Add task_categories, code link, and sample usage

README.md

@@ -1,11 +1,13 @@
 ---
 license: mit
 pretty_name: Neverwhere
+task_categories:
+- robotics
 tags:
-  - robotics
-  - legged-locomotion
-  - gaussian-splatting
-  - benchmark
+- robotics
+- legged-locomotion
+- gaussian-splatting
+- benchmark
 ---
 
 # The Neverwhere Visual Parkour Benchmark Suite
@@ -14,7 +16,7 @@ tags:
 
 Scenes for the [Neverwhere](https://github.com/ziyc/neverwhere) simulator: real-world hurdles, gaps, ramps and
 stairs reconstructed as 3D Gaussian Splats with aligned collision meshes for MuJoCo.
-Paper: https://arxiv.org/abs/2609.16443 · Project page: https://ziyc.github.io/neverwhere-bench/
+Paper: https://arxiv.org/abs/2609.16443 · Project page: https://ziyc.github.io/neverwhere-bench/ · Code: https://github.com/ziyc/neverwhere
 
 ## Layout
 
@@ -49,6 +51,18 @@ python download.py --checkpoints
 
 or `hf_hub_download("ziyc/neverwhere", "scenes/hurdle_stata_v1.zip", repo_type="dataset")`.
 
+## Sample usage
+
+```python
+import neverwhere
+
+env = neverwhere.make("Neverwhere-go1-transformer_vision_splat-hurdle_stata_v1-cones", device="cuda", random=0)
+obs = env.reset()
+obs, reward, done, info = env.step(env.action_space.sample())
+info["splat_rgb"]  # 3DGS ego render, uint8 HxWx3
+env.unwrapped.env.task.get_metrics()  # frac_goals_reached, x_displacement
+```
+
 ## Citation
 
 ```bibtex
@@ -60,4 +74,4 @@ or `hf_hub_download("ziyc/neverwhere", "scenes/hurdle_stata_v1.zip", repo_type="
   booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   year      = {2026},
 }
-```
+```