Department of Computer Science and Engineering, University of Bologna, Bologna, Italy|National Council of Research Italy, ISTI-CNR, Pisa, Italy
Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, U.K.
Department of Computer Science and Engineering, University of Bologna, Bologna, Italy
Department of Computer Science and Engineering, University of Bologna, Bologna, Italy|Department of Computer Science, University College London, London, U.K.
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