Update README.md

README.md

@@ -9,7 +9,7 @@ dynamics_model/              # Stage 1: Learned dynamics models
 ├── beamng_bicycle_*/        # Bicycle model variants
 ├── beamng_ddm_*/            # Deep Dynamics Model (DDM) variants
 ├── beamng_trans_*/          # Transformer-based models
-├── beamng_dytr_*/           # DYTR (Dynamics Transfer) models
+├── beamng_dytr_*/           # DYTR (Residual Learning) models
 └── beamng_manual_PID_*/     # Manual PID control baselines
 
 control_policies/            # Stage 2 & 3: Trained RL policies
@@ -60,7 +60,7 @@ local_dir = snapshot_download(
 - **Bicycle**: Simple analytical model serving as baseline
 - **DDM**: Deep Dynamics Model - neural network trained on BeamNG data
 - **Transformer**: Sequence-aware dynamics model using transformer architecture
-- **DYTR**: Dynamics Transfer model for cross-domain generalization
+- **DYTR**: Residual Learning towards High-fidelity Vehicle Dynamics Modeling with Transformer
 
 ### Control Policies (Stage 2 & 3)