Update README.md

cilrs/README.md

-# AIM
-![aim](assets/model.png)
+# CILRS
+
+<p align="center"> <img src="assets/model.png" width="512"> </p>
+
+AIM consists of a ResNet34 image encoder with an autoregressive GRU-based waypoint prediction network. This is equivalent to adapting CILRS to predict waypoints conditioned on goal locations rather than predicting vehicle controls conditioned on navigational commmands.
+
+## Training
+```Shell
+CUDA_VISIBLE_DEVICES=<gpu_id> python3 train.py --id cilrs --batch_size 256
+```
+
+## Evaluation
+Update ```leaderboard/scripts/run_evaluation.sh``` to include the following.
+```
+export ROUTES=leaderboard/data/evaluation_routes/routes_town05_long.xml
+export TEAM_AGENT=leaderboard/team_code/cilrs_agent.py
+export TEAM_CONFIG=model_ckpt/cilrs
+export CHECKPOINT_ENDPOINT=results/cilrs_result.json
+export SCENARIOS=leaderboard/data/scenarios/town05_all_scenarios.json
+```