1. Department of Mechanical Engineering, MIT, 77 Massachusetts Ave., Cambridge, Massachusetts 02139, USA
2. Insight Data Science, 45W 25th St., New York, New York 10010, USA
3. School of Mathematics and Statistics, University of New South Wales, Sydney, NSW 2052, Australia
4. Department of Mechanical and Process Engineering, Institute of Mechanical Systems, ETH Zürich, Leonhardstrasse 21, 8092 Zürich, Switzerland