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Learning Whole-Body Control for a Salamander Robot
Description
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional quadrupedal robots, most salamander robots relied on central-pattern-generator (CPG)-based and model-based coordination strategies for locomotion control. Learning unified joint-level whole-body control that reliably transfers from simulation to highly articulat