diff --git a/README.md b/README.md
index 7b2b56d..971535c 100644
--- a/README.md
+++ b/README.md
@@ -1,13 +1,15 @@
-# rl_sim2sim
+# rl_sar
 
-[中文文档](README_CN.md)
+[中文文档](README.md)
+
+Gazebo simulation verification and UnitreeA1 physical deployment for reinforcement learning. "sar" stands for "simulation and real".
 
 ## Preparation
 
-Pull the code (synchronously pull submodules)
+Clone the code (sync submodules)
 
 ```bash
-git clone --recursive https://github.com/fan-ziqi/rl_sim2sim.git
+git clone --recursive https://github.com/fan-ziqi/rl_sar.git
 ```
 
 If there are updates:
@@ -26,7 +28,7 @@ unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
 echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
 ```
 
-Install `teleop-twist-keyboard` 
+Install `teleop-twist-keyboard`
 
 ```bash
 sudo apt install ros-noetic-teleop-twist-keyboard
@@ -34,7 +36,7 @@ sudo apt install ros-noetic-teleop-twist-keyboard
 
 ## Compilation
 
-Customize the following two functions in the code to adapt to different models:
+Customize the following two functions in your code to adapt to different models:
 
 ```cpp
 torch::Tensor forward() override;
@@ -48,30 +50,39 @@ cd ..
 catkin build
 ```
 
-## Run
+## Running
 
-Copy the trained pt model file to `sim2sim/src/unitree_rl/models`
+Before running, copy the trained pt model file to `rl_sar/src/unitree_rl/models`
 
-Open a new terminal, start the gazebo simulation environment
+### Simulation
+
+Open a new terminal, launch the gazebo simulation environment
 
 ```bash
 source devel/setup.bash
 roslaunch unitree_rl start_env.launch
 ```
 
-Open a new terminal, start the control program
+Open a new terminal, run the control program
 
 ```bash
 source devel/setup.bash
 rosrun unitree_rl unitree_rl
 ```
 
-Open a new terminal, keyboard control program
+Open a new terminal, run the keyboard control program
 
 ```bash
 rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 ```
 
+### Physical Deployment
 
+Open a new terminal, run the control program
 
-> Part of the code refers to https://github.com/mertgungor/unitree_model_control
+```bash
+source devel/setup.bash
+rosrun unitree_rl unitree_rl_real
+```
+
+> Some code references: https://github.com/mertgungor/unitree_model_control
\ No newline at end of file
diff --git a/README_CN.md b/README_CN.md
index 9295ff9..37a3b2b 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -12,12 +12,6 @@
 git clone --recursive https://github.com/fan-ziqi/rl_sar.git
 ```
 
-UnitreeA1只能使用v3.2.1的unitree_ros_to_real以及v3.2的unitree_legged_sdk，使用以下命令切换分支
-
-```bash
-cd src/unitree_ros/unitree_ros_to_real && git checkout v3.2.1 && cd - && cd src/unitree_ros/unitree_ros_to_real/unitree_legged_sdk && git checkout v3.2 && cd -
-```
-
 如有更新：
 
 ```bash