diff --git a/README.md b/README.md
index 371fedb..0390660 100644
--- a/README.md
+++ b/README.md
@@ -67,40 +67,68 @@ We also show the correspondent video of how our robot interacting with the objec
 ### Interacting with Faucet in 3 different interaction modes
 <img width="1061" alt="qual_2" src="https://github.com/pairlab/actaim2-eccv24/assets/30140814/c01a6735-7c26-49d7-98fb-5d7267534c0f">
 
-Click the video here to see how robot is interacting with the faucet above in 2 different interaction modes.
+Click the video here to see how robot is interacting with the faucet above in 3 different interaction modes.
 
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/e895a768-315f-4141-a16c-89fbaf7c9911
 
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/adfe14b1-cc89-45b1-8b38-7bba6dd9001d
 
-https://github.com/pairlab/actaim2-eccv24/assets/30140814/e895a768-315f-4141-a16c-89fbaf7c9911
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/581f9083-2200-4322-a441-e3a885ab96e7
 
+### Interacting with Table with multiple drawers in 3 differet interaction modes
+<img width="1066" alt="qual_3" src="https://github.com/pairlab/actaim2-eccv24/assets/30140814/acbe5d9b-4dbe-4f71-b5ee-134c85c197a6">
 
+Click the video here to see how robot is interacting with the table with multiple drawers above in 3 different interaction modes.
 
-https://github.com/pairlab/actaim2-eccv24/assets/30140814/adfe14b1-cc89-45b1-8b38-7bba6dd9001d
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/05d931ee-ff51-4698-837d-62416578591d
 
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/0d2c078b-2f1b-4205-ad11-8e5f8953e79c
+
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/27109fa4-56df-45f4-b277-23229105d2f5
+
+
+### Interacting with Table with multiple drawers in 3 differet interaction modes
+<img width="1027" alt="qual_4" src="https://github.com/pairlab/actaim2-eccv24/assets/30140814/ac36d934-849a-41a6-9cca-c2ae9412cb07">
+
+Click the video here to see how robot is interacting with the table with multiple drawers above in 3 different interaction modes.
+
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/75607eda-9315-4fd4-9d44-0c9c56f80d86
+
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/f08ec7d0-687c-4331-96aa-b7441ceedd48
+
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/cbf5b5db-e41b-4e59-9043-df8f54d22eda
+
+### Here are mode qualitative results of how robot interacting with different types of articulated objects
+
+Interacting with a switch and perform turning on and turning off
+
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/0cfb1e87-a33a-4146-9e2b-e75fc15b3f63
+
+
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/ca5c5029-f935-4db3-9769-a894c3d86922
+
+
+Interacting with a single drawer table and perform opening and closing the drawer
+
+
+
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/92e03793-5e60-4e2f-9af3-f729ed02977a
 
 
-https://github.com/pairlab/actaim2-eccv24/assets/30140814/581f9083-2200-4322-a441-e3a885ab96e7
 
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/b2b5bf73-5b92-4682-8d71-220bc5806f62
 
+Interacting a door and perform opening and closing either side of the door
 
 
 
-### sample object data collection
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/36f90aeb-6796-4d00-b60a-fb3268fe4124
 
-run 
 
-```
-. collect_data.sh
-```
 
-to collect dataset. 
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/1c4d3296-a5cd-4e54-93c9-672eb9fee37c
 
-### To access full object dataset from where2act
 
-## Training
 
-run
+https://github.com/pairlab/actaim2-eccv24/assets/30140814/6a46b73c-016c-4070-8e0e-665d04c11455
 
-```bash
-python scripts/train_aff.py
-```