Institute of Perception, Action and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, United Kingdom, Doctoral Training Centre in Neuroinformatics and Computational Neuroscience, School of Informatics, University of Edinburgh, Edinburgh, United Kingdom.|Institute of Perception, Action and Behaviour, School of Informatics, University of Edinburgh, Edinburgh, United Kingdom.|Computational and Biological Learning Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom.