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diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-![Example Tasks created with Isaac Lab](docs/source/_static/tasks.jpg)
+![Isaac Lab](docs/source/_static/isaaclab.jpg)
 
 ---
 
@@ -54,20 +54,3 @@ or opening a question on its [forums](https://forums.developer.nvidia.com/c/agx-
 NVIDIA Isaac Sim is available freely under [individual license](https://www.nvidia.com/en-us/omniverse/download/). For more information about its license terms, please check [here](https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement).
 
 The Isaac Lab framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.
-
-## Citing
-
-If you use this framework in your work, please cite [this paper](https://arxiv.org/abs/2301.04195):
-
-```text
-@article{mittal2023orbit,
-   author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
-   journal={IEEE Robotics and Automation Letters},
-   title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
-   year={2023},
-   volume={8},
-   number={6},
-   pages={3740-3747},
-   doi={10.1109/LRA.2023.3270034}
-}
-```
diff --git a/docs/index.rst b/docs/index.rst
@@ -24,25 +24,6 @@ For more information about the framework, please refer to the `paper <https://ar
    :alt: Example tasks created using Isaac Lab
 
 
-Citing
-======
-
-If you use Isaac Lab in your research, please use the following BibTeX entry:
-
-.. code:: bibtex
-
-   @article{mittal2023orbit,
-      author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
-      journal={IEEE Robotics and Automation Letters},
-      title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
-      year={2023},
-      volume={8},
-      number={6},
-      pages={3740-3747},
-      doi={10.1109/LRA.2023.3270034}
-   }
-
-
 License
 =======
 

diff --git a/docs/source/_static/isaaclab.jpg b/docs/source/_static/isaaclab.jpg
diff --git a/docs/source/_static/tasks.jpg b/docs/source/_static/tasks.jpg
diff --git a/docs/source/setup/faq.rst b/docs/source/setup/faq.rst
@@ -40,7 +40,7 @@ a starting point to understand what is possible with the simulators for robot le
 can be used for benchmarking but are not designed for developing and testing custom environments and algorithms.
 This is where Isaac Lab comes in.
 
-Isaac Lab :cite:`mittal2023orbit` is built on top of Isaac Sim to provide a unified and flexible framework
+Isaac Lab is built on top of Isaac Sim to provide a unified and flexible framework
 for robot learning that exploits latest simulation technologies. It is designed to be modular and extensible,
 and aims to simplify common workflows in robotics research (such as RL, learning from demonstrations, and
 motion planning). While it includes some pre-built environments, sensors, and tasks, its main goal is to

diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ant.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ant.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Configuration for the Mujoco Ant robot"""
+"""Configuration for the Mujoco Ant robot."""
 
 from __future__ import annotations
 
@@ -12,6 +12,10 @@
 from omni.isaac.lab.assets import ArticulationCfg
 from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
 
+##
+# Configuration
+##
+
 ANT_CFG = ArticulationCfg(
     prim_path="{ENV_REGEX_NS}/Robot",
     spawn=sim_utils.UsdFileCfg(
@@ -48,3 +52,4 @@
         ),
     },
 )
+"""Configuration for the Mujoco Ant robot."""
diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cartpole.py
@@ -11,6 +11,10 @@
 from omni.isaac.lab.assets import ArticulationCfg
 from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
+##
+# Configuration
+##
+
 CARTPOLE_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Classic/Cartpole/cartpole.usd",
@@ -45,3 +49,4 @@
         ),
     },
 )
+"""Configuration for a simple Cartpole robot."""
diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cassie.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/cassie.py
@@ -21,7 +21,6 @@
 # Configuration
 ##
 
-
 CASSIE_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Agility/Cassie/cassie.usd",

diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/h1.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/h1.py
diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/humanoid.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/humanoid.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Configuration for the Mujoco Ant robot"""
+"""Configuration for the Mujoco Humanoid robot."""
 
 from __future__ import annotations
 
@@ -12,6 +12,10 @@
 from omni.isaac.lab.assets import ArticulationCfg
 from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
 
+##
+# Configuration
+##
+
 HUMANOID_CFG = ArticulationCfg(
     prim_path="{ENV_REGEX_NS}/Robot",
     spawn=sim_utils.UsdFileCfg(
@@ -62,3 +66,4 @@
         ),
     },
 )
+"""Configuration for the Mujoco Humanoid robot."""
diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/kinova.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/kinova.py
@@ -23,7 +23,6 @@
 # Configuration
 ##
 
-
 KINOVA_JACO2_N7S300_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Kinova/Jaco2/J2N7S300/j2n7s300_instanceable.usd",

diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/quadcopter.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/quadcopter.py
@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""Configuration for the Quadcopters"""
+"""Configuration for the quadcopters"""
 
 from __future__ import annotations
 
@@ -12,6 +12,10 @@
 from omni.isaac.lab.assets import ArticulationCfg
 from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
 
+##
+# Configuration
+##
+
 CRAZYFLIE_CFG = ArticulationCfg(
     prim_path="{ENV_REGEX_NS}/Robot",
     spawn=sim_utils.UsdFileCfg(
@@ -50,3 +54,4 @@
         ),
     },
 )
+"""Configuration for the Crazyflie quadcopter."""
diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ridgeback_franka.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/ridgeback_franka.py
@@ -17,6 +17,10 @@
 from omni.isaac.lab.assets.articulation import ArticulationCfg
 from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
 
+##
+# Configuration
+##
+
 RIDGEBACK_FRANKA_PANDA_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Clearpath/RidgebackFranka/ridgeback_franka.usd",

diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/sawyer.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/sawyer.py
@@ -21,7 +21,6 @@
 # Configuration
 ##
 
-
 SAWYER_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/RethinkRobotics/sawyer_instanceable.usd",

diff --git a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/unitree.py b/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/unitree.py
@@ -10,12 +10,13 @@
 * :obj:`UNITREE_A1_CFG`: Unitree A1 robot with DC motor model for the legs
 * :obj:`UNITREE_GO1_CFG`: Unitree Go1 robot with actuator net model for the legs
 * :obj:`UNITREE_GO2_CFG`: Unitree Go2 robot with DC motor model for the legs
+* :obj:`H1_CFG`: H1 humanoid robot
 
 Reference: https://github.com/unitreerobotics/unitree_ros
 """
 
 import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.actuators import ActuatorNetMLPCfg, DCMotorCfg
+from omni.isaac.lab.actuators import ActuatorNetMLPCfg, DCMotorCfg, ImplicitActuatorCfg
 from omni.isaac.lab.assets.articulation import ArticulationCfg
 from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
 
@@ -173,3 +174,94 @@
     },
 )
 """Configuration of Unitree Go2 using DC-Motor actuator model."""
+
+
+H1_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=4
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 1.05),
+        joint_pos={
+            ".*_hip_yaw": 0.0,
+            ".*_hip_roll": 0.0,
+            ".*_hip_pitch": -0.28,  # -16 degrees
+            ".*_knee": 0.79,  # 45 degrees
+            ".*_ankle": -0.52,  # -30 degrees
+            "torso": 0.0,
+            ".*_shoulder_pitch": 0.28,
+            ".*_shoulder_roll": 0.0,
+            ".*_shoulder_yaw": 0.0,
+            ".*_elbow": 0.52,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "legs": ImplicitActuatorCfg(
+            joint_names_expr=[".*_hip_yaw", ".*_hip_roll", ".*_hip_pitch", ".*_knee", "torso"],
+            effort_limit=300,
+            velocity_limit=100.0,
+            stiffness={
+                ".*_hip_yaw": 150.0,
+                ".*_hip_roll": 150.0,
+                ".*_hip_pitch": 200.0,
+                ".*_knee": 200.0,
+                "torso": 200.0,
+            },
+            damping={
+                ".*_hip_yaw": 5.0,
+                ".*_hip_roll": 5.0,
+                ".*_hip_pitch": 5.0,
+                ".*_knee": 5.0,
+                "torso": 5.0,
+            },
+        ),
+        "feet": ImplicitActuatorCfg(
+            joint_names_expr=[".*_ankle"],
+            effort_limit=100,
+            velocity_limit=100.0,
+            stiffness={".*_ankle": 20.0},
+            damping={".*_ankle": 4.0},
+        ),
+        "arms": ImplicitActuatorCfg(
+            joint_names_expr=[".*_shoulder_pitch", ".*_shoulder_roll", ".*_shoulder_yaw", ".*_elbow"],
+            effort_limit=300,
+            velocity_limit=100.0,
+            stiffness={
+                ".*_shoulder_pitch": 40.0,
+                ".*_shoulder_roll": 40.0,
+                ".*_shoulder_yaw": 40.0,
+                ".*_elbow": 40.0,
+            },
+            damping={
+                ".*_shoulder_pitch": 10.0,
+                ".*_shoulder_roll": 10.0,
+                ".*_shoulder_yaw": 10.0,
+                ".*_elbow": 10.0,
+            },
+        ),
+    },
+)
+"""Configuration for the Unitree H1 Humanoid robot."""
+
+
+H1_MINIMAL_CFG = H1_CFG.copy()
+H1_MINIMAL_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1_minimal.usd"
+"""Configuration for the Unitree H1 Humanoid robot with fewer collision meshes.
+
+This configuration removes most collision meshes to speed up simulation.
+"""