diff --git a/README.md b/README.md
index 39abf03451..ee91564483 100644
--- 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
index 8a7650f317..78a1874c4e 100644
--- 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
new file mode 100644
index 0000000000..16072e704a
Binary files /dev/null and b/docs/source/_static/isaaclab.jpg differ
diff --git a/docs/source/_static/tasks.jpg b/docs/source/_static/tasks.jpg
deleted file mode 100644
index 8aa96c179c..0000000000
Binary files a/docs/source/_static/tasks.jpg and /dev/null differ
diff --git a/docs/source/setup/faq.rst b/docs/source/setup/faq.rst
index b5caf0a7a2..d403215b2a 100644
--- 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
index e14e67c6b5..c7eddbc378 100644
--- 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
index 51aa7009f8..48d428beda 100644
--- 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
index d0e7dbc9e0..5378928a57 100644
--- 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
deleted file mode 100644
index 60bb94ab8b..0000000000
--- a/source/extensions/omni.isaac.lab_assets/omni/isaac/lab_assets/h1.py
+++ /dev/null
@@ -1,98 +0,0 @@
-# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
-# All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-
-"""Configuration for the Unitree H1 Humanoid robot."""
-
-
-import omni.isaac.lab.sim as sim_utils
-from omni.isaac.lab.actuators import ImplicitActuatorCfg
-from omni.isaac.lab.assets.articulation import ArticulationCfg
-from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
-
-##
-# Configuration
-##
-
-
-H1_CFG = ArticulationCfg(
-    spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1_minimal.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,
-            },
-        ),
-    },
-)
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
index 11ce9011f2..220a42665b 100644
--- 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
index 7e6b411d53..04b781a279 100644
--- 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
index 09af8ee239..64ec9121c8 100644
--- 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
index 8ff4df2a7a..2bc9240ada 100644
--- 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
index 9c39278ed4..9cec7ebbb3 100644
--- 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
index 1e4b418e3e..8533010a84 100644
--- 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.
+"""
diff --git a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py
index bf508ad078..b933388efe 100644
--- a/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py
+++ b/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py
@@ -17,7 +17,7 @@
 ##
 # Pre-defined configs
 ##
-from omni.isaac.lab_assets.h1 import H1_CFG  # isort: skip
+from omni.isaac.lab_assets import H1_MINIMAL_CFG  # isort: skip
 
 
 @configclass
@@ -89,7 +89,7 @@ def __post_init__(self):
         # post init of parent
         super().__post_init__()
         # Scene
-        self.scene.robot = H1_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        self.scene.robot = H1_MINIMAL_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
         self.scene.height_scanner.prim_path = "{ENV_REGEX_NS}/Robot/torso_link"
 
         # Randomization
diff --git a/source/standalone/demos/bipeds.py b/source/standalone/demos/bipeds.py
index 8b26080d5a..773589904e 100644
--- a/source/standalone/demos/bipeds.py
+++ b/source/standalone/demos/bipeds.py
@@ -36,7 +36,7 @@
 # Pre-defined configs
 ##
 from omni.isaac.lab_assets.cassie import CASSIE_CFG  # isort:skip
-from omni.isaac.lab_assets.h1 import H1_CFG  # isort:skip
+from omni.isaac.lab_assets import H1_CFG  # isort:skip
 
 
 def main():