diff --git a/README.md b/README.md
index aa49d54..24b3f8a 100644
--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@
 This repository provides a framework for simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" stands for "simulation and real"
 
 feature:
-- Built-in pre-trained models for multiple robot simulations, including `a1`, `go2`, `go2w`, `b2`, `b2w`, `gr1t1`, `gr1t2`, `l4w4`;
+- Built-in pre-trained models for multiple robot simulations, including `Unitree-A1`, `Unitree-Go2`, `Unitree-Go2W`, `Unitree-B2`, `Unitree-B2W`, `FFTAI-GR1T1`, `FFTAI-GR1T2`, `GoldenRetriever-L4W0`, `GoldenRetriever-L4W4`;
 - The training framework supports **IsaacGym** and **IsaacSim**, distinguished by `framework`;
 - The code has **ROS-Noetic** and **ROS2-Foxy/Humble** versions;
 - The code has **cpp** and **python** versions, with the python version located in `src/rl_sar/scripts`;
@@ -142,7 +142,7 @@ Gamepad Controls
 Unitree A1 can be connected using both wireless and wired methods:
 
 * Wireless: Connect to the Unitree starting with WIFI broadcasted by the robot **(Note: Wireless connection may lead to packet loss, disconnection, or even loss of control, please ensure safety)**
-* Wired: Use an Ethernet cable to connect any port on the computer and the robot, configure the computer IP as 192.168.123.162, and the gateway as 255.255.255.0
+* Wired: Use an Ethernet cable to connect any port on the computer and the robot, configure the computer IP as 192.168.123.162, and the netmask as 255.255.255.0
 
 Open a new terminal and start the control program
 
diff --git a/README_CN.md b/README_CN.md
index 7f8eae8..ef73600 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -12,7 +12,7 @@
 本仓库提供了机器人强化学习算法的仿真验证与实物部署框架，适配四足机器人、轮足机器人、人形机器人。"sar"代表"simulation and real"
 
 特性：
-- 内置多种机器人仿真的预训练模型，包括 `a1`、`go2`、`go2w`、`b2`、`b2w`、`gr1t1`、`gr1t2`、`l4w4`；
+- 内置多种机器人仿真的预训练模型，包括 `Unitree-A1`、`Unitree-Go2`、`Unitree-Go2W`、`Unitree-B2`、`Unitree-B2W`、`FFTAI-GR1T1`、`FFTAI-GR1T2`、`GoldenRetriever-L4W0`、`GoldenRetriever-L4W4`；
 - 训练框架支持**IsaacGym**和**IsaacSim**，用`framework`加以区分；
 - 代码有**ROS-Noetic**和**ROS2-Foxy/Humble**两个版本；
 - 代码有**python**和**cpp**两个版本，其中python版本在`src/rl_sar/scripts`内；
@@ -143,7 +143,7 @@ source devel/setup.bash
 与Unitree A1连接可以使用无线与有线两种方式
 
 * 无线：连接机器人发出的Unitree开头的WIFI **（注意：无线连接可能会出现丢包断联甚至失控，请注意安全）**
-* 有线：用网线连接计算机和机器人的任意网口，配置计算机ip为192.168.123.162，网关255.255.255.0
+* 有线：用网线连接计算机和机器人的任意网口，配置计算机地址为192.168.123.162，子网掩码255.255.255.0
 
 新建终端，启动控制程序