Correction to: Nature Machine Intelligence https://doi.org/10.1038/s42256-023-00656-y. Published online 8 May 2023.

In the version of this article initially published, the link to the preprint at bioRxiv was truncated and has been updated to https://doi.org/10.1101/2023.03.23.533712. The display equation in the third paragraph of Methods, now reading “\(L\left( {h_{{\Theta }},r_{{\Phi }},w,x,y} \right)=\) \(l\left( {h_{{\Theta }}\left( {x \odot w} \right),y} \right)1_{r_{{\Phi }}\left( {x \odot w} \right) > 0} + c1_{r_{{\Phi }}\left( {x \odot w} \right) \le 0}+\lambda _1 ||w||_1 + \lambda _2{||{\Theta }||_2},\)” has been updated to include norm markers around “w” and “Θ” at the end of the expression. The changes have been made in the HTML and PDF versions of the article.