diff --git a/Notes on Papers/On Using Real-Time Reachability for the Safety Assurance of Machine Learning Controllers.md b/Notes on Papers/On Using Real-Time Reachability for the Safety Assurance of Machine Learning Controllers.md
index cae275f31..43ed998b4 100644
--- a/Notes on Papers/On Using Real-Time Reachability for the Safety Assurance of Machine Learning Controllers.md	
+++ b/Notes on Papers/On Using Real-Time Reachability for the Safety Assurance of Machine Learning Controllers.md	
@@ -1,9 +1,20 @@
 # First Pass
 **Category:** Experimental Results
+
 **Context:** They used a F1/10 model of an autonomous car to test out a simplex
-safety structure 
+safety structure on a neural network based controller. They try several
+different neural net types. Their trick is they use real time reachability to tell
+ when to switch between an optimal controller and the simplex guard.
+
 **Correctness:** 
+They seem to do things pretty well and by the book. All of their explanations
+make sense and they do a good job citing sources. They do punt when it comes
+to talking about the formal verification of the switching mechanism, but they 
+do make note that's future work.
+
 **Contributions:** 
+They show how a simplex system can work and the difficulties 
+
 **Clarity:** 
 
 # Second Pass