1. Graduate School of Information Science, Nara Institute of Science and Technology, Nara 630-0192, Japan
2. School of Informatics, University of Edinburgh, Edinburgh EH8 9AB, U.K.
3. Graduate School of Informatics and Engineering, University of Electro-Communications, Tokyo 182-8585, Japan
4. Helsinki Institute for Information Technology, University of Helsinki, Helsinki 00560, Finland, and Gatsby Computational Neuroscience Unit, University College London, London W1T 4JG, U.K.