Update README.md

README.md

@@ -10,19 +10,29 @@ pipeline_tag: robotics
 
 # LEAD: Minimizing Learner–Expert Asymmetry in End-to-End Driving
 
+
 > ## ⚠️ Coordinate System Warning
 >
 > **This model was trained in the left-handed coordinate system of CARLA** (x-forward, **y-right**, z-up), **not** the ISO 8855 convention used by NAVSIM / nuPlan / most AD stacks (x-forward, **y-left**, z-up).
 >
 > If you use `ltfv6.py` directly, the predicted `waypoints` and `headings` are in CARLA's left-handed frame. **You must convert the planning output back to ISO 8855 before feeding it to any downstream planner, simulator, or evaluation tool that expects the right-handed convention.**
 >
-> Minimum conversion:
+> ### ✅ Recommended: use the prepared NAVSIM workspaces
+>
+> For correct, reproducible evaluation, Use one of the prepared workspaces below — they already wire up the model with the correct coordinate conversion, input preprocessing, and metric computation:
+>
+> - **NAVSIM v1.1**: [`3rd_party/navsim_workspace/navsimv1.1`](https://github.com/kesai-labs/lead/tree/main/3rd_party/navsim_workspace/navsimv1.1)
+> - **NAVSIM v2.2**: [`3rd_party/navsim_workspace/navsimv2.2`](https://github.com/kesai-labs/lead/tree/main/3rd_party/navsim_workspace/navsimv2.2)
+>
+> These are the only configurations we have validated end-to-end against the reported numbers. If you evaluate outside of them, results may silently disagree with the paper.
+>
+> ### Manual conversion (only if you must integrate the model yourself)
+>
 > ```python
 > waypoints_iso[..., 0] =  waypoints_carla[..., 0]   # x unchanged
 > waypoints_iso[..., 1] = -waypoints_carla[..., 1]   # flip y
 > headings_iso          = -headings_carla            # flip yaw sign
 > ```
-> Forgetting this step will produce mirrored trajectories (e.g. left turns executed as right turns) and silently broken metrics.
 
 
 [**Project Page**](https://ln2697.github.io/lead) | [**Paper**](https://huggingface.co/papers/2512.20563) | [**Code**](https://github.com/autonomousvision/lead)