1. School of Computer and Communication Sciences and Brain-Mind Institute, Ecole Polytechnique Fédérale de Lausanne, CH-1015 Lausanne EPFL, Switzerland, and Department of Complexity Science and Engineering, Graduate School of Frontier Sciences, University of Tokyo, Tokyo 153-8505, Japan,
2. School of Computer and Communication Sciences and Brain-Mind Institute, Ecole Polytechnique Fédérale de Lausanne, CH-1015 Lausanne EPFL, Switzerland,
3. Department of Information and Systems, Institute of Industrial Science, University of Tokyo, 153-8505, Tokyo, Japan, and Aihara Complexity Modelling Project, ERATO, JST, Shibuya-ku, Tokyo 151-0064, Japan,