1. Dalle Molle Institute for Artificial Intelligence, University of Lugano (USI), University of Applied Science and Arts of Southern Switzerland (SUPSI), Lugano-Viganello, Switzerland
2. Department of Electronics and Telecommunications, Politecnico di Torino, Turin, Italy
3. Artificialy, Lugano, Switzerland
4. Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy