* Extension of our CVPR 2022 oral paper: 2204.04428. Yikai Wang and
Jianan Wang contribute equally. The arxiv version uses small size figures for
fast preview, the full size pdf version can be found in our project page:
https://yikai-wang.github.io/semani/. arXiv admin note: substantial text
overlap with arXiv:2204.04428 Access Paper or Ask Questions