1. The University of Tokyo, Meguro, Tokyo 153-0041, Japan
2. RIKEN Center for Advanced Intelligence Project, Chuo, Tokyo, 103-0027, Japan imaizumi@g.ecc.u-tokyo.ac.jp
3. Rutgers University, Piscataway, NJ 08854. U.S.A. ho105@rutgers.edu
4. The University of Tokyo, Meguro, Tokyo 153-0041, Japan takuo-h@g.ecc.u-tokyo.ac.jp