1. Graduate School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
2. The Center of Mathematical and Data Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
3. Department of Data & Innovation, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-cho, Kami 782-8502, Japan
4. RIKEN Center for Advanced Intelligence Project, 1-4-1 Nihonbashi, Chuo-ku, Tokyo 103-0027, Japan