human
Could you rewrite that part in a better but clear style?

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We have shown that by integrating central pattern generators with black-box optimization and reinforcement learning it is possible to learn efficient and natural-looking gaits directly on a real elastic quadruped robot, without the need for complex reward engineering or massively parallel simulation.
Notably, the learned gaits exploit the natural dynamics of the robot, enabling efficient storage and release of energy in the springs, a behavior that emerged naturally during training without needing to be accounted for in the reward.
This enabled DLR's quadruped BERT to achieve the fastest walking speed ever recorded.

We plan to further explore the potential of learning methods for elastically-actuated quadruped robots, notably for discovering new behaviors or learning gait transitions.
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gpt
--- Reasoning ---
1. Is the question multiple-choice question?
No
2. Is it implied multiple-choice question?
No
3. If two experts were independently asked the question, will the final answer be exactly the same?
No

--- Answer ---
open