diff --git a/lib/APPReinforcementLearning/src/TrainingState.cpp b/lib/APPReinforcementLearning/src/TrainingState.cpp
new file mode 100644
index 00000000..91e91597
--- /dev/null
+++ b/lib/APPReinforcementLearning/src/TrainingState.cpp
@@ -0,0 +1,91 @@
+/* MIT License
+ *
+ * Copyright (c) 2023 - 2024 Andreas Merkle <web@blue-andi.de>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/*******************************************************************************
+    DESCRIPTION
+*******************************************************************************/
+/**
+ * @brief  Training state
+ * @author Akram Bziouech
+ */
+
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+#include "TrainingState.h"
+#include <StateMachine.h>
+#include <DifferentialDrive.h>
+
+/******************************************************************************
+ * Compiler Switches
+ *****************************************************************************/
+
+/******************************************************************************
+ * Macros
+ *****************************************************************************/
+
+/******************************************************************************
+ * Types and classes
+ *****************************************************************************/
+
+/******************************************************************************
+ * Prototypes
+ *****************************************************************************/
+
+/******************************************************************************
+ * Local Variables
+ *****************************************************************************/
+
+/******************************************************************************
+ * Public Methods
+ *****************************************************************************/
+
+void TrainingState::entry()
+{
+    DifferentialDrive& diffDrive = DifferentialDrive::getInstance();
+    diffDrive.setLinearSpeed(0, 0);
+    diffDrive.disable();
+}
+
+void TrainingState::process(StateMachine& sm)
+{
+    /* Nothing to do. */
+    (void)sm;
+}
+
+void TrainingState::exit()
+{
+    DifferentialDrive::getInstance().enable();
+}
+
+/******************************************************************************
+ * Protected Methods
+ *****************************************************************************/
+
+/******************************************************************************
+ * Private Methods
+ *****************************************************************************/
+
+/******************************************************************************
+ * External Functions
+ *****************************************************************************/
diff --git a/lib/APPReinforcementLearning/src/TrainingState.h b/lib/APPReinforcementLearning/src/TrainingState.h
new file mode 100644
index 00000000..737d7a89
--- /dev/null
+++ b/lib/APPReinforcementLearning/src/TrainingState.h
@@ -0,0 +1,137 @@
+/* MIT License
+ *
+ * Copyright (c) 2023 - 2024 Andreas Merkle <web@blue-andi.de>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/*******************************************************************************
+    DESCRIPTION
+*******************************************************************************/
+/**
+ * @brief  Training state
+ * @author Akram Bziouech
+ *
+ * @addtogroup Application
+ *
+ * @{
+ */
+
+#ifndef TRAINING_STATE_H
+#define TRAINING_STATE_H
+
+/******************************************************************************
+ * Compile Switches
+ *****************************************************************************/
+
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+#include <stdint.h>
+#include <IState.h>
+#include <SimpleTimer.h>
+
+/******************************************************************************
+ * Macros
+ *****************************************************************************/
+
+/******************************************************************************
+ * Types and Classes
+ *****************************************************************************/
+
+/** The system Training state. */
+class TrainingState : public IState
+{
+public:
+    /**
+     * Get state instance.
+     *
+     * @return State instance.
+     */
+    static TrainingState& getInstance()
+    {
+        static TrainingState instance;
+
+        /* Singleton idiom to force initialization during first usage. */
+
+        return instance;
+    }
+
+    /**
+     * If the state is entered, this method will called once.
+     */
+    void entry() final;
+
+    /**
+     * Processing the state.
+     *
+     * @param[in] sm State machine, which is calling this state.
+     */
+    void process(StateMachine& sm) final;
+
+    /**
+     * If the state is left, this method will be called once.
+     */
+    void exit() final;
+
+protected:
+private:
+    /**
+     * Default constructor.
+     */
+    TrainingState()
+    {
+    }
+
+    /**
+     * Default destructor.
+     */
+    ~TrainingState()
+    {
+    }
+
+    /**
+     * Copy construction of an instance.
+     * Not allowed.
+     *
+     * @param[in] state Source instance.
+     */
+    TrainingState(const TrainingState& state);
+
+    /**
+     * Assignment of an instance.
+     * Not allowed.
+     *
+     * @param[in] state Source instance.
+     *
+     * @returns Reference to Training instance.
+     */
+    TrainingState& operator=(const TrainingState& state);
+};
+
+/******************************************************************************
+ * Functions
+ *****************************************************************************/
+
+#endif /* TRAINING_STATE_H */
+/** @} */
+
+/******************************************************************************
+ * Local Functions
+ *****************************************************************************/