Add paper and baseline information

README.md

@@ -24,6 +24,33 @@ You will also need to install a version of Meta-World. language-world should wor
 
 Alternatively, copy [this file](./src/language_world/__init__.py) into your project.
 
+## Paper
+
+`language-world` was introduced in a paper "Conditionally Combining Robot Skills using Large Language Models," presented at ICRA 2024.
+A preprint is available at [this arXiv url](https://arxiv.org/abs/2310.17019).
+
+If you use `language-world` in your research, please cite:
+
+```
+@misc{zentner2023conditionally,
+      title={Conditionally Combining Robot Skills using Large Language Models},
+      author={K. R. Zentner and Ryan Julian and Brian Ichter and Gaurav S. Sukhatme},
+      year={2023},
+      eprint={2310.17019},
+      archivePrefix={arXiv},
+      primaryClass={cs.LG}
+}
+```
+
+## Baseline Code and Results
+
+Data files of the original experiments, as well as code is available in the [llm-skill-mixing](https://github.com/krzentner/language-world/tree/llm-skill-mixing) branch.
+Please note that this code is fairly unoptimized and uses an older API to the benchmark.
+
+## API Documentation
+
+Detailed reference documentation is available [here](https://krzentner.github.io/language-world/).
+
 Language-World consists of three main components:
 
 First, a set of natural language task descriptions available as a dictionary: `language_world.TASK_DESCRIPTIONS: dict[str, str]`