1. Graduate School of Engineering, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi 980-8579 Miyagi, Japan
2. Tough Cyberphysical AI Research Center, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi 980-8579 Miyagi, Japan
3. Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai-shi 980-8579 Miyagi, Japan