diff --git a/README.md b/README.md
index 0b1a2cb..ed45c59 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@ disclosure or distribution of this material and related documentation
 without an express license agreement from NVIDIA CORPORATION or
 its affiliates is strictly prohibited.
 -->
-# CuRobo
+# cuRobo
 
 *CUDA Accelerated Robot Library*
 
@@ -23,7 +23,7 @@ For business inquiries, please visit our website and submit the form: [NVIDIA Re
 
 ## Overview
 
-CuRobo is a CUDA accelerated library containing a suite of robotics algorithms that run significantly faster than existing implementations leveraging parallel compute. CuRobo currently provides the following algorithms: (1) forward and inverse kinematics,
+cuRobo is a CUDA accelerated library containing a suite of robotics algorithms that run significantly faster than existing implementations leveraging parallel compute. cuRobo currently provides the following algorithms: (1) forward and inverse kinematics,
 (2) collision checking between robot and world, with the world represented as Cuboids, Meshes, and Depth images, (3) numerical optimization with gradient descent, L-BFGS, and MPPI, (4) geometric planning, (5) trajectory optimization, (6) motion generation that combines inverse kinematics, geometric planning, and trajectory optimization to generate global motions within 30ms.
 
 <p align="center">
@@ -31,24 +31,26 @@ CuRobo is a CUDA accelerated library containing a suite of robotics algorithms t
 </p>
 
 
-CuRobo performs trajectory optimization across many seeds in parallel to find a solution. CuRobo's trajectory optimization penalizes jerk and accelerations, encouraging smoother and shorter trajectories. Below we compare CuRobo's motion generation on the left to a BiRRT planner on a pick and place task.
+cuRobo performs trajectory optimization across many seeds in parallel to find a solution. cuRobo's trajectory optimization penalizes jerk and accelerations, encouraging smoother and shorter trajectories. Below we compare cuRobo's motion generation on the left to a BiRRT planner for the motion planning phases in a pick and place task.
 
 <p align="center">
 <img width="500" src="images/rrt_compare.gif">
 </p>
 
+
 ## Citation
 
 If you found this work useful, please cite the below report,
 
 ```
-@article{curobo_report23,
-         title={CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation},
-         author={Sundaralingam, Balakumar and Hari, Siva Kumar Sastry and 
-         Fishman, Adam and Garrett, Caelan and Van Wyk, Karl and Blukis, Valts and 
-         Millane, Alexander and Oleynikova, Helen and Handa, Ankur and 
-         Ramos, Fabio and Ratliff, Nathan and Fox, Dieter},
-         journal={arXiv preprint},
-         year={2023}
+@misc{curobo_report23,
+      title={cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation}, 
+      author={Balakumar Sundaralingam and Siva Kumar Sastry Hari and Adam Fishman and Caelan Garrett 
+              and Karl Van Wyk and Valts Blukis and Alexander Millane and Helen Oleynikova and Ankur Handa 
+              and Fabio Ramos and Nathan Ratliff and Dieter Fox},
+      year={2023},
+      eprint={2310.17274},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO}
 }
 ```
\ No newline at end of file