equivariance is well motivated and interesting (R1) and the paper can be considered as the first to have a chirality

We thank all reviewers for their comments. A very solid/extensive experimental validation is performed (R1&R2&R3). Moreover, the paper is well written, easy to follow (R1&R2) and well-organized (R3). In the following we address all comments individually. Novelty of the technique to achieve equivariance.