Correction to: Nature Machine Intelligence https://doi.org/10.1038/s42256-020-00272-0, published online 4 January 2021.

In the version of this Article originally published, the captions of Figs. 2–6 were from different figures: Fig. 2 should have had the caption of Fig. 4, Fig. 3 the caption of Fig. 5, Fig. 4 the caption of Fig. 5, Fig. 5 the caption of Fig. 2, and Fig. 6 the caption of Fig. 3. This has now been corrected in all versions of the Article.