Lashawn J. Brickhouse, 28, was arrested Thursday and charged with endangering the welfare of a child, a misdemeanor.
State police spotted the toddler, who was half-clothed, near Route 9W in the Ulster County hamlet.
Brickhouse was also charged with second-degree criminal possession of marijuana and third-degree possession of a weapon, both felonies, after police said they searched his house and found marijuana and an assault rifle.
Brickhouse was arraigned in Esopus Court and sent to Ulster County Jail in lieu of $10,000 cash or $20,000 bond.
He is to appear in court on Tuesday, May 31, to answer the charges.
Police did not say what happened to the little girl.
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