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 ## Design & architecture ([`/design`](./design/))
 
-- [Controllers](./design/controllers.md): Macroscopig brain toplogy, centralized, arm-level, segment-level.
-- [MLP architecture](./design/mlp_architecture.md): Module wiring, state/action spaces, and actor-critic pipeline.
 - [Communication](./design/communication.md): Message propagation, Nerve-Net style.
+- [Controllers](./design/controllers.md): Macroscopig brain toplogy, centralized, arm-level, segment-level.
+- [Input/output](./design/input_action_spaces.md): Description of the model's input and output.
 - [Learning algorithm](./design/learning_algorithm.md): RL techniques, i.e. PPO.
+- [MLP architecture](./design/mlp_architecture.md): Module wiring, state/action spaces, and actor-critic pipeline.
 - [Reward function](./design/learning_algorithm.md): Goals, fitness tracking, and reward structures.
 
 ## API reference ([`/api`](./api/))
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+# Input (state) and output (action) spaces
+
+To effectively learn locomotion and navigation, the agent requires a well-defined observation space (inputs) and action
+space (outputs). The control models map these observations directly to physical movements.
+
+**Inputs (state space)**
+
+The observation space provides the agent with its current physical state and its objective.
+
+- Joint positions: the current angles of all joints in the morphology.
+- Joint velocities: the current moving speed of the joints.
+- Goal vector: instad of just a scalar distance, the goal is represented asa a vector (distance and ange/direction) to
+  the target.
+
+**Outputs (action space)**
+
+The action space defines how the agent interacts with the environment.
+
+- Joint offsets: *absolute* target positions (offsets) for the joints, i.e. the exact angle the joint should move to.
+
+## Rationale
+
+When designing the state space, we must ask: *Could a human operator perform this task given only these inputs?*
+
+- Inclusion of Joint Velocities: Because our control models do not inherently possess memory of previous timesteps,
+  providing only the joint position is insufficient to determine the direction a limb is currently moving. By
+  explicitly including joint velocities, the agent can immediately infer momentum and movement direction without
+  needing to memorize past states.
+- Goal Vector (Distance + Angle): Providing only the scalar "distance to the goal" as an input is akin to blindfolding
+  the robot and asking it to find a target by playing "hot or cold." By providing a full vector, the agent knows
+  exactly where the target is relative to its current orientation, allowing for directed and efficient locomotion.
+- Absolute Joint Offsets: The physical Brittle Star robot relies on servo motors (if we were to build this simulated
+  robot), which are inherently position-controlled devices. (Continuous rotation servos exist, but they are less
+  commonly used for joints.) If our network outputted continuous torques (forces), a significant portion of the
+  reinforcement learning process would be wasted on learning low-level PID control dynamics (i.e., how much force to
+  apply to hold a position). Abstracting this away forces the learning algorithm to focus entirely on higher-level gait
+  generation and locomotion.
+
+## Limitations and alternatives
+
+Alternative state and action formulations include:
+
+- Torque-based continuous control: In many continuous control tasks (like standard MuJoCo benchmarks), actions
+  represent continuous torques applied to joints. While this provides more granular, low-level physical control, it
+  heavily complicates training and does not align well with the physical reality of servo-driven hardware.
+- Recurrent Neural Networks (RNNs) / Frame Stacking: Instead of explicitly passing velocities in the state space, the
+  network could infer momentum by observing a history of past states. Using RNNs or frame stacking allows the agent to
+  build an internal memory of movement. However, this significantly increases architectural complexity and training
+  time compared to explicitly providing the velocity data.
+- Scalar Goal Distance: Giving the agent only the scalar distance to the target would force it to learn a localized
+  searching behavior (e.g., spiraling or random walks) to determine the correct direction. While biologically plausible
+  for simpler organisms following chemical gradients, it drastically increases the difficulty of the learning task.