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.gitattributes

@@ -37,3 +37,4 @@ assets/03_four_layer_stack.png filter=lfs diff=lfs merge=lfs -text
 assets/04_real_robot.jpg filter=lfs diff=lfs merge=lfs -text
 assets/05_sim_studio_sensors.png filter=lfs diff=lfs merge=lfs -text
 assets/06_virtual_map_run.png filter=lfs diff=lfs merge=lfs -text
+assets/07_nn_eval_3d.png filter=lfs diff=lfs merge=lfs -text

README.md

@@ -61,7 +61,8 @@ print(cmd, angle)
 
 The studio stage where the model's four inputs are defined: ultrasonic sensors
 F/L/R/B with datasheet-based noise models, checked by the built-in self QA/QC
-checklist, with the local LLM panel on the right.
+checklist. On the right, the local LLM explains a warning from that checklist,
+citing the stage report as its basis.
 
 ![Sensor definition stage in the simulation studio](assets/05_sim_studio_sensors.png)
 
@@ -70,6 +71,12 @@ A driving run on the 8 m × 8 m virtual map used for data collection
 
 ![Driving run on the virtual map](assets/06_virtual_map_run.png)
 
+And this exact model running in the studio's 3D evaluation stage. The left panel
+shows the live inference at the current step: the four sensor inputs (F/L/R/B, mm),
+the softmax over the five commands with FORWARD selected, and the angle head:
+
+![The model driving in the 3D evaluation stage, with live inference panel](assets/07_nn_eval_3d.png)
+
 The target hardware: a tracked test robot with the ultrasonic sensors mounted on
 the hand, the same F-channel placement the simulator reproduces.