https://www.mdpi.com/2076-0825/11/5/140#
Satoru Ikeda, Hitoshi Kono, Kaori Watanabe, Hidekazu Suzuki, Body Calibration: Automatic Inter-task Mapping Between Multi-legged Robots with Different Embodiments in Transfer Reinforcement Learning, Actuators, Vol.11, No. 5: 140, 2022.