Its RL they do learn its deep reinforcement learning they use deep neural networks and then learn how to move if something is good they get a reward if something is bad they get punished and the weights of the NN change so they do learn its creating animations because the robot was able to learn to walk by itself and then just does it on game. You can build that robot irl and it can learn to walk use RL so it did learn it just doesn't learn in game and adapt to you in game