Update README.md

README.md

@@ -56,7 +56,7 @@ Mr. Balance uses a shared Actor-Critic MLP designed for continuous-control reinf
 * Number of Episodes: `12756`
 * Maximum Episode Steps: `10000`
 
-## Training Objects
+### Training Objects
 
 - Sphere
 - Egg
@@ -95,4 +95,34 @@ Mr. Balance excels at balancing all the objects he was trained on, but does he g
 | heavy_ball      |   24,310.68 | 10,000.0 |     100.0% |      0.0401m |
 | offcenter_block |   21,408.22 | 10,000.0 |     100.0% |      0.1395m |
 
-The answer is yes; Mr. Balance excels at balancing a wide range of objects, not just the three he was trained on.
+The answer is yes; Mr. Balance excels at balancing a wide range of objects, not just the three he was trained on.
+
+## Inference
+
+First install the required dependencies:
+
+```bash
+pip install torch transformers safetensors "mujoco==3.10.0" numpy
+```
+
+Windows users also might need the Microsoft C++ Build Tools:
+
+[https://visualstudio.microsoft.com/visual-cpp-build-tools/](https://visualstudio.microsoft.com/visual-cpp-build-tools/)
+
+Next, download both `inference.py` and `balance_plate_rl.py` and run:
+
+```bash
+python inference.py
+```
+
+Add `--render` for live visual rendering or/and `--object` to choose a specific object.
+
+## License
+
+Apache 2.0.
+
+## Citation
+
+```
+
+```