Data from the Aiqicha App reveals that Guangzhou Xiaopeng Motors Technology Co., Ltd. has recently released an invention patent named 'Robot Gait Adjustment Method, Apparatus, Device, and Storage Medium'. This patent falls within the realm of intelligent robotics and introduces a gait adjustment technique. The method involves capturing target sampling points on the feet of a humanoid robot, along with their coordinate values and terrain elevation details. Using this information, it calculates a foot placement reward value. Concurrently, it gathers the highest terrain elevation data within a predetermined radius to compute a step-kicking reward value. Ultimately, the robot's gait is fine-tuned based on these two reward values. The goal of this approach is to bolster the robot's ability to autonomously adapt its movement and maintain stability in challenging environments, like staircases.