The focus of the PhD position in the Autonomous Intelligent Systems group at the University of Münster will be on Deep Reinforcement Learning for the control of locomotion in robots. The aim is to develop biologically-inspired principles that enable more efficient learning mechanisms for adaptive behaviour. The position will focus on model-free and model-based learning approaches for the control of robots based on biological principles such as decentralization, modularization, and hierarchical organization. The architecture will be applied to robots, e.g., the Unitree Go1, in multiple and increasingly more difficult tasks that require transfer learning. The candidate will also have the opportunity to extend this work towards a multi-agent setting or XAI to make decision-making more transparent. The position is tied to working towards a doctorate.