The authors would like to thank Ulrich-Michael, Frances, James, Maryam, and Mandolyn for their help in labeling the dataset. The work at the Université de Montréal was supported by the Natural Sciences and Engineering Research Council of Canada (NSERC) (Paull), an NSERCPGS DScholarship (Morin) and an FRQNT Doctoral Scholarship (Morin). Moreover, this research was enabled in part by compute resources provided by Mila (mila.quebec). The work at the University of Freiburg was funded by an academic grant from NVIDIA. The work at the University of Oxford was supported by a Royal Society University Research Fellowship (Fallon, Kassab), a Sellafield Robotics and AICentre of Excellence Grant, and EPSRCC2CGrant EP/Z531212/1 (Mattamala), and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT)(No.