You can jump significantly higher in certain areas of the game. In order to achieve this, stand in a corner of a zone you are trying to jump over.
Then make Brave face you. Tap the R1 button, you could see that the camera moves in and out quickly. If you now double jump, you should find yourself hovering in the air. Keep double jumping and if you're lucky you will find yourself being able to access areas of levels you shouldn't be able to access. This glitch can be fun to try out, and also allows you to explore certain areas you couldn't normally get to.