1. Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA 90089-1453, USA
2. Department of Electrical Engineering, University of Southern California, Los Angeles, CA 90089-2560, USA
3. Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
4. Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
5. Department of Engineering, Robert Morris University, Pittsburgh, PA 15108, USA
6. Physical Intelligence Department, Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany