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.gitattributes

@@ -34,3 +34,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
 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

README.md

@@ -57,6 +57,24 @@ angle = float(y[0, 5])
 print(cmd, angle)
 ```
 
+## The simulator and the target robot
+
+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.
+
+![Sensor definition stage in the simulation studio](assets/05_sim_studio_sensors.png)
+
+A driving run on the 8 m × 8 m virtual map used for data collection
+(green: ultrasonic rays from the robot):
+
+![Driving run on the virtual map](assets/06_virtual_map_run.png)
+
+The target hardware: a tracked test robot with the ultrasonic sensors mounted on
+the hand, the same F-channel placement the simulator reproduces.
+
+![Tracked test robot with hand-mounted ultrasonic sensors](assets/04_real_robot.jpg)
+
 ## Where this fits: our 4-layer stack
 
 ![NCDTech 4-layer stack](assets/03_four_layer_stack.png)