1. Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, China
2. Institute of Future Human Habitats, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
3. Department of Automation, Tsinghua National Laboratory for Information Science and Technology, Tsinghua University, Beijing, China
4. Green Development Center, China Construction Science and Technology Group Cooperation, Shenzhen, China