diff --git a/docs/competitions/f1tenth-sim-racing-rules.md b/docs/competitions/f1tenth-sim-racing-rules.md
index 65dd879..7bea25d 100644
--- a/docs/competitions/f1tenth-sim-racing-rules.md
+++ b/docs/competitions/f1tenth-sim-racing-rules.md
@@ -43,7 +43,7 @@ The competition will take place in 2 stages:
 </ul>
 
 <p align="justify">
-Following is a brief summary of the main events of the competition:
+Following is a summary of the main events of the competition:
 </p>
 
 <ul class="justify-list">
@@ -72,7 +72,7 @@ Following are the requirements to progress along each phase of the competition:
   <li><b>Registration:</b> Interested teams must register for the competition before the deadline. Organizers may extend registration deadlines in certain cases; however, direct requests for deadline extension from any team(s) will not be entertained. It is recommended to register your team well in advance to avoid last-minute rush.</li>
   <li><b>Orientations:</b> It is highly recommended for all teams to attend the online orientation sessions to understand the competition code-of-conduct and get familiar with the simulation framework. These events can also be used to get some of your doubts clarified!</li>
   <li><b>Qualification:</b> Teams will have to demonstrate successful completion of 10 autonomous laps around the practice track provided ahead of time. During this phase, speed is not very important, but failure to complete 10 consecutive autonomous laps without exceeding the collision count tolerance will result in disqualification of that team. Passing the qualification session entitles a team for the final race.</li>
-  <li><b>Competition:</b> During this phase, the clock will be ticking and the objective would be to complete 10 consecutive autonomous laps as fast as possible without exceeding the collision count tolerance. Failure to respect the collision count tolerance will result in disqualification of that team. Teams will be ranked on a leaderboard in the ascending order of their time to completion (10 autonomous racing laps).</li>
+  <li><b>Competition:</b> During this phase, the clock will be ticking, and the objective would be to complete 10 consecutive autonomous laps as fast as possible without exceeding the collision count tolerance. Failure to respect the collision count tolerance will result in disqualification of that team. Teams will be ranked on a leaderboard in the ascending order of their time to completion (10 autonomous racing laps).</li>
 </ul>
 
 ### 2.2. Competition Terminology
@@ -82,12 +82,12 @@ Following are the definitions of some competition terminologies:
 </p>
 
 <ul class="justify-list">
-  <li><b>Collision:</b> Any contact between the colliders of the simulated vehicle and the racetrack bounds (except the wheels touching the ground) is considered a collision. A collision will incur a compounding penalty of 10 seconds (i.e. 10 seconds for first collision, 20 seconds for the second, 30 seconds for the third, and so on). Colliding more than 5 times in a single racing event will lead to disqualification. Each collision will automatically reset the vehicle to the nearest checkpoint (your localization algorithm will have to be robust against this re-setting action). Lap timer will not reset upon collision.</li>
+  <li><b>Collision:</b> Any contact between the colliders of the simulated vehicle and the racetrack bounds (except the wheels touching the ground) is considered a collision. A collision will incur a compounding penalty of 10 seconds (i.e., 10 seconds for first collision, 20 seconds for the second, 30 seconds for the third, and so on). Colliding more than 5 times in a single racing event will lead to disqualification. Each collision will automatically reset the vehicle to the nearest checkpoint (your localization algorithm will have to be robust against this re-setting action). Lap timer will not reset upon collision.</li>
   <li><b>Warm-Up Lap:</b> This is the first lap of a race. The time or collisions during the warm-up lap will not be considered. This lap acts as a buffer since your algorithms may take time to launch and connect with the simulator, while the lap timer is on.</li>
   <li><b>Race Laps:</b> These are a set of 10 laps immediately following the warm-up lap. The race laps start as soon as the vehicle crosses the finish line in the warm-up lap. The time and collisions of the race laps will be considered.</li>
   <li><b>Cool-Down Lap:</b> This is the last lap of a race. The time or collisions during the cool-down lap will not be considered. Completing this lap is not required for the competition, but this can be a good time to "show-off" your skills without worrying about collisions!</li>
   <li><b>Checkpoints:</b> The racetrack has several "virtual" checkpoints, spaced approximately equally along the track. These checkpoints cover the entire width of the racetrack and are triggered as the vehicle passes through them. The start/finish line is the final "special" checkpoint. The exact location of the checkpoints will not be revealed to the participants.</li>
-  <li><b>Lap Time:</b> This is the amount of time that the vehicle takes to complete one full lap around the racetrack. The timer starts as soon as the previous lap ends and stops after the current lap ends. Failing to pass all the checkpoints before crossing the finish line (e.g. driving in opposite direction) will not stop the lap timer.</li>
+  <li><b>Lap Time:</b> This is the amount of time that the vehicle takes to complete one full lap around the racetrack. The timer starts as soon as the previous lap ends and stops after the current lap ends. Failing to pass all the checkpoints before crossing the finish line (e.g., driving in opposite direction) will not stop the lap timer.</li>
   <li><b>Race Time:</b> This is the cumulative time that the vehicle takes to complete 10 race laps around the racetrack. The timer starts as soon as the warm-up lap ends and stops after the 10th race lap ends. Collision penalties are added separately.</li>
   <li><b>Best Lap Time:</b> This is the amount of time that the vehicle took to complete the fastest race lap around the racetrack. This is the minimum lap time across all the 10 race laps.</li>
   <li><b>Average Lap Time:</b> This is the average time that the vehicle took to complete a race laps (out of 10 race laps) around the racetrack. This is the statistical mean of all the 10 race lap times.</li>
@@ -96,7 +96,7 @@ Following are the definitions of some competition terminologies:
 ### 2.3. Competition Execution 
 
 <p align="justify">
-Following is a brief summary of a typical racing event:
+Following is a summary of a typical racing event:
 </p>
 
 <ul class="justify-list">
@@ -126,14 +126,14 @@ Any kind of autonomous racing algorithm that makes use of raw perception data to
 </p>
 
 <p align="justify">
-However, utilizing simulation ground truth data or controlling aspects other than the vehicle actuators is not allowed. Furthermore, exploiting the competition framework unethically (e.g. tapping into the back-end, frame-grabbing the front-end, finding loop-holes in the framework, tampering with data streaming/logging, etc.) is considered a serious malpractice.
+However, utilizing simulation ground truth data or controlling aspects other than the vehicle actuators is not allowed. Furthermore, exploiting the competition framework unethically (e.g., tapping into the back-end, frame-grabbing the front-end, finding loop-holes in the framework, tampering with data streaming/logging, etc.) is considered a serious malpractice.
 </p>
 
 !!! info
     Please refer to the Technical Guide for more information about permissible and restricted data streams.
 
 <p align="justify">
-Since this is a global event held at some of the world's premire conferences, we ask all teams to strictly observe ethical integrity and stick to the code of conduct of this competition. Any malpractice or plagiarism in terms of submission code or other material shall be considered a serious breach of the code of conduct. Depending upon the situation, organizers reserve the right to issue a warning, public citation and/or disqualification of the responsible team from the competition.
+Since this is a global event held at some of the world's premier conferences, we ask all teams to strictly observe ethical integrity and stick to the code of conduct of this competition. Any malpractice or plagiarism in terms of submission code or other material shall be considered a serious breach of the code of conduct. Depending upon the situation, organizers reserve the right to issue a warning, public citation, and/or disqualification of the responsible team from the competition.
 </p>
 
 ### 2.5. Evaluation Criteria
@@ -143,8 +143,8 @@ Following are the evaluation criteria for the competition:
 </p>
 
 <ul class="justify-list">
-  <li>The ultimate evaluation criteria for the race is <b>total race time.</b> However, best lap time and/or other metrics may be used in case of a tie.</li>
-  <li>A collision will incur a compounding <b>penalty</b> of 10 seconds (i.e. 10 seconds for first collision, 20 seconds for the second, 30 seconds for the third, and so on).</li>
+  <li>The ultimate evaluation criterion for the race is <b>total race time.</b> However, best lap time and/or other metrics may be used in case of a tie.</li>
+  <li>A collision will incur a compounding <b>penalty</b> of 10 seconds (i.e., 10 seconds for first collision, 20 seconds for the second, 30 seconds for the third, and so on).</li>
   <li>The maximum number of collisions permissible for a race (qualification/competition) is 5, beyond which the team will be <b>disqualified.</b></li>
   <li>Lap times or collisions during the warm-up and cool-down laps will not be considered, only those during the <b>10 race laps</b> will be considered.</li>
 </ul>
@@ -200,7 +200,7 @@ This is a competition, and all teams have the right to keep their source code hi
 </ul>
 
 <p align="justify">
-However, <b>after the competition,</b> we encourage teams to publish their source code on GitHub under an open-source license. We also encourage teams to make their Docker containers public on DockerHub. Teams can also choose to make other race data (e.g. videos, logs, reports, etc.) publicly available. This will increase the visibility of their work and increase the quality of the future competitions.
+However, <b>after the competition,</b> we encourage teams to publish their source code on GitHub under an open-source license. We also encourage teams to make their Docker containers public on DockerHub. Teams can also choose to make other race data (e.g., videos, logs, reports, etc.) publicly available. This will increase the visibility of their work and increase the quality of the future competitions.
 </p>
 
 ## 4. Citation