diff --git a/README.md b/README.md
index 1db93e9887..9869eaae73 100644
--- a/README.md
+++ b/README.md
@@ -69,7 +69,7 @@ cd dimos
 python3 -m venv venv
 source venv/bin/activate
 
-sudo apt install portaudio19-dev python3-pyaudio
+sudo apt install portaudio19-dev python3-pyaudio libturbojpeg0-dev
 
 # Install LFS
 sudo apt install git-lfs
@@ -92,6 +92,14 @@ pip install -e .[cuda,dev]
 cp default.env .env
 ```
 
+#### Configuration
+
+Open `.env` and customize the environment variables you need.
+
+* Set `OPENAI_API_KEY` if you want to run agentic robots. Make sure you have access to `gpt-4o`.
+* Set `ALIBABA_API_KEY` for Qwen VL (used by agents).
+* Set `ROBOT_IP` to control the robot.
+
 #### Test the install 
 ```bash 
 pytest -s dimos/
@@ -99,45 +107,31 @@ pytest -s dimos/
 
 #### Test Dimensional with a replay UnitreeGo2 stream (no robot required)
 ```bash
-CONNECTION_TYPE=replay python dimos/robot/unitree_webrtc/unitree_go2.py 
+dimos-robot --replay run unitree-go2
 ```
 
 #### Test Dimensional with a simulated UnitreeGo2 in MuJoCo (no robot required)
 ```bash
 pip install -e .[sim]
+python -m mujoco_playground || true # Download the MuJoCo Menagerie.
 export DISPLAY=:1 # Or DISPLAY=:0 if getting GLFW/OpenGL X11 errors
-CONNECTION_TYPE=mujoco python dimos/robot/unitree_webrtc/unitree_go2.py 
+dimos-robot --simulation run unitree-go2
 ```
 
 #### Test Dimensional with a real UnitreeGo2 over WebRTC
 ```bash
-export ROBOT_IP=192.168.X.XXX # Add the robot IP address
-python dimos/robot/unitree_webrtc/unitree_go2.py 
+dimos-robot --robot-ip=192.168.X.XXX run unitree-go2
 ```
 
+You can add `ROBOT_IP=192.168.X.XXX` in `.env` and omit `--robot-ip`.
+
 #### Test Dimensional with a real UnitreeGo2 running Agents
 *OpenAI / Alibaba keys required*
 ```bash
-export ROBOT_IP=192.168.X.XXX # Add the robot IP address
-python dimos/robot/unitree_webrtc/run_agents2.py
+dimos-robot --robot-ip=192.168.X.XXX run unitree-go2-agentic
 ```
----
 
-### Agent API keys
-
-Full functionality will require API keys for the following:
-
-Requirements: 
-- OpenAI API key (required for all LLMAgents due to OpenAIEmbeddings)
-- Claude API key (required for ClaudeAgent)
-- Alibaba API key (required for Navigation skills)
-
-These keys can be added to your .env file or exported as environment variables.
-```
-export OPENAI_API_KEY=<your private key>
-export CLAUDE_API_KEY=<your private key>
-export ALIBABA_API_KEY=<your private key>
-```
+In a separate terminal run `human-cli` and instruct it to do something (e.g. "Do a pounce.")
 
 ### ROS2 Unitree Go2 SDK Installation