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README.md

@@ -1,3 +1,76 @@
 ---
 license: apache-2.0
+library_name: pytorch
+tags:
+  - robotics
+  - uav
+  - drone
+  - flow-matching
+  - autonomous-navigation
+  - flightmare
 ---
+
+# FlowPilot Checkpoints
+
+Model checkpoints for **FlowPilot**, a Flow Matching based world-action model for real-time onboard UAV navigation.
+
+The model uses a dual-stream MoT to jointly model video latents and action tokens. Actions are parameterized by a 7th-order Bernstein polynomial with 8 control points (3 fixed by the initial state and 5 predicted by the network), producing 48 waypoints at 30 Hz.
+
+- Code: [flyingbitac/FlowPilot](https://github.com/flyingbitac/FlowPilot)
+
+## Files
+
+| File | Size | Description |
+| --- | --- | --- |
+| `ckpt/phase2/ckpt_final.pt` | 651 MB | Phase-2 checkpoint. The inference state dict is stored under the `model` key; `step`, `optimizer`, and `lr_scheduler` are also included. |
+| `ckpt/action_stats.pt` | 3.1 KB | Action and state normalization statistics. |
+| `ckpt/coeff_stats.pt` | 2.7 KB | Bernstein coefficient normalization statistics. |
+
+The Wan2.2 VAE weights are not stored in this repository; download the official file from [Wan-AI/Wan2.2-TI2V-5B](https://huggingface.co/Wan-AI/Wan2.2-TI2V-5B) as shown below.
+
+## Usage
+
+Clone the code repository first, then download the checkpoints into its root:
+
+```bash
+git clone https://github.com/flyingbitac/FlowPilot.git
+cd FlowPilot
+
+hf download YuDinging/FlowPilot --include "ckpt/*" --local-dir .
+hf download Wan-AI/Wan2.2-TI2V-5B Wan2.2_VAE.pth --local-dir ckpt
+```
+
+If `hf` is not available, install it with `pip install -U huggingface_hub`.
+
+The `--include "ckpt/*"` filter matters: without it, `hf download` would also write this model card as `README.md` and overwrite the README of the code repository.
+
+The files land under `ckpt/`, the default location expected by `configs/runtime/rviz.py`:
+
+```
+ckpt/
+├── phase2/ckpt_final.pt
+├── Wan2.2_VAE.pth
+├── action_stats.pt
+└── coeff_stats.pt
+```
+
+`hf download` also creates a `.cache/huggingface/` directory in the current directory. It only holds download metadata and can be removed afterwards. If you prefer to keep the weights outside the repository, download to another directory with `--local-dir` and symlink its `ckpt/` into the repository instead.
+
+
+
+Then start the simulation from the code repository:
+
+```bash
+python docker/docker.py build
+python docker/docker.py start
+```
+
+## Intended Use
+
+These weights are released for research on learning-based UAV navigation, mainly for simulation and onboard inference experiments. They are not certified for safety-critical flight.
+
+## License
+
+The checkpoints are released under the Apache License 2.0.
+
+`ckpt/Wan2.2_VAE.pth` is downloaded from the official [Wan2.2 model repository](https://huggingface.co/Wan-AI/Wan2.2-TI2V-5B) (Alibaba Wan Team) and is also licensed under Apache-2.0.