1. Division of Robotics, Perception and Learning (RPL), KTH – Royal Institute of Technology, 10044 Stockholm, Sweden
2. Department of Intelligent Systems, Science for Life Laboratory, Stockholm University, Box 1031, 17121 Solna, Sweden
3. Department of Biochemistry and Biophysics, school of Electrical Engineering and Computer Science (EECS), Stockholm University, 10691 Stockholm, Sweden