VV received funding from the Flemish Government under the "Onderzoeksprogramma Artificiele Intelligentie (AI) Vlaanderen" programme. VD is supported by an SB PhD fellowship at the Research Foundation -- Flanders [1SA5520N] . PZD has received support from the KU Leuven Special Research Fund. LDR is also funded by the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (grant No [694980] ) and the Wallenberg AI, Autonomous Systems and Software Program.