figure: visualize endpoint tracking failure

1 files changed, 2 insertions, 1 deletions

diff --git a/RESULTS.md b/RESULTS.md
index e2426af..0a719e4 100644
--- a/RESULTS.md
+++ b/RESULTS.md
@@ -884,7 +884,8 @@ the ideal tracking error follows `E_(m+1)=(1-eta_M)E_m-U_m`; once task motion
 slows, the final error can vanish even after the high-rate trajectory has
 already destabilized the model. This baseline negative does not lower or raise
 the SDIL score because the separate KP substrate remains under its own frozen
-gate.
+gate. `results/figs/figureS_tracking_failure.{pdf,png}` renders this mismatch
+directly from the frozen record and gate.
 
 ### Modified Kolen--Pollack reciprocal baseline