Before revision:  Secondly, to improve the stability, a reward function at stride reward is proposed by modeling the distance and movement distance of joints constraints, it can make the learning process more stable. In order to further improve learning efficiency, we are inspired by the cognitive process of human behavior and propose a stage incentive mechanism, including  hard stage incentive reward function and  soft stage incentive reward function.
After revision:  Secondly, to improve the stability, a reward function at stride reward is proposed by modeling the distance and movement distance of joint constraints. Finally, in order to further improve learning efficiency, we are inspired by the cognitive process of human behavior and propose a stage incentive mechanism, including hard stage incentive reward function and soft stage incentive reward function.