diff --git a/README.md b/README.md
index 2ee9e06eb8def17626ac47dc8762daeb1ce13e0b..d5481e5f42d0ef39ed51adfb92ef3618525b2bc4 100644
--- a/README.md
+++ b/README.md
@@ -9,51 +9,56 @@ tags:
 datasets:
 - UncleStrawberryBear/FlyControl-data
 ---
-# FlyControl — archived paper policies
+# FlyControl models
 
-This is a private, author-review snapshot for **A Drosophila connectome prior enables adaptable embodied control**. It covers Figure 2, Figure 3, Figure 4, and Supplementary Figures S3–S6 from the final manuscript supplied on 2026-11-02. Figure 5 and Figure 6 are outside this snapshot.
+Research records for **A Drosophila connectome prior enables adaptable embodied control**.
 
-The manuscript identity is SHA-256 `cb7dac9a2c20305f6228c98766d7d0f361ce59c058e1e13b88bee59d38152a30`. The manuscript itself is not distributed here. The corresponding code is [FlyControl](https://github.com/THU-NeuroML/FlyControl/tree/1a49c33bf1e6eab17cb2953123e02ecc2549a5f4), revision `1a49c33bf1e6eab17cb2953123e02ecc2549a5f4`.
+Code: [FlyControl](https://github.com/THU-NeuroML/FlyControl/tree/1a49c33bf1e6eab17cb2953123e02ecc2549a5f4).
 
-The repository contains **226 original PyTorch checkpoint files** (190 final policies and 36 initial states), their effective configuration files, `model_index.json`, and a small loading helper. Files retain their original bytes, graph buffers, and saved normalization/training state. The total checkpoint size is approximately 11.01 GiB.
+| Figure | Experiment | Models |
+|---|---|---|
+| Figure 2 | Fly terrain locomotion | Adult, MLP and ER; 20 seeds each |
+| Figure 3 | Fly turning control | Adult and MLP; 24 seeds each |
+| Figure 4 | Fly speed control | Adult and MLP; 20 seeds each |
+| Figure 5b–d, S7 | Ant flat ground and floor friction | Adult and MLP; 20 seeds each |
+| Figure 5e | Ant U-Maze, Medium Maze and Large Maze | Seven controller families; 20 seeds per maze and family |
+| Figure 5f–j | Ant Medium Maze trajectories and navigation | Adult and MLP; 20 seeds each |
+| S3 | Developmental direction control | Adult and Larva; 6 seeds each |
+| S4 | Developmental speed control | Adult and Larva; 6 seeds each |
+| S5 | BANC descending and motor readouts | 6 seeds per readout; initial and final states |
+| S6 | BANC regional recovery | 3 seeds per readout |
+| S8 | Ant Large Maze trajectories, speed and route complexity | Seven controller families; 20 seeds each |
 
-| Paper item | Evidence / task | Checkpoint files |
-|---|---|---:|
-| Figure 2 | Terrain; Adult, MLP and ER, 20 seeds each | 60 |
-| Figure 3 | Turning; Adult/MLP, 24 seeds each, plus 24 Adult initial states | 72 |
-| Figure 4 | Speed; Adult/MLP, 20 seeds each | 40 |
-| S3 | Developmental direction; Adult/Larva, 6 seeds each | 12 |
-| S4 | Developmental speed; Adult/Larva, 6 seeds each | 12 |
-| S5 | BANC descending/motor readouts, 6 seeds each, initial and final | 24 |
-| S6 | BANC regional recovery, 3 seeds per readout | 6 |
 
-These are task-specific simulator policies. Main-figure checkpoints and supplemental checkpoints use different numerical engines. In particular, S5 speed and S6 recovery policies are distinct despite overlapping seed labels. The index records original paths and SHA-256 identities to disambiguate historical batches. For S4, Adult seed 3 uses the recorded `seed3_attempt1` policy. The S3 larval checkpoints use a dense recurrent graph; S4 larval checkpoints use sparse edges.
+The seven Ant maze controller families are Adult connectome, MLP, GRU, LSTM, Transformer, Reservoir and Reservoir+RO. The Ant flat-ground MLP uses two 1,378-unit ReLU hidden layers.
 
-## Download and load
+The repository contains 686 checkpoint files: 650 final policies and 36 initial states. Figure 5 contributes 40 flat-ground policies and 420 maze policies. Checkpoints include actor and critic weights, saved observation normalization, and the graph, goal adapter and goal router used by the corresponding policy.
+
+`model_index.json` identifies each checkpoint by figure, experiment, controller, seed, configuration and SHA-256. Figure 5 entries are also listed in `figure5/model_index.json`. Model IDs follow `figure5/<flat|umaze|medium|large>/<method>/seed_<0–19>/final`.
 
-Use an authenticated Hugging Face account with access. Install the dependencies specified by the pinned FlyControl code, then download the model snapshot and the matching data archive:
+## Download and load
 
 ```python
 from huggingface_hub import snapshot_download
 models = snapshot_download('UncleStrawberryBear/FlyControl-models')
 ```
 
-For a single cohort, use `allow_patterns` to select its checkpoints/configs together with `model_index.json` and `load_policy.py`. Main-figure policies require the matching graph in the extracted [data repository](https://huggingface.co/datasets/UncleStrawberryBear/FlyControl-data). Extract that figure archive into an empty `paper-data` directory.
+Install the dependencies from the linked FlyControl revision. Load a Figure 5 policy with:
 
 ```bash
-git clone https://github.com/THU-NeuroML/FlyControl.git
-git -C FlyControl checkout 1a49c33bf1e6eab17cb2953123e02ecc2549a5f4
-python /path/to/model-snapshot/load_policy.py   --model-id figure2/connectome/seed_2011/final   --code-dir ./FlyControl --data-dir ./paper-data
+python /path/to/model-snapshot/load_ant_policy.py \
+  --model-id figure5/medium/adult/seed_0/final \
+  --code-dir /path/to/FlyControl
 ```
 
-This performs a strict state load and a numerical forward pass on zero input; it does not start a simulator. Supplemental policies reconstruct their graph from the saved checkpoint and do not need `--data-dir` for this numerical check. Run the helper in a fresh Python process so that another checkout's `fly_control` or `larva` modules cannot shadow the pinned code.
-
-The helper returns the policy and saved observation normalization state. Inputs must follow the task's original observation construction and normalization. Figure 2 uses 688 inputs (four 172-channel frames) and 6 actions; Figure 3 uses 64 inputs and 2 actions; Figure 4 and S3–S6 use 51 inputs and 2 actions. Main-figure Gaussian coordinates and supplemental action semantics are interpreted by their respective simulator engines; a raw network output is not a physical motor command.
+The helper verifies the checkpoint, constructs its policy, restores the saved state and runs a numerical forward pass. Its Python function `load_ant_policy` returns the policy and observation-normalization statistics. Figure 5 policies use 109 observation channels and eight action channels. Evaluation settings, including action scale, smoothing and waypoint planner, are stored in each index entry.
 
-Legacy initial checkpoints contain Python training state, so the helper uses `torch.load(..., weights_only=False)` on these known, checksum-verified research files. Original configurations and checkpoints retain historical filesystem paths as provenance; they are not portable filesystem instructions. Map identities through `model_index.json` and use a new run directory with the code's task interfaces.
+For Figures 2–4 and S3–S6, use `load_policy.py`. Figures 2–4 use the matching graph from the data archive:
 
-## Validation and boundaries
-
-All 226 files were copied without transformation and verified against source SHA-256 values (and historical recorded hashes where available). Every policy tensor was checked for finite values. Eighteen representatives covering every figure/method/stage combination passed strict state loading, exact state equality, and three finite forward steps with the pinned code. Main-figure checkpoint budgets were checked: 32,768 / 8,192 / 15,872 steps for Figures 2 / 3 / 4. Details are in `validation.json`.
+```bash
+python /path/to/model-snapshot/load_policy.py \
+  --model-id figure2/connectome/seed_2011/final \
+  --code-dir /path/to/FlyControl --data-dir /path/to/paper-data
+```
 
-This upload did not retrain policies or rerun full simulator evaluations. Historical source data are provided separately; the numerical loading checks do not certify a fresh end-to-end reproduction of all manuscript results. See `RIGHTS.md` for the current private-review licensing status.
+Data and trajectories: [FlyControl-data](https://huggingface.co/datasets/UncleStrawberryBear/FlyControl-data). File and loading checks are recorded in `validation.json` and `figure5/validation.json`. Source and licensing information is in `RIGHTS.md`.
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