1. Department of Psychology & Tsinghua Laboratory of Brain and Intelligence, Tsinghua University, Beijing, China
2. Laboratory of Advanced Computing and Storage, Central Research Institute, 2012 Laboratories, Huawei Technologies Co. Ltd., Beijing, China
3. Institute for Interdisciplinary Information Science, Tsinghua University, Beijing, China
4. UFR de Mathématiques, Université de Paris, Paris, France
5. Institute of Automation, Chinese Academy of Science, Beijing, China
6. University of Chinese Academy of Science, Beijing, China
7. Tsien Excellence in Engineering Program, School of Aerospace Engineering, Tsinghua University, Beijing, China