English | 中文 Introduction AgiBot X1 is a modular humanoid robot with high dof developed and open-sourced by AgiBot. It is built upon AgiBot's open-source framework AimRT as middleware and using reinforcement learning for locomotion control. This project is about the reinforcement learning training code used by AgiBot X1. It can be used in conjunction with the inference software provided with AgiBot X1 for real-robot and simulated walking debugging, or be imported to other robot models for traini...