A baby wasp is called a larva. =]
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A baby sloth is simply called a baby sloth.
A baby Rhinoceros is called a 'Calf'...
A baby lion is called a cub
The baby of a donkey is called a foal just like a horse baby is called. If it is a male foal of a donkey it is called a jack and if it is a female it is called a jennet or jenny.
That depends on what type of waterfowl it is. A baby duck is called a duckling. A baby goose is a gosling. A baby swan can be either a cygnet or a flapper.