diff --git a/README.md b/README.md
index 4f5e7d7..1355dbd 100644
--- a/README.md
+++ b/README.md
@@ -37,14 +37,17 @@ factors.
   - [ ] **In Progress**: Collect a synthetic data dataset for cube->basket task
     - [x] **In Progress**: Create STL Assets for cube and basket
     - [x] Add randomization for position and scale of ground plane (and other objects too)
-    - [ ] Validate observation.state vs action latency (and direction of latency) matches real world captured datasets
-    - [ ] Validate frames are synced as expected, for example, when the robot starts moving in the opposite direction
-    - [ ] record myself moving the robot IRL, and compare to the simulation when rendered @ 30fps
-    - [ ] Calibrate robots so they match position in sim
-    - [ ] Record position of articulator in sim, not just real robot joints
     - [x] Move main-scene to isaac_src/scenes/cube-cup-task.scene and set it up with 25 preset positions
-    - [ ] Fix bug with myarm firmware where there's a singularity at the 0 point
-    - 
+    - [x] record myself moving the robot IRL, and compare to the simulation when rendered @ 30fps
+    - [x] Validate observation.state vs action latency (and direction of latency) matches real world captured datasets
+         - Measured (with this project): 14 frames latency from action -> observation
+         - Measured (with myarm lerobot branch): ~9 frames latency from action -> observation
+    - [x] Validate frames are synced as expected, for example, when the robot starts moving in the opposite direction
+         - Frames appear synced, however when compared to real-world footage there is a speed scaling issue...
+    - [ ] Better calibrate robots so they match position in sim to real world
+    - [ ] Record position of articulator in sim, not just real robot joints
+    - [x] Fix bug with myarm firmware where there's a singularity at the 0 point
+    - [ ] Investigate high latency in myarm loop (it is higher than in lerobot branch)
   - [ ] Validate "Replay episode" works as expected with episodes collected in Isaac Sim
   - [x] Create a RobotProtocol that emulates latency and speed of my real robot
   - [x] Collect a small real dataset for cube->basket task