From e8135c5431b8514aa7068bdb11e89f4101c62fb2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Tue, 5 Aug 2025 20:11:56 -0700
Subject: [PATCH] Update RELEASES.md

---
 RELEASES.md | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 92f50201fe..cc07f923ae 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,8 +1,12 @@
 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
-  * Lead car ground-truth fixes
-  * New training objective using MLSIM
+  * New training architecture
+     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning for experimental mode
+     * Lateral MPC in training replaced by E2E planning
+  * Low-speed lead car ground-truth fixes
+
 * Enable live-learned steering actuation delay
 * Record driving feedback using LKAS button
 * Opt-in audio recording for dashcam video