ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan. ogahide@atr.jp|ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan. ogahide@atr.jp|ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan. ogahide@atr.jp|ATR Computational Neuroscience Laboratories, Seika, Kyoto, Japan. ogahide@atr.jp