Before revision:  We also used feature engineering to improve the input features of the DRL model and improve performanceon flat ground. Finally, we trained the bound controller in simulation and successfully deployed it on the Jueying Mini robot . It performs better than the conventional method with higher computational efficiency and more stable center-of-mass height in our experiments.
After revision:  We also used feature engineering to improve the input features of the DRL model and the bounding performance. The DNN-based feedback controller was learned in simulation first and deployed directly on the real Jueying-Mini robot successfully, which was computationally more efficient and performed much better than the conventional method with higher computational efficiency and more stable center-of-mass height in our experiments.