README: the repo now also holds a real-robot policy

README.md

@@ -1,14 +1,16 @@
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 private: true
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-# TERRA — post-trained LIBERO policies
+# TERRA — post-trained policies (LIBERO, and one real-robot arm)
 
 OpenVLA-7B with TERRA latent-action phase 2 (`latp2_inv` labels), post-trained on LIBERO (flow head, 4 query tokens).
 One directory per policy: merged weights (`model-*.safetensors`), action/latent heads (`action_decoder.pt`),
 `dataset_statistics.json` (action un-normalisation), `ctrl_meta.json`, processor / tokenizer.
-Evaluate with `acdc_la.downstream.vla.run_libero_eval_cont --pretrained_checkpoint <dir>` (repo Latent_Free, branch newton).
+Evaluate the LIBERO ones with `acdc_la.downstream.vla.run_libero_eval_cont --pretrained_checkpoint <dir>`
+(repo Latent_Free, branch newton).  A real-robot directory carries its own README with its interface.
 
 | dir | suite | demos | standard LIBERO (500 ep.) |
 |---|---|---|---|
 | libero_10_full | libero_10_no_noops | full | 89.0 |
 | libero_goal_full | libero_goal_no_noops | full | 94.4 |
+| piper_pick_can_10k | piper_pick_can (real robot, AgileX Piper) | 142 | n/a — real robot, see its README |