Readme and comments and reward pdated

readme was outdated
env rewards got a penalty for standing still while it should move instead of 0 reward

ml/run_eval.py

@@ -1,6 +1,10 @@
 """
-ml/run_eval.py - Phase-by-Phase Policy Evaluator for JackBot
-Evaluates a trained model across all curriculum phases with fixed command vectors.
+ml/run_eval.py - Evaluate a saved JackBot policy across fixed command phases.
+
+This script loads a trained PPO checkpoint, instantiates the Gymnasium environment in
+non-random mode, and runs deterministic evaluation episodes for several command
+regimes. It is used to measure whether a policy can survive, move, and maintain
+stability under forward, turning, lateral, and omni-direction commands.
 """
 
 import argparse