Honda Research Institute, Germany and Bernstein Center for Computational Neuroscience, Albert-Ludwigs-University, Freiburg, Germany;Dept. of Mathematical Sciences and Technology, Norwegian University of Life Sciences, Norway;Computational Neuroscience Group, RIKEN Brain Science Institute, Wako-Shi, Saitama, Japan;Computational Neuroscience Group, RIKEN Brain Science Institute, Wako-Shi, Saitama, Japan and Bernstein Center for Computational Neuroscience, Albert-Ludwigs-University, Freiburg, Germany;Honda Research Institute, Germany and Bernstein Center for Computational Neuroscience, Albert-Ludwigs-University, Freiburg, Germany