Confusion about Train Humanoid Walker

I'm using MATLAB's example "Train Humanoid Walker" without changing any parameters or weights. I expected to train the robot to walk smoothly, but even after training for over 10,000 episodes, the best result I achieved was just one step of movement. What adjustments can I make to ensure the humanoid robot walks properly? Thanks a lot for your help.

[Aquatris]

If you are using the GA approach, increasing the reward for forward velocity and decreasing the penalty for power consumption should give you better motion.