diff --git a/README.md b/README.md
index 805bf2d..e31a4d5 100644
--- a/README.md
+++ b/README.md
@@ -67,15 +67,24 @@ make DRIVE=differential WORLD=field bc         # behaviour clone
 make DRIVE=differential WORLD=field rl         # KL-PPO fine-tune
 make DRIVE=differential WORLD=field eval       # 10-seed env eval
 
-# 4. Run in Webots
+# 4. Run in Webots — interactive picker (recommended starting point)
+tools/webots_menu.sh
+# Prompts for mode / drive / world / LiDAR FOV / number of dogs /
+# flock size / perception (LiDAR vs GT) / headless, then dispatches.
+
+# Or invoke the launcher directly:
 tools/run_webots.sh 10 bc differential field        # BC, diff, rect field
 tools/run_webots.sh 10 rl differential field_round  # RL, diff, round field
 tools/run_webots.sh 5 strombom differential field   # analytic baseline
 HERDING_USE_GT=1 tools/run_webots.sh 5 strombom differential field
-                                                    # GT bypass for ablation
+                                                    # GT bypass ablation
+HERDING_LIDAR=360 tools/run_webots.sh 5 bc differential field
+                                                    # 360° FOV ablation
+HERDING_NDOGS=2 HERDING_AXIS_LEAK=0.3 tools/run_webots.sh 5 strombom differential field
+                                                    # dual-shepherd axis split
 ```
 
-`make help` lists every target and the overridable hyperparameters.
+`make help` lists every Makefile target and the overridable hyperparameters.
 
 **Mecanum note**: the `ShepherdDogMecanum.proto` uses physical roller
 hinges in Webots. The Webots calibration shows ~60% strafe efficiency
diff --git a/tools/webots_menu.sh b/tools/webots_menu.sh
new file mode 100755
index 0000000..50b17bf
--- /dev/null
+++ b/tools/webots_menu.sh
@@ -0,0 +1,184 @@
+#!/usr/bin/env bash
+# Interactive Webots launcher. Prompts for the experiment knobs
+# (mode, drive, world, LiDAR FOV, number of dogs, flock size, GT
+# bypass) and then dispatches to tools/run_webots.sh with the
+# selected configuration.
+#
+# Usage:  bash tools/webots_menu.sh
+
+set -e
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+ROOT="$( cd "$SCRIPT_DIR/.." && pwd )"
+
+# Resolve HERDING_PYTHON the same way every other launcher does.
+source "$SCRIPT_DIR/setup_env.sh"
+
+# ----- Cosmetics ----------------------------------------------------
+if [[ -t 1 ]]; then
+    B=$'\e[1m'; D=$'\e[2m'; R=$'\e[0m'
+    G=$'\e[32m'; Y=$'\e[33m'; C=$'\e[36m'
+else
+    B=""; D=""; R=""; G=""; Y=""; C=""
+fi
+
+banner () {
+    cat <<EOF
+${B}${C}┌──────────────────────────────────────────────────────────────────┐
+│              Shepherd-dog Webots launcher (interactive)          │
+└──────────────────────────────────────────────────────────────────┘${R}
+
+${Y}⚠  Python interpreter${R}
+  This script and the Webots controllers read ${B}\$HERDING_PYTHON${R} to
+  decide which interpreter to start. Current value:
+      ${G}$HERDING_PYTHON${R}
+  ${D}If that path is wrong on your machine, edit ${R}${B}tools/setup_env.sh${R}${D}
+  or  export HERDING_PYTHON=/path/to/python3  in your shell.${R}
+
+EOF
+}
+
+ask_choice () {
+    # ask_choice "Prompt" "default" "label1:val1" "label2:val2" ...
+    local prompt="$1" default="$2"; shift 2
+    local i=1 labels=() values=()
+    for opt in "$@"; do
+        labels+=("${opt%%:*}")
+        values+=("${opt#*:}")
+    done
+    while true; do
+        echo "${B}$prompt${R}"
+        for i in "${!labels[@]}"; do
+            local marker=" "
+            [[ "${values[$i]}" == "$default" ]] && marker="${G}*${R}"
+            printf "  %s %d) ${B}%s${R}\n" "$marker" "$((i+1))" "${labels[$i]}"
+        done
+        printf "  Choice [${G}1-${#labels[@]}${R}, default ${G}%s${R}]: " "$default"
+        local raw; read -r raw || true
+        raw="${raw:-}"
+        if [[ -z "$raw" ]]; then
+            CHOICE="$default"; return
+        fi
+        if [[ "$raw" =~ ^[0-9]+$ ]] && (( raw >= 1 && raw <= ${#labels[@]} )); then
+            CHOICE="${values[$((raw-1))]}"; return
+        fi
+        echo "  ${Y}invalid — try again${R}"
+    done
+}
+
+ask_int () {
+    # ask_int "Prompt" default min max
+    local prompt="$1" default="$2" lo="$3" hi="$4"
+    while true; do
+        printf "${B}%s${R} [${G}%s${R}-${G}%s${R}, default ${G}%s${R}]: " "$prompt" "$lo" "$hi" "$default"
+        local raw; read -r raw || true
+        raw="${raw:-$default}"
+        if [[ "$raw" =~ ^[0-9]+$ ]] && (( raw >= lo && raw <= hi )); then
+            CHOICE="$raw"; return
+        fi
+        echo "  ${Y}must be an integer in [$lo, $hi]${R}"
+    done
+}
+
+# ----- Prompts ------------------------------------------------------
+banner
+
+ask_choice "Mode" "bc" \
+    "BC (behaviour-cloned MLP):bc" \
+    "RL (KL-PPO fine-tune):rl" \
+    "Strömbom (analytic):strombom" \
+    "Sequential (analytic):sequential" \
+    "Universal teacher (BC source):universal"
+MODE="$CHOICE"
+echo
+
+ask_choice "Drive" "differential" \
+    "Differential (2-wheel):differential" \
+    "Mecanum (4-wheel, omnidirectional):mecanum"
+DRIVE="$CHOICE"
+echo
+
+ask_choice "World" "field" \
+    "Rectangular (field):field" \
+    "Round (field_round):field_round"
+WORLD="$CHOICE"
+echo
+
+# LiDAR ablation only applies to differential (mecanum proto has its
+# own 140° sensor that we don't fork).
+if [[ "$DRIVE" == "differential" ]]; then
+    ask_choice "LiDAR FOV" "140" \
+        "140° (canonical, ShepherdDog.proto):140" \
+        "360° (FOV ablation, ShepherdDog360.proto):360"
+    LIDAR="$CHOICE"
+else
+    LIDAR="140"
+    echo "${D}LiDAR: 140° (mecanum drive — no 360° proto variant available)${R}"
+fi
+echo
+
+ask_choice "Number of shepherd dogs" "1" \
+    "1 — solo:1" \
+    "2 — axis-split (X-dog + Y-dog):2"
+NDOGS="$CHOICE"
+echo
+
+if [[ "$NDOGS" == "2" ]]; then
+    ask_choice "Axis-split leak (soft mask gain on the off-axis)" "0.3" \
+        "0.0 — strict (each dog only moves on its axis; tends to deadlock):0.0" \
+        "0.3 — default (off-axis at 30% gain; verified to pen):0.3" \
+        "0.5 — softer:0.5" \
+        "1.0 — no mask (both dogs run full policy):1.0"
+    AXIS_LEAK="$CHOICE"
+    echo
+fi
+
+ask_int "Flock size (number of sheep)" 5 1 10
+N_SHEEP="$CHOICE"
+echo
+
+ask_choice "Perception" "lidar" \
+    "LiDAR (canonical):lidar" \
+    "Ground-truth bypass (HERDING_USE_GT=1):gt"
+if [[ "$CHOICE" == "gt" ]]; then USE_GT=1; else USE_GT=0; fi
+echo
+
+ask_choice "Headless?" "no" \
+    "No — show the Webots window:no" \
+    "Yes — headless, fast simulation (xvfb-run):yes"
+HEADLESS="$CHOICE"
+echo
+
+# ----- Summary ------------------------------------------------------
+cat <<EOF
+${B}${C}── Launch configuration ──────────────────────────────────────────${R}
+  Mode             : ${B}$MODE${R}
+  Drive            : ${B}$DRIVE${R}
+  World            : ${B}$WORLD${R}
+  LiDAR FOV        : ${B}${LIDAR}°${R}
+  Dogs             : ${B}$NDOGS${R}$( [[ "$NDOGS" == "2" ]] && echo "  (axis_leak=${B}$AXIS_LEAK${R})" )
+  Sheep            : ${B}$N_SHEEP${R}
+  Perception       : ${B}$( [[ "$USE_GT" == "1" ]] && echo "GT bypass" || echo "LiDAR" )${R}
+  Headless         : ${B}$HEADLESS${R}
+${C}──────────────────────────────────────────────────────────────────${R}
+
+EOF
+printf "${B}Launch? [Y/n] ${R}"
+read -r confirm || true
+if [[ "$confirm" =~ ^[Nn] ]]; then
+    echo "Aborted."; exit 0
+fi
+
+# ----- Dispatch -----------------------------------------------------
+export HERDING_LIDAR="$LIDAR"
+export HERDING_NDOGS="$NDOGS"
+export HERDING_USE_GT="$USE_GT"
+[[ -n "${AXIS_LEAK:-}" ]] && export HERDING_AXIS_LEAK="$AXIS_LEAK"
+if [[ "$HEADLESS" == "yes" ]]; then
+    export WEBOTS_HEADLESS=1
+    export WEBOTS_EXTRA_ARGS="--stdout --stderr"
+    exec xvfb-run -a bash "$SCRIPT_DIR/run_webots.sh" \
+        "$N_SHEEP" "$MODE" "$DRIVE" "$WORLD"
+else
+    exec bash "$SCRIPT_DIR/run_webots.sh" \
+        "$N_SHEEP" "$MODE" "$DRIVE" "$WORLD"
+fi