diff --git a/README.md b/README.md
index 0e70afd..4f6854d 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# AgileX Piper Robot Teleoperation with NeuraCore
+# AgileX Piper Robot Teleoperation with Neuracore
 
 This project is a complete example showcasing how to use Neuracore with the AgileX Piper robot. The project provides examples teleoperating the AgileX Piper robot using a Meta Quest controller, collecting demonstration data with [Neuracore](https://neuracore.com/), deploying trained policies, and an easy interface to tune most of the associated parameters.
 
@@ -88,13 +88,13 @@ python examples/1_tune_teleop_params.py [--ip-address <quest-ip>]
 
 **Script**: `examples/2_collect_teleop_data_with_neuracore.py`
 
-Now that you have a well-tuned setup, you can use this script to record teleoperation demonstrations to NeuraCore.
+Now that you have a well-tuned setup, you can use this script to record teleoperation demonstrations to Neuracore.
 
 ```bash
 python examples/2_collect_teleop_data_with_neuracore.py [--ip-address <quest-ip>] [--dataset-name <name>]
 ```
 
-**Note**: You must be logged into NeuraCore.
+**Note**: You must be logged into Neuracore.
 
 **Arguments**:
 - `--ip-address`: IP address of Meta Quest device (optional). Only needed when using WiFi connection. If not provided, defaults to auto-discovery via USB.
@@ -104,25 +104,25 @@ python examples/2_collect_teleop_data_with_neuracore.py [--ip-address <quest-ip>
 - Same as script 1, plus:
 - **Right Joystick Press**: Start/stop data recording
 
-### 3. Replay NeuraCore Episodes
+### 3. Replay Neuracore Episodes
 
 **Script**: `examples/3_replay_neuracore_episodes.py`
 
-Replay recorded episodes from a NeuraCore dataset on the physical robot.
+Replay recorded episodes from a Neuracore dataset on the physical robot.
 
 ```bash
 python examples/3_replay_neuracore_episodes.py --dataset-name <dataset-name> [--frequency <hz>] [--episode-index <index>]
 ```
 
 **Arguments**:
-- `--dataset-name`: Name of the NeuraCore dataset to replay
+- `--dataset-name`: Name of the Neuracore dataset to replay
 - `--frequency`: Playback frequency in Hz (default: 0). 0 plays the data aperiodically (not synchronized at a certain frequency as it was recorded). 
 - `--episode-index`: Which episode to replay (default: 0). -1 will start replaying all the episodes one after the other.
 
 **NOTE:** please be careful that the robot **will start moving** on the same trajectory that was recorded. Pressing `ctrl+C`
 will gracefully disable the robot and it will cut power to the motors after 5 seconds.
 
-### 4. Rollout NeuraCore Policy (Full GUI)
+### 4. Rollout Neuracore Policy (Full GUI)
 
 **Script**: `examples/4_rollout_neuracore_policy.py`
 
@@ -147,12 +147,12 @@ python examples/4_rollout_neuracore_policy.py --model-path <path-to-model> [--ip
 ```
 
 **Arguments**:
-- `--train-run-name`: Name of the NeuraCore training run (fetches model from NeuraCore)
+- `--train-run-name`: Name of the Neuracore training run (fetches model from Neuracore)
 - `--model-path`: Local path to model file (alternative to train-run-name)
 - `--ip-address`: IP address of Meta Quest device (optional). Only needed when using WiFi connection. If not provided, defaults to auto-discovery via USB.
 
 
-### 5. Rollout NeuraCore Policy (Minimal)
+### 5. Rollout Neuracore Policy (Minimal)
 
 **Script**: `examples/5_rollout_neuracore_policy_minimal.py`
 
@@ -169,7 +169,7 @@ python examples/5_rollout_neuracore_policy_minimal.py --model-path <path-to-mode
 ```
 
 **Arguments**:
-- `--train-run-name`: Name of the NeuraCore training run (fetches model from NeuraCore)
+- `--train-run-name`: Name of the Neuracore training run (fetches model from Neuracore)
 - `--model-path`: Local path to model file (alternative to train-run-name)
 
 ### 6. Visualize Policy from Dataset
@@ -189,8 +189,8 @@ python examples/6_visualize_policy_from_dataset.py --dataset-name <dataset-name>
 ```
 
 **Arguments**:
-- `--dataset-name`: Name of the NeuraCore dataset to visualize
-- `--train-run-name`: Name of the NeuraCore training run (fetches model from NeuraCore)
+- `--dataset-name`: Name of the Neuracore dataset to visualize
+- `--train-run-name`: Name of the Neuracore training run (fetches model from Neuracore)
 - `--model-path`: Local path to model file (alternative to train-run-name)
 
 ## Configuration
@@ -248,10 +248,10 @@ example_agilex/
 - Check robot power and CAN bus connection
 - Ensure robot is in the correct mode for control
 
-### NeuraCore Connection Issues
+### Neuracore Connection Issues
 
 - Verify you're logged in: `neuracore login`
-- Check network connectivity to NeuraCore servers
+- Check network connectivity to Neuracore servers
 - Verify dataset/run names are correct
 
 ## Safety Notes
diff --git a/examples/2_collect_teleop_data_with_neuracore.py b/examples/2_collect_teleop_data_with_neuracore.py
index d4ce4dc..a70ef29 100644
--- a/examples/2_collect_teleop_data_with_neuracore.py
+++ b/examples/2_collect_teleop_data_with_neuracore.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
-"""Piper Robot Teleoperation with Meta Quest Controller and NeuraCore data collection.
+"""Piper Robot Teleoperation with Meta Quest Controller and Neuracore data collection.
 
 This demo uses Pink IK control with Meta Quest controller input to control the Piper robot and
-logs data to NeuraCore.
+logs data to Neuracore.
 """
 
 
@@ -64,13 +64,13 @@
 
 
 def neuracore_logging_worker(queue: Queue, worker_id: int) -> None:
-    """Worker process that logs data to NeuraCore from the queue.
+    """Worker process that logs data to Neuracore from the queue.
 
     Args:
         queue: Multiprocessing queue containing logging tasks
         worker_id: Worker process identifier
     """
-    # Initialize NeuraCore connection in this worker process
+    # Initialize Neuracore connection in this worker process
     try:
         nc.login()
         nc.connect_robot(
@@ -80,7 +80,7 @@ def neuracore_logging_worker(queue: Queue, worker_id: int) -> None:
             overwrite=False,
         )
     except Exception as e:
-        print(f"\n⚠️  Worker {worker_id} failed to login to NeuraCore: {e}")
+        print(f"\n⚠️  Worker {worker_id} failed to login to Neuracore: {e}")
         return
 
     print(f"\n👷 Logging worker process {worker_id} started")
@@ -101,7 +101,7 @@ def neuracore_logging_worker(queue: Queue, worker_id: int) -> None:
             # Unpack task: (function_name, args_tuple, timestamp)
             function_name, data_value, timestamp = task
 
-            # Call appropriate NeuraCore logging function
+            # Call appropriate Neuracore logging function
             try:
                 if function_name == "log_joint_positions":
                     data_value = np.radians(data_value)
@@ -132,7 +132,7 @@ def neuracore_logging_worker(queue: Queue, worker_id: int) -> None:
                 else:
                     print(f"\n⚠️  Unknown logging function: {function_name}")
             except Exception as e:
-                print(f"\n⚠️  Failed to log {function_name} to NeuraCore: {e}")
+                print(f"\n⚠️  Failed to log {function_name} to Neuracore: {e}")
 
             # Sleep to maintain loop rate
             elapsed = time.time() - start_time
@@ -247,7 +247,7 @@ def on_button_rj_pressed() -> None:
     multiprocessing.set_start_method("spawn")
 
     parser = argparse.ArgumentParser(
-        description="Piper Robot Teleoperation with NeuraCore Data Collection - REAL ROBOT CONTROL"
+        description="Piper Robot Teleoperation with Neuracore Data Collection - REAL ROBOT CONTROL"
     )
     parser.add_argument(
         "--ip-address",
@@ -273,8 +273,8 @@ def on_button_rj_pressed() -> None:
     print(f"  📸 Camera Frame:     {CAMERA_FRAME_STREAMING_RATE} Hz")
     print(f"  📊 Joint State:      {JOINT_STATE_STREAMING_RATE} Hz")
 
-    # Connect to NeuraCore
-    print("\n🔧 Initializing NeuraCore...")
+    # Connect to Neuracore
+    print("\n🔧 Initializing Neuracore...")
     nc.login()
     nc.connect_robot(
         robot_name="AgileX PiPER",
@@ -293,7 +293,7 @@ def on_button_rj_pressed() -> None:
     )
 
     # Initialize logging queue and worker pool
-    print("\n📝 Initializing NeuraCore logging queue and worker pool...")
+    print("\n📝 Initializing Neuracore logging queue and worker pool...")
     logging_queue: Queue = Queue()
     logging_workers = []
 
diff --git a/examples/4_rollout_neuracore_policy.py b/examples/4_rollout_neuracore_policy.py
index 0d0a36e..3c4b56b 100644
--- a/examples/4_rollout_neuracore_policy.py
+++ b/examples/4_rollout_neuracore_policy.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
-"""Piper Robot Test with NeuraCore policy.
+"""Piper Robot Test with Neuracore policy.
 
-This script loads a trained NeuraCore policy, reads status from the piper robot
+This script loads a trained Neuracore policy, reads status from the piper robot
 controlled by the Meta Quest controller, and replays the prediction horizon virtually
 on Viser to test the stability of the policy output.
 """
@@ -656,7 +656,7 @@ def update_visualization(
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser(
-        description="Piper Robot Test with NeuraCore Policy - REAL ROBOT CONTROL"
+        description="Piper Robot Test with Neuracore Policy - REAL ROBOT CONTROL"
     )
     parser.add_argument(
         "--ip-address",
@@ -695,8 +695,8 @@ def update_visualization(
     print(f"  📊 Joint State:      {JOINT_STATE_STREAMING_RATE} Hz")
     print(f"  🖥️  Visualization:    {VISUALIZATION_RATE} Hz")
 
-    # Connect to NeuraCore
-    print("\n🔧 Initializing NeuraCore...")
+    # Connect to Neuracore
+    print("\n🔧 Initializing Neuracore...")
     nc.login()
     nc.connect_robot(
         robot_name="AgileX PiPER",
diff --git a/examples/5_rollout_neuracore_policy_minimal.py b/examples/5_rollout_neuracore_policy_minimal.py
index b9b321b..7f8d4fc 100644
--- a/examples/5_rollout_neuracore_policy_minimal.py
+++ b/examples/5_rollout_neuracore_policy_minimal.py
@@ -73,7 +73,7 @@ def convert_predictions_to_horizon_dict(predictions: dict) -> dict[str, list[flo
 
 
 def log_current_state(data_manager: DataManager) -> None:
-    """Log current state to NeuraCore."""
+    """Log current state to Neuracore."""
     current_joint_angles = data_manager.get_current_joint_angles()
     if current_joint_angles is None:
         print("⚠️  No joint angles available")
@@ -91,13 +91,13 @@ def log_current_state(data_manager: DataManager) -> None:
         print("⚠️  No RGB image available")
         return
 
-    # Prepare data for NeuraCore logging
+    # Prepare data for Neuracore logging
     joint_angles_rad = np.radians(current_joint_angles)
     joint_positions_dict = {
         joint_name: angle for joint_name, angle in zip(JOINT_NAMES, joint_angles_rad)
     }
 
-    # Log joint positions, parallel gripper open amounts, and RGB image to NeuraCore
+    # Log joint positions, parallel gripper open amounts, and RGB image to Neuracore
     nc.log_joint_positions(joint_positions_dict)
     nc.log_parallel_gripper_open_amount(GRIPPER_LOGGING_NAME, gripper_open_value)
     nc.log_rgb(CAMERA_LOGGING_NAME, rgb_image)
@@ -214,8 +214,8 @@ def execute_horizon(
     print("PIPER POLICY ROLLOUT")
     print("=" * 60)
 
-    # Initialize NeuraCore
-    print("\n🔧 Initializing NeuraCore...")
+    # Initialize Neuracore
+    print("\n🔧 Initializing Neuracore...")
     nc.login()
     nc.connect_robot(
         robot_name="AgileX PiPER",
diff --git a/examples/6_visualize_policy_from_dataset.py b/examples/6_visualize_policy_from_dataset.py
index 0b6a34e..fdf8dee 100644
--- a/examples/6_visualize_policy_from_dataset.py
+++ b/examples/6_visualize_policy_from_dataset.py
@@ -52,8 +52,8 @@
 if (args.train_run_name is None) == (args.model_path is None):
     parser.error("Exactly one of --train-run-name or --model-path must be provided")
 
-# Connect to NeuraCore
-print("🔧 Initializing NeuraCore...")
+# Connect to Neuracore
+print("🔧 Initializing Neuracore...")
 nc.login()
 nc.connect_robot(robot_name="AgileX PiPER", urdf_path=str(URDF_PATH), overwrite=False)
 
@@ -174,7 +174,7 @@ def select_random_state() -> None:
         for joint_name in JOINT_NAMES:
             if joint_name in joint_data:
                 joint_positions_dict[joint_name] = joint_data[joint_name].value
-        # Log to NeuraCore for visualization
+        # Log to Neuracore for visualization
         nc.log_joint_positions(joint_positions_dict)
 
     # Extract gripper
@@ -183,7 +183,7 @@ def select_random_state() -> None:
         gripper_data = step.data[DataType.PARALLEL_GRIPPER_OPEN_AMOUNTS]
         if GRIPPER_LOGGING_NAME in gripper_data:
             gripper_value = gripper_data[GRIPPER_LOGGING_NAME].open_amount
-            # Log to NeuraCore for visualization
+            # Log to Neuracore for visualization
             nc.log_parallel_gripper_open_amount(GRIPPER_LOGGING_NAME, gripper_value)
 
     # Extract RGB image
@@ -196,7 +196,7 @@ def select_random_state() -> None:
             image_pil = Image.fromarray(rgb_image)
             image_pil.save("current_image.png")
             print("💾 Saved image to current_image.png")
-            # Log to NeuraCore for visualization
+            # Log to Neuracore for visualization
             nc.log_rgb(CAMERA_LOGGING_NAME, rgb_image)
 
     # Get policy prediction
@@ -264,7 +264,7 @@ def select_random_state() -> None:
                 )
                 urdf_vis.update_cfg(joint_config)
 
-                # Log to NeuraCore for visualization
+                # Log to Neuracore for visualization
                 # NOTE: we log to joint positions instead of joint target positions
                 # because the latter is not visualized by Neuracore
                 joint_config_dict = {
diff --git a/examples/common/configs.py b/examples/common/configs.py
index bb3883c..371127c 100644
--- a/examples/common/configs.py
+++ b/examples/common/configs.py
@@ -39,7 +39,7 @@
 VISUALIZATION_RATE = 60.0  # GUI updates
 ROBOT_RATE = 100.0
 
-# NeuraCore data collection rates
+# Neuracore data collection rates
 JOINT_STATE_STREAMING_RATE = 100.0  # Data collection rate for neuracore
 CAMERA_FRAME_STREAMING_RATE = 60.0  # Data collection rate for camera frame