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 <li>Controlling multiple tasks simultaneously</li>
 <li>reactive robot control, i.e. it does not plan ahead the next robot control actions</li>
 </ul>
-<p>WBC was initiated and is currently developed at the <a href="http://robotik.dfki-bremen.de/en/startpage.html">Robotics Innovation Center</a> of the <a href="http://www.dfki.de">German Research Center for Artificial Intelligence (DFKI)</a> in Bremen. It is part of the ARC-OPT (Adaptive Robot Control using Optimization) framework, which facilitates learning and optimizing whole-body controllers from data obtained, e.g., in user demonstrations. Also see the <a href="https://robotik.dfki-bremen.de/en/research/softwaretools/arc-opt/">ARC-OPT website</a> of the Robotics Innovation Center.</p>
+<p>WBC was initiated and is currently developed at the <a href="http://robotik.dfki-bremen.de/en/startpage.html">Robotics Innovation Center</a> of the <a href="http://www.dfki.de">German Research Center for Artificial Intelligence (DFKI)</a> in Bremen. Also see the <a href="https://robotik.dfki-bremen.de/en/research/softwaretools/arc-opt/">ARC-OPT website</a> of the Robotics Innovation Center.</p>
 <p><img src="https://github.com/ARC-OPT/wbc/blob/master/doc/images/DFKI_Logo_e_schrift.jpg" alt="" width="400" class="inline"/></p>
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 How does it compare to other WBC libraries?</h2>