diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 491ddb74..c490547f 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 name: Docker - Build VLFM Docker
 
diff --git a/.github/workflows/pre_commit.yml b/.github/workflows/pre_commit.yml
index 6a38b9ba..9fb0081c 100644
--- a/.github/workflows/pre_commit.yml
+++ b/.github/workflows/pre_commit.yml
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 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 c5a05283..571c85a6 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -1,3 +1,5 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
 name: VLFM CI
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ecd8ed1d..cb861e43 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 repos:
 - repo: https://github.com/charliermarsh/ruff-pre-commit
diff --git a/LICENSE b/LICENSE
index cb0a52e0..2602a0e1 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC
+Copyright (c) 2023-2024 Robotics and AI Institute LLC dba RAI Institute
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/README.md b/README.md
index 111979a7..afd4dbc1 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,5 @@
+<!-- Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved. -->
+
 <p align="center">
   <img src="docs/teaser_v1.jpg" width="700">
   <h1 align="center">VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation</h1>
diff --git a/config/experiments/reality.yaml b/config/experiments/reality.yaml
index 4c213e0a..817f3b98 100644
--- a/config/experiments/reality.yaml
+++ b/config/experiments/reality.yaml
@@ -1,6 +1,6 @@
 # @package _global_
 
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 defaults:
   - /policy: vlfm_config_base
diff --git a/config/experiments/ver_pointnav.yaml b/config/experiments/ver_pointnav.yaml
index 0baf1732..ddadd8e9 100644
--- a/config/experiments/ver_pointnav.yaml
+++ b/config/experiments/ver_pointnav.yaml
@@ -1,6 +1,6 @@
 # @package _global_
 
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 defaults:
   - /tasks: pointnav_depth_hm3d
diff --git a/config/experiments/vlfm_objectnav_hm3d.yaml b/config/experiments/vlfm_objectnav_hm3d.yaml
index e1b80ea9..8950f174 100644
--- a/config/experiments/vlfm_objectnav_hm3d.yaml
+++ b/config/experiments/vlfm_objectnav_hm3d.yaml
@@ -1,6 +1,6 @@
 # @package _global_
 
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 defaults:
   - /habitat_baselines: habitat_baselines_rl_config_base
diff --git a/config/tasks/pointnav_depth_hm3d.yaml b/config/tasks/pointnav_depth_hm3d.yaml
index 1051a1df..e5686167 100644
--- a/config/tasks/pointnav_depth_hm3d.yaml
+++ b/config/tasks/pointnav_depth_hm3d.yaml
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 # @package _global_
 
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 5abf7a15..8613eb42 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 FROM ubuntu:22.04
 
diff --git a/pyproject.toml b/pyproject.toml
index f09c7201..49d426e6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,3 +1,5 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
 [build-system]
diff --git a/scripts/eval_dummy_policy.sh b/scripts/eval_dummy_policy.sh
index 4a0019e1..5894ca5e 100755
--- a/scripts/eval_dummy_policy.sh
+++ b/scripts/eval_dummy_policy.sh
@@ -1,4 +1,7 @@
 #!/usr/bin/env bash
+
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
 python -um zsos.run \
diff --git a/scripts/eval_itm_policy.sh b/scripts/eval_itm_policy.sh
index b5429814..4c627b5c 100755
--- a/scripts/eval_itm_policy.sh
+++ b/scripts/eval_itm_policy.sh
@@ -1,4 +1,7 @@
 #!/usr/bin/env bash
+
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
 python -um vlfm.run \
diff --git a/scripts/eval_oracle_fbe_policy.sh b/scripts/eval_oracle_fbe_policy.sh
index d7e123e9..883e00d4 100755
--- a/scripts/eval_oracle_fbe_policy.sh
+++ b/scripts/eval_oracle_fbe_policy.sh
@@ -1,4 +1,7 @@
 #!/usr/bin/env bash
+
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
 python -um zsos.run \
diff --git a/scripts/launch_vlm_servers.sh b/scripts/launch_vlm_servers.sh
index 464a02b7..2826b287 100755
--- a/scripts/launch_vlm_servers.sh
+++ b/scripts/launch_vlm_servers.sh
@@ -1,4 +1,7 @@
 #!/usr/bin/env bash
+
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
+
 # Copyright [2023] Boston Dynamics AI Institute, Inc.
 
 # Ensure you have 'export VLFM_PYTHON=<PATH_TO_PYTHON>' in your .bashrc, where
diff --git a/scripts/parse_jsons.py b/scripts/parse_jsons.py
index 8d31c71a..b04d35cf 100644
--- a/scripts/parse_jsons.py
+++ b/scripts/parse_jsons.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import argparse
 import json
diff --git a/setup.py b/setup.py
index f44ef52e..99fff43e 100644
--- a/setup.py
+++ b/setup.py
@@ -1,4 +1,4 @@
-# Copyright [2023] Boston Dynamics AI Institute, Inc.
+# Copyright (c) 2025 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from setuptools import setup
 
diff --git a/test/test_setup.py b/test/test_setup.py
index c4126d2e..a5dee14d 100644
--- a/test/test_setup.py
+++ b/test/test_setup.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 
diff --git a/test/test_visualization.py b/test/test_visualization.py
index e9840587..35ac6f88 100644
--- a/test/test_visualization.py
+++ b/test/test_visualization.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 
diff --git a/vlfm/__init__.py b/vlfm/__init__.py
index fcb2c05d..61ac271a 100644
--- a/vlfm/__init__.py
+++ b/vlfm/__init__.py
@@ -1 +1 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
diff --git a/vlfm/mapping/base_map.py b/vlfm/mapping/base_map.py
index 37ffe908..9cc30a08 100644
--- a/vlfm/mapping/base_map.py
+++ b/vlfm/mapping/base_map.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, List
 
diff --git a/vlfm/mapping/frontier_map.py b/vlfm/mapping/frontier_map.py
index ec061ec0..bba912fb 100644
--- a/vlfm/mapping/frontier_map.py
+++ b/vlfm/mapping/frontier_map.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import List, Tuple
 
diff --git a/vlfm/mapping/object_point_cloud_map.py b/vlfm/mapping/object_point_cloud_map.py
index 994f614e..98cdd76b 100644
--- a/vlfm/mapping/object_point_cloud_map.py
+++ b/vlfm/mapping/object_point_cloud_map.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Dict, Union
 
diff --git a/vlfm/mapping/obstacle_map.py b/vlfm/mapping/obstacle_map.py
index 705a4ff8..acdc5aaf 100644
--- a/vlfm/mapping/obstacle_map.py
+++ b/vlfm/mapping/obstacle_map.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Union
 
diff --git a/vlfm/mapping/traj_visualizer.py b/vlfm/mapping/traj_visualizer.py
index b7e2df7b..1976d109 100644
--- a/vlfm/mapping/traj_visualizer.py
+++ b/vlfm/mapping/traj_visualizer.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, List, Union
 
diff --git a/vlfm/mapping/value_map.py b/vlfm/mapping/value_map.py
index 01c5d3dc..ebaef8a1 100644
--- a/vlfm/mapping/value_map.py
+++ b/vlfm/mapping/value_map.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import glob
 import json
diff --git a/vlfm/measurements/traveled_stairs.py b/vlfm/measurements/traveled_stairs.py
index d1cef14e..996fbca5 100644
--- a/vlfm/measurements/traveled_stairs.py
+++ b/vlfm/measurements/traveled_stairs.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from dataclasses import dataclass
 from typing import Any, List
diff --git a/vlfm/obs_transformers/resize.py b/vlfm/obs_transformers/resize.py
index eb2ea5dc..aa3ec2e8 100644
--- a/vlfm/obs_transformers/resize.py
+++ b/vlfm/obs_transformers/resize.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import copy
 from dataclasses import dataclass
diff --git a/vlfm/obs_transformers/utils.py b/vlfm/obs_transformers/utils.py
index 13f759b3..7ec6938e 100644
--- a/vlfm/obs_transformers/utils.py
+++ b/vlfm/obs_transformers/utils.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Tuple
 
diff --git a/vlfm/policy/__init__.py b/vlfm/policy/__init__.py
index fcb2c05d..61ac271a 100644
--- a/vlfm/policy/__init__.py
+++ b/vlfm/policy/__init__.py
@@ -1 +1 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
diff --git a/vlfm/policy/action_replay_policy.py b/vlfm/policy/action_replay_policy.py
index dbf1653f..64d3e65d 100644
--- a/vlfm/policy/action_replay_policy.py
+++ b/vlfm/policy/action_replay_policy.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 from typing import Any, List
diff --git a/vlfm/policy/base_objectnav_policy.py b/vlfm/policy/base_objectnav_policy.py
index 196114bd..cf2ffd37 100644
--- a/vlfm/policy/base_objectnav_policy.py
+++ b/vlfm/policy/base_objectnav_policy.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 from dataclasses import dataclass, fields
diff --git a/vlfm/policy/base_policy.py b/vlfm/policy/base_policy.py
index 6819ab47..054d49f8 100644
--- a/vlfm/policy/base_policy.py
+++ b/vlfm/policy/base_policy.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Generator
 
diff --git a/vlfm/policy/habitat_policies.py b/vlfm/policy/habitat_policies.py
index f564f2eb..185eeec9 100644
--- a/vlfm/policy/habitat_policies.py
+++ b/vlfm/policy/habitat_policies.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from dataclasses import dataclass
 from typing import Any, Dict, Union
diff --git a/vlfm/policy/itm_policy.py b/vlfm/policy/itm_policy.py
index 878a1243..20ea15f7 100644
--- a/vlfm/policy/itm_policy.py
+++ b/vlfm/policy/itm_policy.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 from typing import Any, Dict, List, Tuple, Union
diff --git a/vlfm/policy/reality_policies.py b/vlfm/policy/reality_policies.py
index fe512f44..d142250a 100644
--- a/vlfm/policy/reality_policies.py
+++ b/vlfm/policy/reality_policies.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from dataclasses import dataclass
 from typing import Any, Dict, List, Union
diff --git a/vlfm/policy/utils/__init__.py b/vlfm/policy/utils/__init__.py
index fcb2c05d..61ac271a 100644
--- a/vlfm/policy/utils/__init__.py
+++ b/vlfm/policy/utils/__init__.py
@@ -1 +1 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
diff --git a/vlfm/policy/utils/acyclic_enforcer.py b/vlfm/policy/utils/acyclic_enforcer.py
index d6762b11..4f874ad1 100644
--- a/vlfm/policy/utils/acyclic_enforcer.py
+++ b/vlfm/policy/utils/acyclic_enforcer.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Set
 
diff --git a/vlfm/policy/utils/non_habitat_policy/__init__.py b/vlfm/policy/utils/non_habitat_policy/__init__.py
index fcb2c05d..61ac271a 100644
--- a/vlfm/policy/utils/non_habitat_policy/__init__.py
+++ b/vlfm/policy/utils/non_habitat_policy/__init__.py
@@ -1 +1 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
diff --git a/vlfm/policy/utils/non_habitat_policy/nh_pointnav_policy.py b/vlfm/policy/utils/non_habitat_policy/nh_pointnav_policy.py
index cae0612d..0d735114 100644
--- a/vlfm/policy/utils/non_habitat_policy/nh_pointnav_policy.py
+++ b/vlfm/policy/utils/non_habitat_policy/nh_pointnav_policy.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Dict, Optional, Tuple
 
diff --git a/vlfm/policy/utils/non_habitat_policy/resnet.py b/vlfm/policy/utils/non_habitat_policy/resnet.py
index 9767db83..b5f2c13c 100755
--- a/vlfm/policy/utils/non_habitat_policy/resnet.py
+++ b/vlfm/policy/utils/non_habitat_policy/resnet.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 
 # Adapted from:
diff --git a/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py b/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
index e518b2b7..be73dcb8 100755
--- a/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
+++ b/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 
 # Adapted from:
diff --git a/vlfm/policy/utils/pointnav_policy.py b/vlfm/policy/utils/pointnav_policy.py
index 517d0672..3175fce0 100644
--- a/vlfm/policy/utils/pointnav_policy.py
+++ b/vlfm/policy/utils/pointnav_policy.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Dict, Tuple, Union
 
diff --git a/vlfm/reality/bdsw_nav_env.py b/vlfm/reality/bdsw_nav_env.py
index 81b88682..20846db9 100644
--- a/vlfm/reality/bdsw_nav_env.py
+++ b/vlfm/reality/bdsw_nav_env.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import numpy as np
 import torch
diff --git a/vlfm/reality/objectnav_env.py b/vlfm/reality/objectnav_env.py
index 34bfcfb3..d42755f9 100644
--- a/vlfm/reality/objectnav_env.py
+++ b/vlfm/reality/objectnav_env.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 import time
diff --git a/vlfm/reality/pointnav_env.py b/vlfm/reality/pointnav_env.py
index afefbde8..5ad7ccea 100644
--- a/vlfm/reality/pointnav_env.py
+++ b/vlfm/reality/pointnav_env.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import time
 from typing import Any, Dict, Optional, Tuple, Union
diff --git a/vlfm/reality/robots/base_robot.py b/vlfm/reality/robots/base_robot.py
index 120a8ebe..fd619246 100644
--- a/vlfm/reality/robots/base_robot.py
+++ b/vlfm/reality/robots/base_robot.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Dict, List, Tuple
 
diff --git a/vlfm/reality/robots/bdsw_robot.py b/vlfm/reality/robots/bdsw_robot.py
index 28b6d244..f14d22f5 100644
--- a/vlfm/reality/robots/bdsw_robot.py
+++ b/vlfm/reality/robots/bdsw_robot.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Dict, List, Tuple
 
diff --git a/vlfm/reality/robots/camera_ids.py b/vlfm/reality/robots/camera_ids.py
index fb42ceae..5c0e2fee 100644
--- a/vlfm/reality/robots/camera_ids.py
+++ b/vlfm/reality/robots/camera_ids.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 
 class SpotCamIds:
diff --git a/vlfm/reality/run_bdsw_objnav_env.py b/vlfm/reality/run_bdsw_objnav_env.py
index 1bb90040..92c6140e 100644
--- a/vlfm/reality/run_bdsw_objnav_env.py
+++ b/vlfm/reality/run_bdsw_objnav_env.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import time
 
diff --git a/vlfm/run.py b/vlfm/run.py
index 8cf3bf79..c147faa7 100644
--- a/vlfm/run.py
+++ b/vlfm/run.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 
diff --git a/vlfm/semexp_env/eval.py b/vlfm/semexp_env/eval.py
index 05a83981..7de2dd40 100644
--- a/vlfm/semexp_env/eval.py
+++ b/vlfm/semexp_env/eval.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 import time
diff --git a/vlfm/semexp_env/objnav_gibson_vlfm.yaml b/vlfm/semexp_env/objnav_gibson_vlfm.yaml
index 6ab74a0a..bb16088b 100644
--- a/vlfm/semexp_env/objnav_gibson_vlfm.yaml
+++ b/vlfm/semexp_env/objnav_gibson_vlfm.yaml
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 ENVIRONMENT:
   MAX_EPISODE_STEPS: 500
diff --git a/vlfm/utils/episode_stats_logger.py b/vlfm/utils/episode_stats_logger.py
index f0165d6b..44808483 100644
--- a/vlfm/utils/episode_stats_logger.py
+++ b/vlfm/utils/episode_stats_logger.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 from typing import Any, Dict
diff --git a/vlfm/utils/generate_dummy_policy.py b/vlfm/utils/generate_dummy_policy.py
index e1cdeb2e..d728f801 100644
--- a/vlfm/utils/generate_dummy_policy.py
+++ b/vlfm/utils/generate_dummy_policy.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import torch
 
diff --git a/vlfm/utils/geometry_utils.py b/vlfm/utils/geometry_utils.py
index 5cc23358..5e7b8e88 100644
--- a/vlfm/utils/geometry_utils.py
+++ b/vlfm/utils/geometry_utils.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import math
 from typing import Tuple
diff --git a/vlfm/utils/habitat_visualizer.py b/vlfm/utils/habitat_visualizer.py
index 53e291d2..0fc3932a 100644
--- a/vlfm/utils/habitat_visualizer.py
+++ b/vlfm/utils/habitat_visualizer.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Dict, List, Optional, Tuple
 
diff --git a/vlfm/utils/img_utils.py b/vlfm/utils/img_utils.py
index fa950d35..e12150e5 100644
--- a/vlfm/utils/img_utils.py
+++ b/vlfm/utils/img_utils.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import List, Tuple, Union
 
diff --git a/vlfm/utils/log_saver.py b/vlfm/utils/log_saver.py
index 450f446f..a87830aa 100644
--- a/vlfm/utils/log_saver.py
+++ b/vlfm/utils/log_saver.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import json
 import os
diff --git a/vlfm/utils/visualization.py b/vlfm/utils/visualization.py
index cfaa7493..19624073 100644
--- a/vlfm/utils/visualization.py
+++ b/vlfm/utils/visualization.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import List
 
diff --git a/vlfm/utils/vlfm_trainer.py b/vlfm/utils/vlfm_trainer.py
index a002b2fd..8cbdfee3 100644
--- a/vlfm/utils/vlfm_trainer.py
+++ b/vlfm/utils/vlfm_trainer.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 from collections import defaultdict
diff --git a/vlfm/vlm/__init__.py b/vlfm/vlm/__init__.py
index fcb2c05d..61ac271a 100644
--- a/vlfm/vlm/__init__.py
+++ b/vlfm/vlm/__init__.py
@@ -1 +1 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
diff --git a/vlfm/vlm/blip2.py b/vlfm/vlm/blip2.py
index 85803bac..81a3396f 100644
--- a/vlfm/vlm/blip2.py
+++ b/vlfm/vlm/blip2.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Optional
 
diff --git a/vlfm/vlm/blip2itm.py b/vlfm/vlm/blip2itm.py
index 6cb1e7d7..885a27fb 100644
--- a/vlfm/vlm/blip2itm.py
+++ b/vlfm/vlm/blip2itm.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Any, Optional
 
diff --git a/vlfm/vlm/coco_classes.py b/vlfm/vlm/coco_classes.py
index af21b201..c7748b64 100644
--- a/vlfm/vlm/coco_classes.py
+++ b/vlfm/vlm/coco_classes.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 COCO_CLASSES = [
     "person",
diff --git a/vlfm/vlm/detections.py b/vlfm/vlm/detections.py
index 9a6ac308..5482514d 100644
--- a/vlfm/vlm/detections.py
+++ b/vlfm/vlm/detections.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import List, Optional, Tuple
 
diff --git a/vlfm/vlm/fiber.py b/vlfm/vlm/fiber.py
index 3b17451a..c495dd28 100644
--- a/vlfm/vlm/fiber.py
+++ b/vlfm/vlm/fiber.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import numpy as np
 import torch
diff --git a/vlfm/vlm/grounding_dino.py b/vlfm/vlm/grounding_dino.py
index 69aadcb3..692af8ce 100644
--- a/vlfm/vlm/grounding_dino.py
+++ b/vlfm/vlm/grounding_dino.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 from typing import Optional
 
diff --git a/vlfm/vlm/sam.py b/vlfm/vlm/sam.py
index fd0d7a45..fb1c1651 100644
--- a/vlfm/vlm/sam.py
+++ b/vlfm/vlm/sam.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import os
 from typing import Any, List, Optional
diff --git a/vlfm/vlm/server_wrapper.py b/vlfm/vlm/server_wrapper.py
index 344057a0..89102110 100644
--- a/vlfm/vlm/server_wrapper.py
+++ b/vlfm/vlm/server_wrapper.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import base64
 import os
diff --git a/vlfm/vlm/yolov7.py b/vlfm/vlm/yolov7.py
index 809e00f9..64eaf289 100644
--- a/vlfm/vlm/yolov7.py
+++ b/vlfm/vlm/yolov7.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2023 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
 
 import sys
 from typing import List, Optional