diff --git a/docs/closed_set.md b/docs/closed_set.md
index 747c493..4c16212 100644
--- a/docs/closed_set.md
+++ b/docs/closed_set.md
@@ -61,12 +61,8 @@ colcon test --packages-select semantic_inference
 ### Models
 
 Running dense 2D semantic segmentation requires obtaining a pre-trained model.
-Several pre-exported models live [here](https://drive.google.com/drive/folders/1GrmgFDFCssDxKe_Nyx8PPTK1pRMA0gEO?usp=sharing).
-By default, the code uses [this](https://drive.google.com/file/d/1XRcsyLSvqqhqNIaOI_vmqpUpmBT6gk9-/view?usp=drive_link) model.
-
-> **Note** <br>
-> We recommend using models within the [dense2d](https://drive.google.com/drive/folders/17p_ZZIxI9jI_3GjjtbMijC2WFnc9Bz-a?usp=sharing) folder, which are named corresponding to the labelspace they output to.
-> The top-level models are deprecated as they do not follow this naming scheme (they all output to the ade20k label space).
+Several pre-exported models live [here](https://www.dropbox.com/scl/fo/zgi4nx6dqd4gme9qmkqzy/AHCxucEsOPLJOY2heJdS_jg?rlkey=4yj25cq6h0c6igch0r4kdcth1&st=cft0qilw&dl=0).
+By default, the code uses [this](https://www.dropbox.com/scl/fi/qtaqm3htsdjlnoyqjvrol/ade20k-efficientvit_seg_l2.onnx?rlkey=3evg4gfeybd0wie0gom8535zo&st=qoztrhiz&dl=0) model.
 
 By default, the closed set node looks under the directory `$HOME/.semantic_inference` for models (this works on Linux or as long as `HOME` is set).
 It is possible to change this directory by specifying the `SEMANTIC_INFERENCE_MODEL_DIR` environment variable.
diff --git a/install/setup.sh b/install/setup.sh
index dc1b368..4a957cb 100755
--- a/install/setup.sh
+++ b/install/setup.sh
@@ -15,7 +15,7 @@
 function download_model() {
     if [[ ! -e $HOME/.semantic_inference/$1 ]]; then
         echo "Downloading '$1'..."
-        pipx run gdown -q --fuzzy "$2" --output "$HOME"/.semantic_inference/"$1"
+        wget "$2" -O "$HOME"/.semantic_inference/"$1"
     fi
 }
 
@@ -63,7 +63,7 @@ fi
 
 if [ "$MODELS" = true ]; then
     mkdir -p "$HOME"/.semantic_inference/
-    download_model ade20k-efficientvit_seg_l2.onnx https://drive.google.com/file/d/1XRcsyLSvqqhqNIaOI_vmqpUpmBT6gk9-/view?usp=drive_link
-    download_model ade20k-hrnetv2-c1.onnx https://drive.google.com/file/d/1vwTKs5g-xrY_2z_V3_TFnmqF0QYd24OM/view?usp=drive_link
-    download_model ade20k-mobilenetv2dilated-c1_deepsup.onnx https://drive.google.com/file/d/1siTG4Pce9o6iRKtKYZDEPWsru4LwNclo/view?usp=drive_link
+    download_model ade20k-efficientvit_seg_l2.onnx "https://www.dropbox.com/scl/fi/qtaqm3htsdjlnoyqjvrol/ade20k-efficientvit_seg_l2.onnx?rlkey=3evg4gfeybd0wie0gom8535zo&st=1ocu1vl7&dl=1"
+    download_model ade20k-hrnetv2-c1.onnx "https://www.dropbox.com/scl/fi/6hvyfgtk1j0uqt1t7dal9/ade20k-hrnetv2-c1.onnx?rlkey=k009j60g556h9p79bdoxgskbx&st=sqz7sqyl&dl=1"
+    download_model ade20k-mobilenetv2dilated-c1_deepsup.onnx "https://www.dropbox.com/scl/fi/dlcizojblgaq8dnhd94o4/ade20k-mobilenetv2dilated-c1_deepsup.onnx?rlkey=5m7tv9x8bt0gsg1q77tert9ic&st=ixu66280&dl=1"
 fi