1. Defense Advanced Research Projects Agency (DARPA), 675 North Randolph Street, Arlington, VA 22201, USA.
2. Palo Alto Research Center, 3333 Coyote Hill Road, Palo Alto, CA 94304, USA.
3. Graduate School of Artificial Intelligence, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Republic of Korea.
4. School of Computing and Information Systems, University of Melbourne, Victoria 3010, Australia.
5. Centre for HCI Design, School of Mathematics, Computer Science and Engineering, City, University of London, London EC1V 0HB, UK.
6. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China.