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README.md

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 # RDT2-FM: Flow-Matching Action Expert for RDT 2
 
-RDT2-FM conditions on a vision-language backbone ([RDT2-VQ](https://huggingface.co/robotics-diffusion-transformer/RDT2-VQ)) and predicts short-horizon **relative action chunks** with an action expert with improved RDT architecture and flow-matching objective.
+<!-- RDT2-FM conditions on a vision-language backbone ([RDT2-VQ](https://huggingface.co/robotics-diffusion-transformer/RDT2-VQ)) and predicts short-horizon **relative action chunks** with an action expert with improved RDT architecture and flow-matching objective.
 Using a **flow-matching** objective, RDT2-FM delivering **lower inference latency** while preserving strong instruction following and cross-embodiment generalization on UMI-style bimanual setups.
-Concretely, This repository contains the **action expert** for RDT2-FM. 
+Concretely, This repository contains the **action expert** for RDT2-FM.  -->
+RDT2-FM builds on a vision-language backbone (RDT2-VQ) and predicts short-horizon relative action chunks through an action expert that integrates an improved RDT architecture with a flow-matching objective.
+By leveraging flow matching, RDT2-FM achieves lower inference latency while maintaining strong instruction following and cross-embodiment generalization on UMI-style bimanual setups.
+This repository specifically provides the action expert component of RDT2-FM.
 
 [**Home**](https://rdt-robotics.github.io/rdt2/) - [**Github**](https://github.com/thu-ml/RDT2/tree/main?tab=readme-ov-file) - [**Discord**](https://discord.gg/vsZS3zmf9A)