1. Department of Computer Science, ETH Zürich, Zürich, Switzerland.
2. NYU Langone Health, New York City, New York, USA.
3. Department of Cardiac Electrophysiology, University of Pittsburgh Medical Center, Pittsburgh, Pennsylvania, USA.
4. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA.
5. Department of Mechanical Engineering, Institute of Advanced Machines and Design, Institute of Engineering Research, Seoul National University, Seoul, Korea.