update readme

Author: weigao95

README.md

@@ -1,6 +1,6 @@
 # kPAM: Generalizable Robotic Manipulation
 
-This project aims at pose-aware robotic manipulation for a category of object. Different from most existing pose aware manipulation algorithms that most contain an explicit pose estimation, we define the object target configuration on top of semantic keypoints. In this way, the proposed pipeline can handle potentially unknown objects with substantial variations on shape, appearance and topology.
+This project aims at pose-aware robotic manipulation for a category of object. Different from most existing pose-aware manipulation algorithms that most contain an explicit pose estimation, we define the object target configuration on top of semantic keypoints. In this way, the proposed pipeline can handle potentially unknown objects with substantial variations on shape, appearance and topology.
 
 ### Demo
 
@@ -16,9 +16,11 @@ The code is distributed into several modularized packages
 - mrcnn_ros: The ros binding of maskrcnn-benchmark
 - mankey: The keypoint detection for the pipeline
 - mankey_ros: The ros binding of mankey
-- kplan_ros: The planning backend
+- kplan_ros: The kPAM action planner
 
-In our experiment setup, these packages are used as the submodules of spartan, which provides the interface to our robots. Although spartan contains private submodules and is not supported for external use, all modules above are not specified to particular environments and can run independently. 
+In our experiment setup, these packages are used as the submodules of spartan, which provides the interface to our robots. Although spartan contains private submodules and is not supported for external use, all packages above are not specified to particular environments and can run independently. 
 
-### Data
+### Test Data and Run Instruction
+
+The test data, trained model and run instruction for each package are provided in its own repository. Please visit these repos for detailed instruction.