diff --git a/docs/modules/0_getting_started/0_getting_started_main.rst b/docs/modules/0_getting_started/0_getting_started_main.rst
index cfec5b3c73..cb2cba4784 100644
--- a/docs/modules/0_getting_started/0_getting_started_main.rst
+++ b/docs/modules/0_getting_started/0_getting_started_main.rst
@@ -8,6 +8,6 @@ Getting Started
    :caption: Contents
 
    1_what_is_python_robotics
-   2_how_to_use
+   2_how_to_run_sample_codes
    3_how_to_contribute
    4_how_to_read_textbook
diff --git a/docs/modules/0_getting_started/1_what_is_python_robotics_main.rst b/docs/modules/0_getting_started/1_what_is_python_robotics_main.rst
index 32b1ad4e5d..8c932b7263 100644
--- a/docs/modules/0_getting_started/1_what_is_python_robotics_main.rst
+++ b/docs/modules/0_getting_started/1_what_is_python_robotics_main.rst
@@ -6,6 +6,9 @@ What is PythonRobotics?
 This is an Open Source Software (OSS) project: PythonRobotics, which is a Python code collection of robotics algorithms.
 These codes are developed under `MIT license`_ and on `GitHub`_.
 
+.. _GitHub: https://github.com/AtsushiSakai/PythonRobotics
+.. _`MIT license`: https://github.com/AtsushiSakai/PythonRobotics/blob/master/LICENSE
+
 This project has three main philosophies below:
 
 Philosophy 1. Easy to understand each algorithm's basic idea.
@@ -60,35 +63,32 @@ For example, Kalman filters and particle filter for localization,
 grid mapping for mapping,
 dynamic programming based approaches and sampling based approaches for path planning,
 and optimal control based approach for path tracking.
-These algorithms are implemented in this project.
+These algorithms are implemented and explained in the textbook in this project.
 
 Philosophy 3. Minimum dependency.
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Each sample code is written in Python3 and only depends on some standard
-modules for readability and ease of use.
-
-
-.. _GitHub: https://github.com/AtsushiSakai/PythonRobotics
-.. _`MIT license`: https://github.com/AtsushiSakai/PythonRobotics/blob/master/LICENSE
-
-
-See this paper for more details:
+Each sample code of PythonRobotics is written in Python3 and only depends on
+some standard modules for readability and ease to setup and use.
 
-- PythonRobotics: a Python code collection of robotics algorithms: https://arxiv.org/abs/1808.10703
 
 .. _`Requirements`:
 
 Requirements
 ============
 
--  `Python 3.12.x`_
--  `NumPy`_
--  `SciPy`_
--  `Matplotlib`_
--  `cvxpy`_
+PythonRobotics depends only on the following five libraries,
+including Python itself, to run each sample code.
 
-For development:
+-  `Python 3.12.x`_ (for Python runtime)
+-  `NumPy`_ (for matrix operation)
+-  `SciPy`_ (for scientific operation)
+-  `cvxpy`_ (for convex optimization)
+-  `Matplotlib`_ (for visualization)
+
+If you only need to run the code, the five libraries mentioned above are sufficient.
+However, for code development or creating documentation for the textbook,
+the following additional libraries are required.
 
 -  `pytest`_ (for unit tests)
 -  `pytest-xdist`_ (for parallel unit tests)
@@ -107,3 +107,18 @@ For development:
 .. _`Sphinx`: https://www.sphinx-doc.org/en/master/index.html
 .. _`ruff`: https://github.com/astral-sh/ruff
 
+For instructions on installing the above libraries, please refer to
+this section ":ref:`How to run sample codes`".
+
+Arxiv paper
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+We have published a paper on this project on Arxiv in 2018.
+
+See this paper for more details about this Project:
+
+- `PythonRobotics: a Python code collection of robotics algorithms`_ (`BibTeX`_)
+
+.. _`PythonRobotics: a Python code collection of robotics algorithms`: https://arxiv.org/abs/1808.10703
+.. _`BibTeX`: https://github.com/AtsushiSakai/PythonRoboticsPaper/blob/master/python_robotics.bib
+
diff --git a/docs/modules/0_getting_started/2_how_to_use_main.rst b/docs/modules/0_getting_started/2_how_to_run_sample_codes_main.rst
similarity index 84%
rename from docs/modules/0_getting_started/2_how_to_use_main.rst
rename to docs/modules/0_getting_started/2_how_to_run_sample_codes_main.rst
index d21b07c1a3..eff54d3426 100644
--- a/docs/modules/0_getting_started/2_how_to_use_main.rst
+++ b/docs/modules/0_getting_started/2_how_to_run_sample_codes_main.rst
@@ -1,5 +1,7 @@
-How to use
-----------
+.. _`How to run sample codes`:
+
+How to run sample codes
+-------------------------
 
 1. Clone this repo and go into dir.