1. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
2. Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
3. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
4. Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR 72701, USA.
5. Department of Electrical Engineering and Graduate School of AI, POSTECH, Pohang-si, Gyeongsangbuk-do 37673, Korea.