diff --git a/doc/images/emoji-title.pdf b/doc/images/emoji-title.pdf
new file mode 100644
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diff --git a/doc/rcfs.pdf b/doc/rcfs.pdf
index 86e37dc11fd5ab0d82ce7af4603bf62382d42cc9..4d76ac6b3c3192e3a958cfd3a24024d32293b06a 100644
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diff --git a/doc/rcfs.tex b/doc/rcfs.tex
index afc1e2b4cc3065f5694172f89693fc10d82f4b37..73a7f761e467151181c579692940e98de9941067 100644
--- a/doc/rcfs.tex
+++ b/doc/rcfs.tex
@@ -76,7 +76,7 @@ innerleftmargin=0.3em,innerrightmargin=0.3em,innertopmargin=0.3em,innerbottommar
 \newcommand{\tmin}{{\scriptscriptstyle\min}}
 \newcommand{\tmax}{{\scriptscriptstyle\max}}
 %\newcommand{\filename}[1]{{\raggedleft\colorbox{rr2}{{\color{white}\texttt{#1}}}\\[2mm]}}
-\newcommand{\filename}[1]{\colorbox{rr2}{\color{white}{\emojifont🦉}\texttt{#1}}}
+\newcommand{\filename}[1]{\colorbox{rr2}{\color{white}\texttt{#1}}}%{\emojifont🦉}
 \newcommand{\new}{{\!\scriptscriptstyle\mathrm{new}}}
 
 %\usepackage{hyperref}
@@ -98,11 +98,12 @@ innerleftmargin=0.3em,innerrightmargin=0.3em,innertopmargin=0.3em,innerbottommar
 %    urlcolor=black
 %}
 
-\usepackage{fontspec}
-\newfontfamily\emojifont[Renderer=HarfBuzz]{NotoColorEmoji.ttf} %,SizeFeatures={Size=20}
-%-> requires compilation with lualatex
+%\usepackage{fontspec}
+%\newfontfamily\emojifont[Renderer=HarfBuzz]{NotoColorEmoji.ttf} %,SizeFeatures={Size=20}
+%%-> requires compilation with lualatex
 
-\title{\huge {\emojifont🔢🧑‍🍳🦾} A Math Cookbook for Robot Manipulation}
+\title{\huge A Math Cookbook for Robot Manipulation\\\includegraphics{images/emoji-title.pdf}}
+%{\emojifont🔢🧑‍🍳🦾} 
 %Learning and Optimization in Robotics\\[4mm]\emph{Lecture notes}
 %A practical guide to learning and control problems in robotics\\solved with second-order optimization
 \author{Sylvain Calinon, Idiap Research Institute}
@@ -131,6 +132,7 @@ Each section in this document lists the corresponding source codes in Python and
 \url{https://gitlab.idiap.ch/rli/robotics-codes-from-scratch}
 \end{center}
 
+
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 \section{Quadratic costs minimization as a product of Gaussians (PoG)}\label{sec:PoG}