Left back Filipe Luis joined the training session, having made a full recovery from a fractured fibula bone he was dealt on March 15 in the Europa League round of 16 clash with Lokomotiv Moscow, reports Efe.
"Filipe Luis is back! He began training with the group on April 28 before our La Liga match against Alavees and has now been given medical clearance," the club said in a statement Wednesday.
Forwards Fernando Torres, Kevin Gameiro and Diego Costa, along with defender Stefan Savic and right back Sime Vrsaljko, were among those who participated in the training.
Atletico Madrid was held to an away 1-1 draw against Arsenal in the semifinal's first leg on April 26 at Emirates Stadium.
The La Liga club is set to host Arsenal at the Wanda Metropolitano Stadium on Thursday.
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