Retrained policy for the drosophila walking model in the flybody paper featuring smooth action output from the network.
Reference:
Vaxenburg, R., Siwanowicz, I., Merel, J. et al. Whole-body physics simulation of fruit fly locomotion. Nature 643, 1312–1320 (2025).
https://doi.org/10.1038/s41586-025-09029-4
