diff --git a/README.md b/README.md
index 5874090..35ed2fd 100644
--- a/README.md
+++ b/README.md
@@ -47,6 +47,71 @@ cd scripts
 pip install -r requirements.txt
 ```
 
+To train [LunarLanderContinuous-v2](https://gym.openai.com/envs/LunarLanderContinuous-v2/), install [OpenAI Gym](https://github.com/openai/gym) environment.
+
+To train [Reacher-v1](https://gym.openai.com/evaluations/eval_6kY02G5DSpekMBmAeRLVyA/), install [MuJoCo](https://github.com/kairproject/kair_algorithms_draft/wiki/MuJoCo-Setup) environment.
+
+## Environment
+The code is developed using python 2.7, ROS kinetic on Ubuntu 16.04. NVIDIA GPU is needed. The code is developed and tested using 1 NVIDIA GeForce GTX 1080 Ti GPU card. Other platforms or GPU cards are not fully tested.
+
+## How to Train
+### Docker
+
+To use docker, check the [installation guide](https://github.com/kairproject/kair_algorithms_draft/wiki/Docker).
+
+#### Build Image
+
+```
+docker build -t kairproject/open_manipulator:0.1
+```
+or 
+```
+docker pull kairproject/open_manipulator:0.1
+```
+
+#### OpenManipulator
+
+```
+docker run -v [path_to_kair_algorithms_draft]/save:/root/catkin_ws/src/kair_algorithms_draft/scripts/save --runtime=nvidia [image_id] openmanipulator [algo]
+```
+
+#### LunarLanderContinuous-v2
+
+```
+docker run -v [path_to_kair_algorithms_draft]/save:/root/catkin_ws/src/kair_algorithms_draft/scripts/save --runtime=nvidia [image_id] lunarlander [algo]
+```
+
+#### Reacher-v1
+
+```
+docker run -v [path_to_kair_algorithms_draft]/save:/root/catkin_ws/src/kair_algorithms_draft/scripts/save --runtime=nvidia [image_id] reacher [algo]
+```
+
+### Local
+Our training [wandb](https://www.wandb.com/) log can be found in https://app.wandb.ai/kairproject/kair_algorithms_draft-scripts.
+
+```
+cd scripts
+wandb login
+```
+
+#### OpenManipulator
+
+```
+python run_open_manipulator_reacher_v0.py --algo [algo] --off-render --log
+```
+
+#### LunarLanderContinuous-v2
+
+```
+python run_lunarlander_continuous.py --algo [algo] --off-render --log
+```
+
+#### Reacher-v1
+
+```
+python run_reacher_v1.py --algo [algo] --off-render --log
+```
 
 ## How to Cite