Update README.md

README.md

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----
-license: other
-license_name: ncsl
-license_link: https://github.com/NVlabs/ProtoMotions/blob/main/LICENSE
----
+---
+license: other
+license_name: ncsl
+license_link: https://github.com/NVlabs/ProtoMotions/blob/main/LICENSE
+datasets:
+- realdream-ai/AMASS
+- TeoGchx/HumanML3D
+---
+
+# Full codebase:
+This model works with the [ProtoMotions](https://github.com/NVlabs/ProtoMotions/tree/main) environment.
+
+# Masked Mimic -- SMPL Humanoid
+
+<div float="center">
+    <img src="https://github.com/NVlabs/ProtoMotions/blob/main/data/pretrained_models/masked_mimic/smpl/assets/inbetweening.gif?raw=true" width="300"/>
+</div>
+
+# What is this?
+
+- Pre-trained Masked Mimic agent for the SMPL (no fingers) humanoid.
+- The goal of this model is to generate novel motions from partial constraints.
+- It observes:
+  - Current pose
+  - 15 future poses
+  - Projected surrounding heightmap
+- It can be constrained using:
+  - Any-joint-any-time. Any number of future states (defined via time). For each state, any subset of joints. Each joint constraint supports translation and/or rotation constraints.
+- It predicts:
+  - Next action (PD target for each joint)
+
+
+- Trained in IsaacLab. The model may not perform as well in IsaacGym/Genesis.
+
+# Evaluating the model
+To evaluate the model run the following command:
+
+```
+PYTHON_PATH protomotions/eval_agent.py +robot=smpl +simulator=isaaclab +motion_file=<path to motion file> +checkpoint=data/pretrained_models/masked_mimic/smpl/last.ckpt
+```
+
+- You should pick which `motion_file` to load.
+- The model was trained and performs best in IsaacLab. Simulator can selected using the `simulator` flag --- performance may vary.
+- For faster loading times use a flat terrain (config defaults to random heightmap) `+terrain=flat`.
+
+For easy evaluation of a target-pose inbetween objective add the following flags
+```
++opt=masked_mimic/constraints/no_constraint env.config.masked_mimic.masked_mimic_masking.target_pose_visible_prob=1
+```
+The `no_constraint` yaml file turns off all constraints. Then we only enable the target_pose visibility.