diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index df41233..54d6ee4 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 name: Pre-Commit
 
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index b2316e6..fbc5dd9 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 name: Build and Test
 
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 7b906cc..fe20695 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 default_stages: [pre-commit]
 default_install_hook_types: [pre-commit, pre-push]
diff --git a/LICENSE b/LICENSE
index 98418cf..c832fe2 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,6 @@
 RAI Institute Research License
 
-© 2025 Robotics and AI Institute LLC d/b/a RAI Institute
+Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute.
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
   - Redistributions of source code must retain the copyright notice included with the software, this list of conditions and the following disclaimer.
diff --git a/pyproject.toml b/pyproject.toml
index cb1d04e..5440dbc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 [build-system]
 requires = ["setuptools", "toml"]
diff --git a/scripts/check_copyright.py b/scripts/check_copyright.py
index 3d229de..b861f95 100644
--- a/scripts/check_copyright.py
+++ b/scripts/check_copyright.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Check that files have a copyright. Does not accept mild variations of the copyright format"""
 import re
diff --git a/source/relic/config/extension.toml b/source/relic/config/extension.toml
index 6de5dd1..eedf5f3 100644
--- a/source/relic/config/extension.toml
+++ b/source/relic/config/extension.toml
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 [package]
 
diff --git a/source/relic/relic/__init__.py b/source/relic/relic/__init__.py
index 6f9edb3..cd1c018 100644
--- a/source/relic/relic/__init__.py
+++ b/source/relic/relic/__init__.py
@@ -1 +1 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
diff --git a/source/relic/relic/actuators/__init__.py b/source/relic/relic/actuators/__init__.py
index d86add2..ca86854 100644
--- a/source/relic/relic/actuators/__init__.py
+++ b/source/relic/relic/actuators/__init__.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Package containing actuator configurations."""
 
diff --git a/source/relic/relic/actuators/actuator_spot.py b/source/relic/relic/actuators/actuator_spot.py
index bb75ff3..6f3b531 100644
--- a/source/relic/relic/actuators/actuator_spot.py
+++ b/source/relic/relic/actuators/actuator_spot.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Custom actuator definitions for Spot"""
 
diff --git a/source/relic/relic/actuators/actuator_spot_cfg.py b/source/relic/relic/actuators/actuator_spot_cfg.py
index b0f2c9b..3151cab 100644
--- a/source/relic/relic/actuators/actuator_spot_cfg.py
+++ b/source/relic/relic/actuators/actuator_spot_cfg.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from __future__ import annotations
 
diff --git a/source/relic/relic/assets/__init__.py b/source/relic/relic/assets/__init__.py
index 46b793b..cc6f6bf 100644
--- a/source/relic/relic/assets/__init__.py
+++ b/source/relic/relic/assets/__init__.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 
diff --git a/source/relic/relic/assets/spot/constants.py b/source/relic/relic/assets/spot/constants.py
index 1f8efb9..2691bcc 100644
--- a/source/relic/relic/assets/spot/constants.py
+++ b/source/relic/relic/assets/spot/constants.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Constant data for Boston Dynamics Spot robot."""
 
diff --git a/source/relic/relic/assets/spot/spot.py b/source/relic/relic/assets/spot/spot.py
index 3e07efe..c4e8692 100644
--- a/source/relic/relic/assets/spot/spot.py
+++ b/source/relic/relic/assets/spot/spot.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Configuration for the Boston Dynamics robot.
 
diff --git a/source/relic/relic/tasks/__init__.py b/source/relic/relic/tasks/__init__.py
index 1d8149c..f796a9d 100644
--- a/source/relic/relic/tasks/__init__.py
+++ b/source/relic/relic/tasks/__init__.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Package containing task implementations for various robotic environments."""
 
diff --git a/source/relic/relic/tasks/loco_manipulation/__init__.py b/source/relic/relic/tasks/loco_manipulation/__init__.py
index 31ae212..f956eb4 100644
--- a/source/relic/relic/tasks/loco_manipulation/__init__.py
+++ b/source/relic/relic/tasks/loco_manipulation/__init__.py
@@ -1,3 +1,3 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Whole body manipulation environments with interlimb coordination."""
diff --git a/source/relic/relic/tasks/loco_manipulation/config/__init__.py b/source/relic/relic/tasks/loco_manipulation/config/__init__.py
index eb81624..d3b482b 100644
--- a/source/relic/relic/tasks/loco_manipulation/config/__init__.py
+++ b/source/relic/relic/tasks/loco_manipulation/config/__init__.py
@@ -1,3 +1,3 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Configurations for interlimb loco-manipulation environments."""
diff --git a/source/relic/relic/tasks/loco_manipulation/config/spot/__init__.py b/source/relic/relic/tasks/loco_manipulation/config/spot/__init__.py
index 6c9ba8a..cfebbc4 100644
--- a/source/relic/relic/tasks/loco_manipulation/config/spot/__init__.py
+++ b/source/relic/relic/tasks/loco_manipulation/config/spot/__init__.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import gymnasium as gym
 
diff --git a/source/relic/relic/tasks/loco_manipulation/config/spot/agents/__init__.py b/source/relic/relic/tasks/loco_manipulation/config/spot/agents/__init__.py
index cf0680a..97e6df8 100644
--- a/source/relic/relic/tasks/loco_manipulation/config/spot/agents/__init__.py
+++ b/source/relic/relic/tasks/loco_manipulation/config/spot/agents/__init__.py
@@ -1,3 +1,3 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from . import rsl_rl_cfg  # noqa: F401
diff --git a/source/relic/relic/tasks/loco_manipulation/config/spot/agents/rsl_rl_cfg.py b/source/relic/relic/tasks/loco_manipulation/config/spot/agents/rsl_rl_cfg.py
index 6f10e26..12e8d44 100644
--- a/source/relic/relic/tasks/loco_manipulation/config/spot/agents/rsl_rl_cfg.py
+++ b/source/relic/relic/tasks/loco_manipulation/config/spot/agents/rsl_rl_cfg.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from isaaclab.utils import configclass
 from isaaclab_rl.rsl_rl import (
diff --git a/source/relic/relic/tasks/loco_manipulation/config/spot/spot_env_cfg.py b/source/relic/relic/tasks/loco_manipulation/config/spot/spot_env_cfg.py
index 1ba9d7a..db51d4a 100644
--- a/source/relic/relic/tasks/loco_manipulation/config/spot/spot_env_cfg.py
+++ b/source/relic/relic/tasks/loco_manipulation/config/spot/spot_env_cfg.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from isaaclab.utils import configclass
 from relic.tasks.loco_manipulation.interlimb_env_cfg import InterlimbEnvCfg
diff --git a/source/relic/relic/tasks/loco_manipulation/interlimb_env_cfg.py b/source/relic/relic/tasks/loco_manipulation/interlimb_env_cfg.py
index 045de09..6dddfb3 100644
--- a/source/relic/relic/tasks/loco_manipulation/interlimb_env_cfg.py
+++ b/source/relic/relic/tasks/loco_manipulation/interlimb_env_cfg.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2025 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from __future__ import annotations
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/__init__.py b/source/relic/relic/tasks/loco_manipulation/mdp/__init__.py
index 7c83f4b..22cbb9e 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/__init__.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/__init__.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Contains the functions that are specific to the locomotion environments."""
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/actions/__init__.py b/source/relic/relic/tasks/loco_manipulation/mdp/actions/__init__.py
index b63b703..4f192c2 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/actions/__init__.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/actions/__init__.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Various action terms that can be used in the environment."""
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_actions_cfg.py b/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_actions_cfg.py
index caf5e3b..6916ac0 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_actions_cfg.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_actions_cfg.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from dataclasses import MISSING
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_joint_actions.py b/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_joint_actions.py
index 2b89f93..2078e96 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_joint_actions.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/actions/spot_joint_actions.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from __future__ import annotations
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/commands/arm_command.py b/source/relic/relic/tasks/loco_manipulation/mdp/commands/arm_command.py
index ab3c478..2e29418 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/commands/arm_command.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/commands/arm_command.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Sub-module containing command generators for pose tracking."""
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/commands/commands_cfg.py b/source/relic/relic/tasks/loco_manipulation/mdp/commands/commands_cfg.py
index fb919e2..73a39ca 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/commands/commands_cfg.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/commands/commands_cfg.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from __future__ import annotations
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/curriculums.py b/source/relic/relic/tasks/loco_manipulation/mdp/curriculums.py
index 2033fd7..51d6a4b 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/curriculums.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/curriculums.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Common functions that can be used to create curriculum for the learning environment.
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/event.py b/source/relic/relic/tasks/loco_manipulation/mdp/event.py
index 67817aa..7469b7d 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/event.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/event.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from __future__ import annotations
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/observations.py b/source/relic/relic/tasks/loco_manipulation/mdp/observations.py
index 3775091..41d13df 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/observations.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/observations.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Functions specific to the loco-manipulation environments."""
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/rewards.py b/source/relic/relic/tasks/loco_manipulation/mdp/rewards.py
index bf6b22d..cd641c3 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/rewards.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/rewards.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from __future__ import annotations
 
diff --git a/source/relic/relic/tasks/loco_manipulation/mdp/terminations.py b/source/relic/relic/tasks/loco_manipulation/mdp/terminations.py
index e235bc2..a4b3137 100644
--- a/source/relic/relic/tasks/loco_manipulation/mdp/terminations.py
+++ b/source/relic/relic/tasks/loco_manipulation/mdp/terminations.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 """Functions specific to the interlimb loco-manipulation environments."""