Code and checkpoint mismatch #10

The pytorch_model.bin from HuggingFace contains keys like:

• txt_encoder.*
• unified_encoder.*
• decision_head.*

But the current code (navr1/models/) only defines:

• NavR1Backbone (with language_encoder, vision_encoder, multimodal_fusion)
• PolicyHead

The classes for txt_encoder, unified_encoder, etc. are not in the codebase.

Questions:

1. Is there a matching code version for this checkpoint?
2. Or is there an updated checkpoint that matches the current code?

Thanks!