diff --git a/README.md b/README.md
index ebfe9b5..e116b1f 100644
--- a/README.md
+++ b/README.md
@@ -1,12 +1,10 @@
-# active_grasp
+# Closed-Loop Next-Best-View Planning for Target-Driven Grasping
 
-Accompanying code for our IROS 2022 submission: Closed-Loop Next-Best-View Planning for Target-Driven Grasping.
+This repository contains the implementation of our IROS 2022 submission, _"Closed-Loop Next-Best-View Planning for Target-Driven Grasping"_.
 
 ## Setup
 
-While the policies are hardware-agnostic, the experiments are designed to work with a Franka Emika Panda and an Intel Realsense D435 attached to the wrist of the robot.
-
-The code was developed and tested on Ubuntu 20.04 with ROS Noetic. It depends on the following external packages:
+The experiments were conducted with a Franka Emika Panda arm and a Realsense D435 attached to the wrist of the robot. The code was developed and tested on Ubuntu 20.04 with ROS Noetic. It depends on the following external packages:
 
 - [MoveIt](https://github.com/ros-planning/panda_moveit_config)
 - [robot_helpers](https://github.com/mbreyer/robot_helpers)
@@ -20,9 +18,9 @@ Additional Python dependencies can be installed with
 pip install -r requirements.txt
 ```
 
-Download the [assets folder](https://drive.google.com/file/d/1JzbEOVZ8qVRtOrQt15h9teUk8sVu-YGP/view) and place it inside the cloned repository.
+Run `catkin build active_grasp` to build the package.
 
-Finally, run `catkin build active_grasp` to build the package.
+Finally, download the [assets folder](https://drive.google.com/file/d/1JzbEOVZ8qVRtOrQt15h9teUk8sVu-YGP/view) and extract it inside the repository.
 
 ## Experiments
 
@@ -35,22 +33,14 @@ roscore
 To run simulation experiments.
 
 ```
-# Start the simulation environment
 roslaunch active_grasp env.launch sim:=true
-
-# Run the experiment
 python3 scripts/run.py nbv
 ```
 
-To run real world experiments.
+To run real-world experiments.
 
 ```
-# Start the hardware drivers
 roslaunch active_grasp hw.launch
-
-# Launch the hw environment
 roslaunch active_grasp env.launch sim:=false
-
-# Run the experiment
 python3 scripts/run.py nbv --wait-for-input
 ```