1. Mathematical Institute, University of Oxford, Oxford OX2 6GG, UK
2. Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA 02142, USA
3. Department of Control and Dynamical Systems, California Institute of Technology, Pasadena, CA 91125, USA
4. Computation and Neural Systems, California Institute of Technology, Pasadena, CA 91125, USA
5. Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA 91125, USA