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Consequently, the DFRL-controlled robots can achieve efficient adaptive locomotion, to tackle complex terrains with diverse slopes.Existing language models (LMs) represent each word with only a single representation, which is unsuitable for processing words with multiple meanings. This issue has often been compounded by the lack of availability of large-scale data annotated with word meanings. In this paper, we propose a sense-aware framework that can process multi-sense word information without relying on annotated data. In contrast to the ex