diff --git a/docs/design_decisions/mlp_architecture.md b/docs/design_decisions/mlp_architecture.md
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--- a/docs/design_decisions/mlp_architecture.md
+++ b/docs/design_decisions/mlp_architecture.md
@@ -2,8 +2,8 @@
 
 In the decentralized architectures (arm-level and segment-level), each controller/module follows the same **shared MLP-based pipeline** inspired by NerveNet-style message passing. The pipeline consists of 5 MLPs (4 in the case of centralized, with no messager):
 
-- **INPUT_ACTOR**: Processes local observations for the actor branch.
-- **INPUT_CRITIC**: Processes local observations for the critic branch.
+- **SENSOR**: Processes local observations for the actor branch.
+- **FEATURE EXTRACTOR**: Processes local observations for the critic branch.
 - **MESSAGER**: Processes incoming hidden states from neighboring modules (via the chosen communication scheme) and produces an aggregated hidden state.
 - **ACTOR**: Takes the aggregated hidden state and outputs the action distribution (mean and log_std).
 - **CRITIC**: Takes the aggregated hidden state and outputs a scalar value estimate.
diff --git a/docs/img/mlp_pipe.png b/docs/img/mlp_pipe.png
index 174d521..3977329 100644
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