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README.md

@@ -28,9 +28,21 @@ organized into four task splits.
 ├── force/           3. 6D force estimation (static probe episodes, aligned F/T)
 ├── slip/            4. slip-stage detection (sliding episodes, 3-class labels)
 ├── bg_data/         background/reference frames per sensor
+├── htt_4sensors_best.pth  pretrained HTT checkpoint (~69 MB)
 ├── STATS.json       measured per-split statistics
 ├── FORMAT.md        detailed per-split format documentation
-└── MANIFEST.sha256  checksums for every file
+└── MANIFEST.sha256  checksums for every dataset file
+```
+
+## Model checkpoint
+
+The pretrained HTT model (`htt_4sensors_best.pth`, ~69 MB, SHA-256
+`024f4c3a067168197d0a6996bbca5c03e744ed5abd1d35a666dbf78e7ac673f0`) is bundled
+here for convenience and also hosted at
+[AllenBi21/HTT](https://huggingface.co/AllenBi21/HTT):
+
+```bash
+hf download AllenBi21/HTT-dataset htt_4sensors_best.pth --repo-type dataset --local-dir checkpoints
 ```
 
 ## Statistics