1. Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen 518055, China
2. Tsinghua Shenzhen International School, Tsinghua University, Shenzhen 518055, China
3. Department of Mechanical Engineering, University of California at Berkeley, Berkeley, California 94720, United States
4. China Academy of Industrial Internet, Beijing 100020, China
5. Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics, University of Macau, Macau, SAR 999078, China