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-# Overview
-LiveKit teleop examples.
+# LiveKit Teleop
 
-## [pan_tilt_demo](pan_tilt_demo/README.md)
-A pan/tilt robot with a gyroscope and RealSense attached to the end effector is controlled by another participant.
-- `PanTiltRobot`: streams depth, gyro, servo state, and RGB data.
-- `TeleopController`: subscribes to all data and sends control commands.
+<img src=".github/images/web-ui.png" alt="Teleop web UI" width="500" />
 
-## [web](web/README.md)
-A browser-based teleoperation UI built with Next.js and LiveKit. Provides a full-screen video viewport with joystick and keyboard controls for pan/tilt movement, degree scales, and operator mode locking.
+An example demonstrating real-time robot teleoperation over [LiveKit](https://livekit.io). A camera-equipped pan/tilt robot publishes video, depth, gyroscope, and servo state as LiveKit tracks. Multiple users can access the web UI to view the live feeds, and a single operator can acquire control.
+
+## Components
+
+### Edge / Robot (C++) — [`pan_tilt_demo/`](pan_tilt_demo/README.md)
+
+A C++ application built with the [LiveKit C++ SDK](https://github.com/livekit/rust-sdks) that runs on the robot (e.g. Jetson) and bridges the hardware to a LiveKit room.
+
+- **PanTiltRobot** — drives Feetech STS3215 servos, reads an L3G4200D gyroscope, and streams RGB + depth from an Intel RealSense D415. Publishes all sensor state as LiveKit data and video tracks and accepts velocity commands gated by an `acquire_control` RPC.
+
+- **TeleopController** — an optional desktop client that subscribes to the robot's tracks, renders the video feed in an SDL3 window, and sends keyboard-driven pan/tilt commands.
+
+### Web UI (Next.js) — [`web/`](web/README.md)
+
+A browser-based teleoperation interface built with Next.js, React, and the [LiveKit JS SDK](https://github.com/livekit/client-sdk-js). Provides a full-screen video viewport with on-screen joystick and keyboard controls for pan/tilt movement, live degree scales, and operator-mode locking.