[1] Shanghai Jiao Tong Univ, Dept Comp Sci & Engn, Shanghai 200240, Peoples R China
[2] Shanghai Jiao Tong Univ, Key Lab, Shanghai Educ Commiss Intelligent Interact & Cogn, Shanghai 200240, Peoples R China
[3] Harbin Inst Technol, Sch Comp Sci & Technol, Shenzhen 518055, Peoples R China
[4] NICT, Koganei, Tokyo 1848795, Japan