diff --git a/doc/Parameters.md b/doc/Parameters.md
index ebeb5fd..723b3c7 100644
--- a/doc/Parameters.md
+++ b/doc/Parameters.md
@@ -14,7 +14,7 @@ Note that SDF computation takes longer with smaller cell size and larger extents
 
 GPMP2 parameters
 -----
-More information on parameters associated with the GPMP2 algorithm can be found in [GPMP2's doc](https://github.com/gtrll/gpmp2/doc/Parameters.md).
+More information on parameters associated with the GPMP2 algorithm can be found in [GPMP2's documentation](https://github.com/gtrll/gpmp2/wiki).
 
 - **robot**: openrave robot object.
 - **end_conf**: goal in configuration space.
diff --git a/doc/index.md b/doc/index.md
index c1c591d..3a4ca6a 100644
--- a/doc/index.md
+++ b/doc/index.md
@@ -1,7 +1,7 @@
 Documentation
 =============
 
-This is documentation for orgpmp2 that is a OpenRAVE plugin for the [GPMP2](https://github.com/gtrll/gpmp2) algorithm. This plugin comes with a python wrapper and its usage is described here using examples on WAM arm and PR2 robot. For a detailed description about the algorithm see [GPMP2 docs](https://github.com/gtrll/gpmp2/doc/index.md).
+This is documentation for orgpmp2 that is a OpenRAVE plugin for the [GPMP2](https://github.com/gtrll/gpmp2) algorithm. This plugin comes with a python wrapper and its usage is described here using examples on WAM arm and PR2 robot. For a detailed description about the algorithm see [GPMP2's documentation](https://github.com/gtrll/gpmp2/wiki).
 
 - [Usage](Usage.md)
 - [Parameters](Parameters.md)
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