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+nav:
+  - index.md
diff --git a/docs/models/index.md b/docs/models/index.md
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+# Machine learning models
+
+The Autoware perception stack uses models for inference. These models are automatically downloaded if using `ansible`, but they can also be downloaded manually.
+
+## ONNX model files
+
+### Download instructions
+
+The ONNX model files are stored in a common location, hosted by Web.Auto
+
+Any tool that can download files from the web (e.g. `wget` or `curl`) is the only requirement for downloading these files:
+
+```console
+$ wget https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx \
+       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint.onnx \
+       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint_tiny.onnx \
+       https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint.onnx \
+       https://awf.ml.dev.web.auto/perception/models/coco.names \
+       https://awf.ml.dev.web.auto/perception/models/hdl-64.caffemodel \
+       https://awf.ml.dev.web.auto/perception/models/label.txt \
+       https://awf.ml.dev.web.auto/perception/models/lamp_labels.txt \
+       https://awf.ml.dev.web.auto/perception/models/mb2-ssd-lite-tlr.onnx \
+       https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier_mobilenetv2.onnx \
+       https://awf.ml.dev.web.auto/perception/models/vlp-16.caffemodel \
+       https://awf.ml.dev.web.auto/perception/models/vls-128.caffemodel \
+       https://awf.ml.dev.web.auto/perception/models/voc_labels_tl.txt \
+       https://awf.ml.dev.web.auto/perception/models/yolov3.onnx \
+       https://awf.ml.dev.web.auto/perception/models/yolov4-tiny.onnx \
+       https://awf.ml.dev.web.auto/perception/models/yolov4.onnx \
+       https://awf.ml.dev.web.auto/perception/models/yolov5l.onnx \
+       https://awf.ml.dev.web.auto/perception/models/yolov5m.onnx \
+       https://awf.ml.dev.web.auto/perception/models/yolov5s.onnx \
+       https://awf.ml.dev.web.auto/perception/models/yolov5x.onnx \
+       https://awf.ml.dev.web.auto/perception/models/yolox-tiny.onnx
+```