diff --git a/docs/changelog.md b/docs/changelog.md
index 9a85deff01..1462a95c20 100644
--- a/docs/changelog.md
+++ b/docs/changelog.md
@@ -1,12 +1,39 @@
# Changelog
+## Version 1.5.1
+- **Documentation Updates**:
+ - Updated `basicusage.md`, overview page, demo docs, teleop usage info, devices, and related docs.
+ - Added a CI doc update workflow and `.nojekyll` fix.
+ - Simplified composite controller keywords and updated robots section and task images.
+
+- **Bug Fixes**:
+ - Fixed segmentation demo, part controller demo, demo renderer, joint and actuator issues, equality removal, and orientation mismatch in Fourier hands.
+
+- **Features/Enhancements**:
+ - Added GymWrapper support for both `gym` and `gymnasium` with `dict_obs`.
+ - Updated DexMimicGen assets and included a default whole-body Mink IK config.
+ - Improved CI to check all tests and print video save paths in demo recordings.
+
+- **Miscellaneous**:
+ - Added troubleshooting for SpaceMouse failures and terminated `mjviewer` on resets.
+ - Adjusted OSC position fixes and updated part controller JSONs.
## Version 1.5.0
-
-
Breaking API changes
-
-
\ No newline at end of file
+The 1.5 release of **Robosuite** introduces significant advancements to extend flexibility and realism in robotic simulations. Key highlights include support for diverse robot embodiments (e.g., humanoids), custom robot compositions, composite controllers (such as whole-body controllers), expanded teleoperation devices, and photorealistic rendering capabilities.
+
+### New Features
+- **Diverse Robot Embodiments**: Support for complex robots, including humanoids, allowing exploration of advanced manipulation and mobility tasks. Please see [robosuite_models](https://github.com/ARISE-Initiative/robosuite_models) for extra robosuite-compatible robot models.
+- **Custom Robot Composition**: Users can now build custom robots from modular components, offering extensive configuration options.
+- **Composite Controllers**: New controller abstraction includes whole-body controllers, and the ability to control robots with composed body parts, arms, and grippers.
+- **Additional Teleoperation Devices**: Expanded compatibility with teleoperation tools like drag-and-drop in the MuJoCo viewer and Apple Vision Pro.
+- **Photorealistic Rendering**: Integration of NVIDIA Isaac Sim for enhanced, real-time photorealistic visuals, bringing simulations closer to real-world fidelity.
+
+### Improvements
+- **Updated Documentation**: New tutorials and expanded documentation on utilizing advanced controllers, teleoperation, and rendering options.
+- **Simulation speed improvement**: By default we set the `lite_physics` flag to True to skip redundant calls to [`env.sim.step()`](https://github.com/ARISE-Initiative/robosuite/blob/29e73bd41f9bc43ba88bb7d2573b868398905819/robosuite/environments/base.py#L444)
+
+### Migration
+
+- Composite controller refactoring: please see example of [usage](https://github.com/ARISE-Initiative/robosuite/blob/29e73bd41f9bc43ba88bb7d2573b868398905819/robosuite/examples/third_party_controller/mink_controller.py#L421)
diff --git a/docs/conf.py b/docs/conf.py
index 47880736b7..6a3006dcd8 100755
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -84,7 +84,7 @@
# General information about the project.
project = "robosuite"
-copyright = "Stanford University and The University of Texas at Austin 2022"
+copyright = "Stanford University and The University of Texas at Austin 2025"
author = "the robosuite core team"
# The version info for the project you're documenting, acts as replacement for
diff --git a/robosuite/__init__.py b/robosuite/__init__.py
index 5366c7b79b..9cf1965bb7 100644
--- a/robosuite/__init__.py
+++ b/robosuite/__init__.py
@@ -41,7 +41,7 @@
"Could not load the mink-based whole-body IK. Make sure you install related import properly, otherwise you will not be able to use the default IK controller setting for GR1 robot."
)
-__version__ = "1.5.0"
+__version__ = "1.5.1"
__logo__ = """
; / ,--.
["] ["] ,< |__**|
diff --git a/robosuite/renderers/context/egl_context.py b/robosuite/renderers/context/egl_context.py
index 31b58355e7..093953947d 100644
--- a/robosuite/renderers/context/egl_context.py
+++ b/robosuite/renderers/context/egl_context.py
@@ -1,4 +1,4 @@
-# Modifications Copyright 2022 The robosuite Authors
+# Modifications Copyright 2025 The robosuite Authors
# Original Copyright 2018 The dm_control Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
diff --git a/setup.py b/setup.py
index e036afceaf..982720b3be 100644
--- a/setup.py
+++ b/setup.py
@@ -33,7 +33,7 @@
author="Yuke Zhu",
url="https://github.com/ARISE-Initiative/robosuite",
author_email="yukez@cs.utexas.edu",
- version="1.5.0",
+ version="1.5.1",
long_description=long_description,
long_description_content_type="text/markdown",
)