1. Department of Robotics, Brain and Cognitive Sciences (RBCS), Istituto Italiano di Tecnologia (IIT), Genova, Italy
2. Department of Neuroscience, University of Parma, Parma, Italy
3. Department of Computer Science, University of Milan, Milan, Italy
4. Consiglio nazionale delle Ricerche, Istituto di Neuroscienze, Parma, Italy