School of Mathematical Sciences and the Institute of Science and Technology for Brain-inspired Intelligence, Fudan University, Shanghai, China.|Department of Automation, Xiamen University, Xiamen, China.|Department of Biological Sciences and Wrigley Institute for Environmental Studies, University of Southern California, Los Angeles, California, United States of America.|Department of Biological Sciences, University of Southern California, Los Angeles, California, United States of America.|Shanghai Key Lab of Intelligent Information Processing, the School of Computer Science and the Institute of Science and Technology for Brain-inspired Intelligence, Fudan University, Shanghai, China.