Update README.md

README.md

@@ -38,5 +38,30 @@ Nora take a language instruction and a camera image of a robot workspace as inpu
 To execute on an actual robot platform, actions need to be un-normalized subject to statistics computed on a per-robot, per-dataset basis. 
 
 
-
+## Getting Started For Inference
+To get started with loading and running Nora for inference, we provide a lightweight interface that with minimal dependencies.
+```bash
+git clone https://github.com/declare-lab/nora
+cd inference
+pip install -r requirements.txt
+```
+For example, to load Nora for zero-shot instruction following in the BridgeData V2 environments with a WidowX robot:
+```python
+
+# Load VLA
+from inference.nora import Nora
+nora = Nora(device='cuda')
+
+# Get Inputs
+image: Image.Image = camera(...)
+instruction: str = <INSTRUCTION>
+# Predict Action (7-DoF; un-normalize for BridgeData V2)
+actions = nora.inference(
+    image=image,  # Dummy image
+    instruction=instruction,
+    unnorm_key='bridge_orig'  # Optional, specify if needed
+)
+# Execute...
+robot.act(action, ...)
+```