Add Efferent (control layer) and the Tactus Mat profile; clarify sense-pack licensing

README.md

@@ -9,7 +9,7 @@ pinned: false
 
 ![Eximius Labs](assets/banner.png)
 
-Eximius Labs builds open-weight multimodal models that run on your own hardware: the embedding, perception, and memory layers for physical AI. The technical report is on arXiv: https://arxiv.org/abs/2607.18666. Try a real robot's memory in the live playground: https://www.eximiuslabs.com/playground.
+Eximius Labs builds open-weight multimodal models and tools that run on your own hardware: the embedding, perception, memory, and control layers for physical AI. The technical report is on arXiv: https://arxiv.org/abs/2607.18666. Try a real robot's memory in the live playground: https://www.eximiuslabs.com/playground.
 
 We freeze a strong base model and add new senses from the outside, so existing embeddings stay valid and gaining a modality never forces a re-index. One shared vector space spans text, image, video, audio, thermal, motion (IMU), and touch.
 
@@ -21,7 +21,8 @@ One vector space for cross-modal retrieval, RAG, clustering, and semantic search
 - [fusion-embedding-1](https://huggingface.co/EximiusLabs/fusion-embedding-1-2b-preview) — the connector-only first generation.
 - [Ember](https://huggingface.co/EximiusLabs/fusion-embedding-2-ember) — thermal and infrared, as a loadable sense pack.
 - [Tremor](https://huggingface.co/EximiusLabs/fusion-embedding-2-tremor) — body-worn and robot motion (IMU and accelerometer), read as language, with a [Unitree-G1 head](https://huggingface.co/EximiusLabs/fusion-embedding-2-tremor-g1).
-- [Tactus](https://huggingface.co/EximiusLabs/fusion-embedding-2-tactus) — touch (32x32 pressure/taxel arrays from FSR gloves, e-skins, and robot hands), as a loadable sense pack; matches to exceeds the STAG (Nature 2019) supervised baseline while remaining open-vocabulary.
+- [Tactus](https://huggingface.co/EximiusLabs/fusion-embedding-2-tactus) — touch (32x32 pressure/taxel arrays from FSR gloves, e-skins, and robot hands), as a loadable sense pack; matches, and at best exceeds, the STAG (Nature 2019) supervised baseline while remaining open-vocabulary.
+- [Tactus Mat](https://huggingface.co/EximiusLabs/fusion-embedding-2-tactus-mat) — the same tactile pack trained for a 64x32 body pressure mat (bed, seat, wheelchair, insole): 17 in-bed postures answered as text queries, 0.957 top-1 on held-out subjects.
 - [fusion-embedding-2-k3-vision](https://huggingface.co/EximiusLabs/fusion-embedding-2-k3-vision) — Kimi K3's vision encoder, projected into the shared space.
 
 ## Fusion Perception, the perception layer
@@ -38,6 +39,16 @@ pip install engram-robomem
 
 Code: https://github.com/Eximius-Labs/engram · PyPI: https://pypi.org/project/engram-robomem · Playground: https://www.eximiuslabs.com/playground
 
+## Efferent, the control layer
+
+The senses read in; Efferent carries commands back out. Any ONNX control policy, any robot, bound by joint name rather than hand-maintained index arrays, with a pre-flight doctor that probes the network to catch permuted joint order, world-vs-body frame errors, missing scales, and dead command dims before the robot moves.
+
+```
+pip install efferent
+```
+
+Code: https://github.com/Eximius-Labs/efferent · PyPI: https://pypi.org/project/efferent
+
 ## Build with it
 
 - Site: https://www.eximiuslabs.com
@@ -45,4 +56,4 @@ Code: https://github.com/Eximius-Labs/engram · PyPI: https://pypi.org/project/e
 - Code: https://github.com/Eximius-Labs
 - Paper: https://arxiv.org/abs/2607.18666
 
-Everything is open weight and self-hostable. Core models are research preview; the sensor packs are CC-BY-NC-4.0.
+Everything is open weight and self-hostable. Core models are research preview. Sensor-pack licenses follow their training data: most packs are CC-BY-NC-4.0, while Tactus Mat is ODC-By 1.0. Code is Apache-2.0.