Update README.md

README.md

@@ -27,3 +27,10 @@ wget -P checkpoints https://storage.googleapis.com/dm-tapnet/causal_tapir_checkp
 Now, you've had the basic environment to run the code.
 
 ## Usage
+The core contribution is the control part of robotap(the jacobi matrix to compute the dpos of the end effector) in `control.py`. So, here are steps to use my repository:
+attention: you should select the task, the path of some documents carefully.
+>First, use `collect_human_demonstration.py`to collect some eye-in-hand human demonstrations.
+>Second, use tapir method or bootstap method from [the official repository](https://github.com/google-deepmind/tapnet) to track many points in these human demonstrations.
+>Third, use `active_points.py`to extract active points from these tracks for the specific task.
+>Fourth, use control.py to track a hand-select human demonstration carefully.
+