Laboratory for Synthetic Perceptive, Emotive and Cognitive Systems, Universitat Pompeu Fabra, Barcelona, Spain. sergi.bermudez@upf.edu|Laboratory for Synthetic Perceptive, Emotive and Cognitive Systems, Universitat Pompeu Fabra, Barcelona, Spain. sergi.bermudez@upf.edu|Laboratory for Synthetic Perceptive, Emotive and Cognitive Systems, Universitat Pompeu Fabra, Barcelona, Spain. sergi.bermudez@upf.edu