Add how to run and inputs/outputs to the model card

Adds a "How to run" section with the one-command viewer (npm run hf Menlo/asimov1-locomotion-0818, no GPU needed) and an "Inputs and outputs" section describing the 78 observations and 23 joint actions.

README.md

@@ -10,4 +10,33 @@ license: bsd-3-clause
 - `policy.onnx` is the exported policy for inference, producing joint-position actions.
 - `agent.yaml` records the actor-critic and AMP training settings, including the motion data configuration.
 - `env.yaml` records the simulation and locomotion task settings, including observations, actions, commands, and rewards.
-- Training and evaluation code: [menloresearch/isaac_asimov](https://github.com/menloresearch/isaac_asimov).
+- Training and evaluation code: [menloresearch/isaac_asimov](https://github.com/menloresearch/isaac_asimov).
+
+## How to run
+
+Run the policy in a browser simulation of Asimov 1 with
+[humanoid-policy-viewer](https://github.com/menloresearch/humanoid-policy-viewer).
+It needs Node, git and bash, and no GPU:
+
+```bash
+git clone https://github.com/menloresearch/humanoid-policy-viewer
+cd humanoid-policy-viewer
+npm run hf Menlo/asimov1-locomotion-0818
+```
+
+This downloads the policy, starts the viewer and opens it in your browser.
+Drive the robot with the velocity sliders, push it, or run the benchmark suite.
+
+## Inputs and outputs
+
+- **Input:** 78 values at 50 Hz: base angular velocity, projected gravity,
+  velocity command (`vx, vy, wz`), joint positions and velocities, and the
+  previous action. All of these are available on the real robot.
+- **Output:** 23 joint position actions (legs, waist and arms; the neck is not
+  driven). Each target is `default_joint_pos + action_scale * action`, with
+  both values in `env.yaml`.
+- Trained in Isaac Lab (PhysX); the viewer simulates it in MuJoCo.
+
+The full observation order and joint list are in the viewer's
+[supported policies](https://github.com/menloresearch/humanoid-policy-viewer/blob/main/docs/huggingface.md#supported-policies)
+doc.