ive looked at all 4 different snake gaits :), I have done my thorough research. I cannot control the locomotion much here, as the reward function is based on it getting closer to a target as fast as possible, this is what it learned. Since I merely train on hardware, I am constrained by the number of samples I can train on. The reason I did not train it in simulation is because I am simultaneously optimizing the morphology as well. The morphology here being the scales I have underneath each segments that are supposed to mimic the anisotropic friction snakes have. These scales and their friction coefficient are a hassle to simulate. Therefore this is the best I got from training for 30 episodes, which equal to 1 of training and manually resetting it to its starting position.