[1] Univ Tokyo, Lab Biol Complex Syst, Dept Complex Sci & Engn, Grad Sch Frontier Sci, Chiba 2778561, Japan
[2] AIST, Cognit Neurosci Grp, Neurosci Res Inst, Tsukuba, Ibaraki 3058568, Japan
[3] RIKEN, Lab Dynam Emergent Intelligence, Brain Sci Inst, Wako, Saitama 3510198, Japan
[4] Japan Sci & Technol Agcy JST, PRESTO, Kawaguchi, Saitama 3320012, Japan