1. School of Information Technology and Management, University of International Business and Economics, Beijing, China
2. Department of Computer Science, University of California at Los Angeles, Los Angeles, CA, USA
3. Terminus Group, Beijing, China
4. National Key Laboratory for Multimedia Information Processing, School of Computer Science, Peking University-Anker Embodied AI Laboratory, Peking University, Beijing, China
5. College of Computer Science, Sichuan University, Chengdu, China