverages a new class of policies for sim2real transfer: local policies. Locality enables a variety of appealing properties including invariances to absolute robot and object pose, skill ordering, and global scene configuration. We combine these policies with foundation models for vision, language and motion planning to solve a wide range of long-horizon manipulation tasks in the real world zero-shot. 
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+All ManipGen checkpoints, as well as our [codebase](https://github.com/damianliumin/skills_planning/tree/refactor_sim) are released under an MIT License.
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+For full details, please read our [paper](https://mihdalal.github.io/manipgen/resources/paper.pdf) and see our [project page](https://mihdalal.github.io/manipgen/).
 
 ## Model Summary
 
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 - **Repository:** [https://github.com/mihdalal/manipgen](https://github.com/mihdalal/manipgen)
 - **Paper:** [https://arxiv.org/abs/2410.22332](https://arxiv.org/abs/2410.22332)
 - **Project website & videos:** [https://mihdalal.github.io/manipgen/](https://mihdalal.github.io/manipgen/)
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-## Installation
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-<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
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-## Usage
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-<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->