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README.md

@@ -97,12 +97,21 @@ lerobot-eval \
 
 ## Results
 
-| Steps | Episodes | Success Rate | Avg Sum Reward |
-|-------|----------|--------------|----------------|
-| 100K | 10 | 10% | 23.7 |
-| 200K | 10 | 10% | 23.3 |
+| Evaluation | Episodes | Success Rate | Avg Sum Reward |
+|------------|----------|--------------|----------------|
+| Training (100K) | 10 | 10% | 23.7 |
+| Training (200K) | 10 | 10% | 23.3 |
+| Independent | 20 | 10% | 28.3 |
 
-**No improvement from 100K to 200K steps.**
+**Expected success rate: ~10%**
+
+## Detailed Evaluation Results (Independent)
+```
+Sum Rewards: [0.0, 0.0, 253.0, 4.0, 0.0, 0.0, 0.0, 81.0, 21.0, 0.0,
+              0.0, 0.0, 0.0, 0.0, 0.0, 207.0, 0.0, 0.0, 0.0, 0.0]
+
+Successes: 2/20 episodes
+```
 
 ## Why Does Diffusion Policy Underperform?