diff --git a/docs/misc/changelog.rst b/docs/misc/changelog.rst
index ddf9b0625..efd3d2fba 100644
--- a/docs/misc/changelog.rst
+++ b/docs/misc/changelog.rst
@@ -39,6 +39,7 @@ Documentation:
 - Added Decisions and Dragons to resources. (@jmacglashan)
 - Updated PyBullet example, now compatible with Gymnasium
 - Added link to policies for ``policy_kwargs`` parameter (@kplers)
+- Add FootstepNet Envs to the project page (@cgaspard3333)
 - Added FRASA to the project page (@MarcDcls)
 
 Release 2.4.0 (2024-11-18)
diff --git a/docs/misc/projects.rst b/docs/misc/projects.rst
index 0048ee4c4..48b9dc435 100644
--- a/docs/misc/projects.rst
+++ b/docs/misc/projects.rst
@@ -251,6 +251,17 @@ It enables solving environments involving partial observability or locomotion (e
 | Github: https://github.com/corentinlger/ER-MRL
 | Paper: https://arxiv.org/abs/2312.06695
 
+FootstepNet Envs
+----------------
+
+These environments are dedicated to train efficient agents that can plan and forecast bipedal robot footsteps in order to go to a target location possibly avoiding obstacles. They are designed to be used with Reinforcement Learning (RL) algorithms.
+
+Real world experiments were conducted during RoboCup competitions on the Sigmaban robot, a small-sized humanoid designed by the *Rhoban Team*.
+
+| Authors: Clément Gaspard, Grégoire Passault, Mélodie Daniel, Olivier Ly
+| Github: https://github.com/Rhoban/footstepnet_envs
+| Paper: https://arxiv.org/abs/2403.12589
+
 
 FRASA: Fall Recovery And Stand up agent
 ---------------------------------------
@@ -265,4 +276,4 @@ various external disturbances and stand up in a few seconds.
 Authors: Marc Duclusaud, Clément Gaspard, Grégoire Passault, Mélodie Daniel, Olivier Ly
 Github: https://github.com/Rhoban/frasa
 Paper: https://arxiv.org/abs/2410.08655
-Video: https://www.youtube.com/watch?v=NL65XW0O0mk
\ No newline at end of file
+Video: https://www.youtube.com/watch?v=NL65XW0O0mk