diff --git a/examples/python-ros2-dataflow/README.md b/examples/python-ros2-dataflow/README.md
new file mode 100644
index 00000000..b07f18fc
--- /dev/null
+++ b/examples/python-ros2-dataflow/README.md
@@ -0,0 +1,9 @@
+# Quick Python ROS2 example
+
+To get started:
+
+```bash
+source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node &
+source /opt/ros/humble/setup.bash && ros2 run examples_rclcpp_minimal_service service_main &
+cargo run --example python-ros2-dataflow --features="ros2-examples"
+```
diff --git a/examples/rust-dataflow/README.md b/examples/rust-dataflow/README.md
new file mode 100644
index 00000000..71eaf706
--- /dev/null
+++ b/examples/rust-dataflow/README.md
@@ -0,0 +1,7 @@
+# Quick Rust example
+
+To get started:
+
+```bash
+cargo run --example rust-dataflow
+```
diff --git a/examples/speech-to-text/README.md b/examples/speech-to-text/README.md
index 1853d8a4..6111a79c 100644
--- a/examples/speech-to-text/README.md
+++ b/examples/speech-to-text/README.md
@@ -1,12 +1,31 @@
-# Dora echo example
+# Dora Speech to Text example
 
 Make sure to have, dora, pip and cargo installed.
 
 ```bash
-dora up
-dora build dataflow.yml
-dora start dataflow.yml
+dora build https://raw.githubusercontent.com/dora-rs/dora/main/examples/speech-to-text/whisper.yml
+dora run https://raw.githubusercontent.com/dora-rs/dora/main/examples/speech-to-text/whisper.yml
+
+# Wait for the whisper model to download which can takes a bit of time.
+```
+
+## Graph Visualization
+
+```mermaid
+
+flowchart TB
+  dora-microphone
+  dora-vad
+  dora-distil-whisper
+  dora-rerun[/dora-rerun\]
+subgraph ___dora___ [dora]
+  subgraph ___timer_timer___ [timer]
+    dora/timer/secs/2[\secs/2/]
+  end
+end
+  dora/timer/secs/2 -- tick --> dora-microphone
+  dora-microphone -- audio --> dora-vad
+  dora-vad -- audio as input --> dora-distil-whisper
+  dora-distil-whisper -- text as original_text --> dora-rerun
 
-# In another terminal
-terminal-print
 ```
diff --git a/examples/speech-to-text/dataflow.yml b/examples/speech-to-text/whisper-dev.yml
similarity index 93%
rename from examples/speech-to-text/dataflow.yml
rename to examples/speech-to-text/whisper-dev.yml
index bad75e7e..1742bd9f 100644
--- a/examples/speech-to-text/dataflow.yml
+++ b/examples/speech-to-text/whisper-dev.yml
@@ -2,6 +2,8 @@ nodes:
   - id: dora-microphone
     build: pip install -e ../../node-hub/dora-microphone
     path: dora-microphone
+    inputs:
+      tick: dora/timer/millis/2000
     outputs:
       - audio
 
diff --git a/examples/speech-to-text/whisper.yml b/examples/speech-to-text/whisper.yml
new file mode 100644
index 00000000..ce919154
--- /dev/null
+++ b/examples/speech-to-text/whisper.yml
@@ -0,0 +1,33 @@
+nodes:
+  - id: dora-microphone
+    description: Microphone
+    build: pip install dora-microphone
+    path: dora-microphone
+    inputs:
+      tick: dora/timer/millis/2000
+    outputs:
+      - audio
+
+  - id: dora-vad
+    build: pip install dora-vad
+    path: dora-vad
+    inputs:
+      audio: dora-microphone/audio
+    outputs:
+      - audio
+
+  - id: dora-whisper
+    build: pip install dora-distil-whisper
+    path: dora-distil-whisper
+    inputs:
+      input: dora-vad/audio
+    outputs:
+      - text
+    env:
+      TARGET_LANGUAGE: english
+
+  - id: dora-rerun
+    build: pip install dora-rerun
+    path: dora-rerun
+    inputs:
+      original_text: dora-whisper/text
diff --git a/examples/vlm/README.md b/examples/vlm/README.md
index ab6eec8c..25db91be 100644
--- a/examples/vlm/README.md
+++ b/examples/vlm/README.md
@@ -1 +1,11 @@
 # Quick example on using a VLM with dora-rs
+
+Make sure to have, dora, pip and cargo installed.
+
+```bash
+dora build https://raw.githubusercontent.com/dora-rs/dora/main/examples/vlm/qwenvl.yml
+
+dora run https://raw.githubusercontent.com/dora-rs/dora/main/examples/vlm/qwenvl.yml
+
+# Wait for the qwenvl, whisper model to download which can takes a bit of time.
+```
diff --git a/examples/vlm/dataflow.yml b/examples/vlm/dataflow.yml
deleted file mode 100644
index 51908b37..00000000
--- a/examples/vlm/dataflow.yml
+++ /dev/null
@@ -1,37 +0,0 @@
-nodes:
-  - id: camera
-    build: pip install -e ../../node-hub/opencv-video-capture
-    path: opencv-video-capture
-    inputs:
-      tick: dora/timer/millis/50
-    outputs:
-      - image
-    env:
-      CAPTURE_PATH: 0
-      IMAGE_WIDTH: 640
-      IMAGE_HEIGHT: 480
-
-  - id: dora-qwenvl
-    build: pip install -e ../../node-hub/dora-qwenvl
-    path: dora-qwenvl
-    inputs:
-      image:
-        source: camera/image
-        queue_size: 1
-      tick: dora/timer/millis/400
-    outputs:
-      - text
-      - tick
-    env:
-      DEFAULT_QUESTION: Describe the image in a very short sentence.
-      # For China
-      # USE_MODELSCOPE_HUB: true
-
-  - id: plot
-    build: pip install -e ../../node-hub/opencv-plot
-    path: opencv-plot
-    inputs:
-      image:
-        source: camera/image
-        queue_size: 1
-      text: dora-qwenvl/tick
diff --git a/examples/vlm/dataflow_rerun.yml b/examples/vlm/qwenvl-dev.yml
similarity index 54%
rename from examples/vlm/dataflow_rerun.yml
rename to examples/vlm/qwenvl-dev.yml
index 6c933a2f..2c0846bb 100644
--- a/examples/vlm/dataflow_rerun.yml
+++ b/examples/vlm/qwenvl-dev.yml
@@ -1,4 +1,30 @@
 nodes:
+  - id: dora-microphone
+    build: pip install -e ../../node-hub/dora-microphone
+    path: dora-microphone
+    inputs:
+      tick: dora/timer/millis/2000
+    outputs:
+      - audio
+
+  - id: dora-vad
+    build: pip install -e ../../node-hub/dora-vad
+    path: dora-vad
+    inputs:
+      audio: dora-microphone/audio
+    outputs:
+      - audio
+
+  - id: dora-distil-whisper
+    build: pip install -e ../../node-hub/dora-distil-whisper
+    path: dora-distil-whisper
+    inputs:
+      input: dora-vad/audio
+    outputs:
+      - text
+    env:
+      TARGET_LANGUAGE: english
+
   - id: camera
     build: pip install -e ../../node-hub/opencv-video-capture
     path: opencv-video-capture
@@ -18,10 +44,9 @@ nodes:
       image:
         source: camera/image
         queue_size: 1
-      tick: dora/timer/millis/400
+      text: dora-distil-whisper/text
     outputs:
       - text
-      - tick
     env:
       DEFAULT_QUESTION: Describe the image in a very short sentence.
       # USE_MODELSCOPE_HUB: true
@@ -33,7 +58,8 @@ nodes:
       image:
         source: camera/image
         queue_size: 1
-      text: dora-qwenvl/tick
+      text_qwenvl: dora-qwenvl/text
+      text_whisper: dora-distil-whisper/text
     env:
       IMAGE_WIDTH: 640
       IMAGE_HEIGHT: 480
diff --git a/examples/vlm/qwenvl.yml b/examples/vlm/qwenvl.yml
new file mode 100755
index 00000000..796b9b1a
--- /dev/null
+++ b/examples/vlm/qwenvl.yml
@@ -0,0 +1,67 @@
+nodes:
+  - id: dora-microphone
+    build: pip install dora-microphone
+    path: dora-microphone
+    inputs:
+      tick: dora/timer/millis/2000
+    outputs:
+      - audio
+
+  - id: dora-vad
+    build: pip install dora-vad
+    path: dora-vad
+    inputs:
+      audio: dora-microphone/audio
+    outputs:
+      - audio
+
+  - id: dora-distil-whisper
+    build: pip install dora-distil-whisper
+    path: dora-distil-whisper
+    inputs:
+      input: dora-vad/audio
+    outputs:
+      - text
+    env:
+      TARGET_LANGUAGE: english
+
+  - id: camera
+    build: pip install opencv-video-capture
+    path: opencv-video-capture
+    inputs:
+      tick: dora/timer/millis/50
+    outputs:
+      - image
+    env:
+      CAPTURE_PATH: 0
+      IMAGE_WIDTH: 640
+      IMAGE_HEIGHT: 480
+
+  - id: dora-qwenvl
+    build: pip install dora-qwenvl
+    path: dora-qwenvl
+    inputs:
+      image:
+        source: camera/image
+        queue_size: 1
+      text: dora-distil-whisper/text
+    outputs:
+      - text
+    env:
+      DEFAULT_QUESTION: Describe the image in a very short sentence.
+      # USE_MODELSCOPE_HUB: true
+
+  - id: plot
+    build: pip install dora-rerun
+    path: dora-rerun
+    inputs:
+      image:
+        source: camera/image
+        queue_size: 1
+      text_qwenvl: dora-qwenvl/text
+      text_whisper: dora-distil-whisper/text
+    env:
+      IMAGE_WIDTH: 640
+      IMAGE_HEIGHT: 480
+      README: |
+        # Visualization of QwenVL2
diff --git a/node-hub/dora-distil-whisper/README.md b/node-hub/dora-distil-whisper/README.md
index f1707fc9..0c1854a4 100644
--- a/node-hub/dora-distil-whisper/README.md
+++ b/node-hub/dora-distil-whisper/README.md
@@ -1,3 +1,30 @@
-# Dora Node for transforming speech to text (English only)
+# Dora Whisper Node for transforming speech to text
 
-Check example at [examples/speech-to-text](examples/speech-to-text)
+## YAML Specification
+
+This node is supposed to be used as follows:
+
+```yaml
+- id: dora-distil-whisper
+  build: pip install dora-distil-whisper
+  path: dora-distil-whisper
+  inputs:
+    input: dora-vad/audio
+  outputs:
+    - text
+  env:
+    TARGET_LANGUAGE: english
+```
+
+## Examples
+
+- Speech to Text
+  - github: https://github.com/dora-rs/dora/blob/main/examples/speech-to-text
+  - website: https://dora-rs.ai/docs/examples/stt
+- Vision Language Model
+  - github: https://github.com/dora-rs/dora/blob/main/examples/vlm
+  - website: https://dora-rs.ai/docs/examples/vlm
+
+## License
+
+Dora-whisper's code and model weights are released under the MIT License
diff --git a/node-hub/dora-microphone/README.md b/node-hub/dora-microphone/README.md
index 465a6243..021d9db6 100644
--- a/node-hub/dora-microphone/README.md
+++ b/node-hub/dora-microphone/README.md
@@ -1,5 +1,48 @@
-# Dora Node for recording data from microphone
+# Collect data from microphone
 
 This node will send data as soon as the microphone volume is higher than a threshold.
 
-Check example at [examples/speech-to-text](examples/speech-to-text)
+This is using python Sounddevice.
+
+It detects beginning and ending of voice activity within a stream of audio and returns the parts that contains activity.
+
+There's a maximum amount of voice duration, to avoid having no input for too long.
+
+## Input/Output Specification
+
+- inputs:
+  - tick: This is used to detect when the dataflow is finished.
+- outputs:
+  - audio: 16kHz sampled audio sent by chunk
+
+## YAML Specification
+
+```yaml
+- id: dora-vad
+  description: Voice activity detection. See; <a href='https://github.com/snakers4/silero-vad'>sidero</a>
+  build: pip install dora-vad
+  path: dora-vad
+  inputs:
+    audio: dora-microphone/audio
+  outputs:
+    - audio
+```
+
+## Reference documentation
+
+- dora-microphone
+  - github: https://github.com/dora-rs/dora/blob/main/node-hub/dora-microphone
+  - website: http://dora-rs.ai/docs/nodes/microphone
+- sounddevice
+  - website: https://python-sounddevice.readthedocs.io/en/0.5.1/
+  - github: https://github.com/spatialaudio/python-sounddevice/tree/master
+
+## Examples
+
+- Speech to Text
+  - github: https://github.com/dora-rs/dora/blob/main/examples/speech-to-text
+  - website: https://dora-rs.ai/docs/examples/stt
+
+## License
+
+The code and model weights are released under the MIT License.
diff --git a/node-hub/dora-microphone/dora_microphone/main.py b/node-hub/dora-microphone/dora_microphone/main.py
index cb65b6ac..aa8e03c6 100644
--- a/node-hub/dora-microphone/dora_microphone/main.py
+++ b/node-hub/dora-microphone/dora_microphone/main.py
@@ -16,13 +16,19 @@ def main():
     start_recording_time = tm.time()
     node = Node()
 
+    always_none = node.next(timeout=0.001) is None
+    finished = False
+
     # pylint: disable=unused-argument
     def callback(indata, frames, time, status):
-        nonlocal buffer, node, start_recording_time
+        nonlocal buffer, node, start_recording_time, finished
 
         if tm.time() - start_recording_time > MAX_DURATION:
             audio_data = np.array(buffer).ravel().astype(np.float32) / 32768.0
             node.send_output("audio", pa.array(audio_data))
+            if not always_none:
+                event = node.next(timeout=0.001)
+                finished = event is None
             buffer = []
             start_recording_time = tm.time()
         else:
@@ -32,5 +38,5 @@ def main():
     with sd.InputStream(
         callback=callback, dtype=np.int16, channels=1, samplerate=SAMPLE_RATE
     ):
-        while True:
-            sd.sleep(int(100 * 1000))
+        while not finished:
+            sd.sleep(int(1000))
diff --git a/node-hub/dora-qwenvl/README.md b/node-hub/dora-qwenvl/README.md
index 88f4e564..535ff3c3 100644
--- a/node-hub/dora-qwenvl/README.md
+++ b/node-hub/dora-qwenvl/README.md
@@ -1,3 +1,32 @@
 # Dora QwenVL2 node
 
 Experimental node for using a VLM within dora.
+
+## YAML Specification
+
+This node is supposed to be used as follows:
+
+```yaml
+- id: dora-qwenvl
+  build: pip install dora-qwenvl
+  path: dora-qwenvl
+  inputs:
+    image:
+      source: camera/image
+      queue_size: 1
+    text: dora-distil-whisper/text
+  outputs:
+    - text
+  env:
+    DEFAULT_QUESTION: Describe the image in a very short sentence.
+```
+
+## Additional documentation
+
+- Qwenvl: https://github.com/QwenLM/Qwen-VL
+
+## Examples
+
+- Vision Language Model
+  - Github: https://github.com/dora-rs/dora/blob/main/examples/vlm
+  - Website: https://dora-rs.ai/docs/examples/vlm
diff --git a/node-hub/dora-qwenvl/dora_qwenvl/main.py b/node-hub/dora-qwenvl/dora_qwenvl/main.py
index 31f11502..475d1f06 100644
--- a/node-hub/dora-qwenvl/dora_qwenvl/main.py
+++ b/node-hub/dora-qwenvl/dora_qwenvl/main.py
@@ -85,7 +85,12 @@ def generate(frames: dict, question):
         return_tensors="pt",
     )
 
-    device = "cuda:0" if torch.cuda.is_available() else "cpu"
+    if torch.backends.mps.is_available():
+        device = torch.device("mps")
+    elif torch.cuda.is_available():
+        device = torch.device("cuda", 0)
+    else:
+        device = torch.device("cpu")
     inputs = inputs.to(device)
 
     # Inference: Generation of the output
@@ -181,7 +186,7 @@ def main():
                 )
 
         elif event_type == "ERROR":
-            raise RuntimeError(event["error"])
+            print("Event Error:" + event["error"])
 
 
 if __name__ == "__main__":
diff --git a/node-hub/dora-qwenvl/pyproject.toml b/node-hub/dora-qwenvl/pyproject.toml
index a662ded8..346c5f9f 100644
--- a/node-hub/dora-qwenvl/pyproject.toml
+++ b/node-hub/dora-qwenvl/pyproject.toml
@@ -15,7 +15,7 @@ python = "^3.7"
 dora-rs = "^0.3.6"
 numpy = "< 2.0.0"
 torch = "^2.2.0"
-torchvision = "^0.19"
+torchvision = "^0.20"
 transformers = "^4.45"
 qwen-vl-utils = "^0.0.2"
 accelerate = "^0.33"
diff --git a/node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer b/node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer
index b2889e65..198374ea 160000
--- a/node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer
+++ b/node-hub/dora-rdt-1b/dora_rdt_1b/RoboticsDiffusionTransformer
@@ -1 +1 @@
-Subproject commit b2889e65cfe62571ced3ce88f00e7d80b41fee69
+Subproject commit 198374ea8c4a2ec2ddae86c35448d21aa9756f37
diff --git a/node-hub/dora-rerun/README.md b/node-hub/dora-rerun/README.md
index 5a6ee21f..0082cad9 100644
--- a/node-hub/dora-rerun/README.md
+++ b/node-hub/dora-rerun/README.md
@@ -7,25 +7,27 @@ This nodes is still experimental and format for passing Images, Bounding boxes,
 ## Getting Started
 
 ```bash
-cargo install --force rerun-cli@0.15.1
-
-## To install this package
-git clone git@github.com:dora-rs/dora.git
-cargo install --git https://github.com/dora-rs/dora dora-rerun
+pip install dora-rerun
 ```
 
 ## Adding to existing graph:
 
 ```yaml
-- id: rerun
-  custom:
-    source: dora-rerun
-    inputs:
-      image: webcam/image
-      text: webcam/text
-      boxes2d: object_detection/bbox
-    envs:
-      RERUN_MEMORY_LIMIT: 25%
+- id: plot
+  build: pip install dora-rerun
+  path: dora-rerun
+  inputs:
+    image:
+      source: camera/image
+      queue_size: 1
+    text_qwenvl: dora-qwenvl/text
+    text_whisper: dora-distil-whisper/text
+  env:
+    IMAGE_WIDTH: 640
+    IMAGE_HEIGHT: 480
+    README: |
+      # Visualization
+    RERUN_MEMORY_LIMIT: 25%
 ```
 
 ## Input definition
@@ -67,3 +69,25 @@ Make sure to name the dataflow as follows:
 ## Configurations
 
 - RERUN_MEMORY_LIMIT: Rerun memory limit
+
+## Reference documentation
+
+- dora-rerun
+  - github: https://github.com/dora-rs/dora/blob/main/node-hub/dora-rerun
+  - website: http://dora-rs.ai/docs/nodes/rerun
+- rerun
+  - github: https://github.com/rerun-io/rerun
+  - website: https://rerun.io
+
+## Examples
+
+- speech to text
+  - github: https://github.com/dora-rs/dora/blob/main/examples/speech-to-text
+  - website: https://dora-rs.ai/docs/examples/stt
+- vision language model
+  - github: https://github.com/dora-rs/dora/blob/main/examples/vlm
+  - website: https://dora-rs.ai/docs/examples/vlm
+
+## License
+
+The code and model weights are released under the MIT License.
diff --git a/node-hub/dora-vad/README.md b/node-hub/dora-vad/README.md
index b5e7ad8a..ba41cb10 100644
--- a/node-hub/dora-vad/README.md
+++ b/node-hub/dora-vad/README.md
@@ -1,3 +1,45 @@
 # Speech Activity Detection(VAD)
 
 This is using Silero VAD.
+
+It detects beginning and ending of voice activity within a stream of audio and returns the parts that contains activity.
+
+There's a maximum amount of voice duration, to avoid having no input for too long.
+
+## Input/Output Specification
+
+- inputs:
+  - audio: 8kHz or 16kHz sample rate.
+- outputs:
+  - audio: Same as input but truncated
+
+## YAML Specification
+
+```yaml
+- id: dora-vad
+  description: Voice activity detection. See; <a href='https://github.com/snakers4/silero-vad'>sidero</a>
+  build: pip install dora-vad
+  path: dora-vad
+  inputs:
+    audio: dora-microphone/audio
+  outputs:
+    - audio
+```
+
+## Reference documentation
+
+- dora-sidero
+  - github: https://github.com/dora-rs/dora/blob/main/node-hub/dora-vad
+  - website: http://dora-rs.ai/docs/nodes/sidero
+- Sidero
+  - github https://github.com/snakers4/silero-vad
+
+## Examples
+
+- Speech to Text
+  - github: https://github.com/dora-rs/dora/blob/main/examples/speech-to-text
+  - website: https://dora-rs.ai/docs/examples/stt
+
+## License
+
+The code and model weights are released under the MIT License.
diff --git a/node-hub/dora_rdt_1b/__init__.py b/node-hub/dora_rdt_1b/__init__.py
deleted file mode 100644
index ed4e2191..00000000
--- a/node-hub/dora_rdt_1b/__init__.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import os
-import sys
-from pathlib import Path
-
-# Define the path to the README file relative to the package directory
-readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
-
-# Read the content of the README file
-try:
-    with open(readme_path, "r", encoding="utf-8") as f:
-        __doc__ = f.read()
-except FileNotFoundError:
-    __doc__ = "README file not found."
-
-
-# Set up the import hook
-
-submodule_path = Path(__file__).resolve().parent / "RoboticsDiffusionTransformer"
-sys.path.insert(0, str(submodule_path))