Signed-off-by: andrea patrizi <[email protected]>

README.md

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-If you have a beautiful CPU-based controller developed, for example, with Trajectory Optimization tools like [horizon](https://github.com/ADVRHumanoids/horizon) and want to train and deploy  a *Reinforcement Learning-based Model Predictive Control* policy without having to rewrite your whole controller on GPU, then this might be the right tool for you. 
+If you have a beautiful CPU-based controller developed, for example, with CPU-based Trajectory Optimization tools and want to train and deploy  a *Reinforcement Learning-based Model Predictive Control* policy without having to rewrite your whole controller on GPU, then this might be the right tool for you. 
 
 CoClusterBridge is a tool for bridging parallel simulations (typically GPU-based), with a cluster of CPU-based (receding-horizon) controllers while properly handling controllers synchronization and triggering. It also supports full CPU operation.
 For an example application, please have a look at [IBRIDO](https://github.com/AndrePatri/IBRIDO).