1. Department of Neuroscience and Brain Technologies, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy
2. Laboratory for Computational and Statistical Learning, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy
3. Department of Informatics, Bioengineering, Robotics and System Engineering (DIBRIS), Università degli studi di Genova, Via Dodecaneso 35, 16146 Genova, Italy