[1] ATR Inst Int, Computat Neurosci Labs, Kyoto, Japan
[2] UCL, Inst Cognit Neurosci, London, England
[3] Nara Inst Sci & Technol, Sch Informat Sci, Nara, Japan
[4] Univ Alberta, Dept Comp Sci, Edmonton, AB, Canada
[5] RIKEN, Ctr Artificial Intelligence Project, Kyoto, Japan