H1 training reward converge to 0

[KaidiKang]

I run the given training using the H1 robot with episode 10000, running in headless mode. The reward begins to drop quickly starting around 9200 episodes, and the last ~600 steps have a reward of 0. Go and G1 works fine. Also, are there built-in functions that support saving video clips? I saw that render() requires the visualization window to be open.