*Takeshi Takenaka¹, Akio Sashima¹, Hiroshi Nishikoori², Yukihide Shibuya², Hidetoshi Tsuji², Hiroki Takahashi³ (1. National Institute of Advanced Industrial Science and Technology, 2. MS & Consulting Co. Ltd., 3. University of Tsukuba)

*Homura Kawamura¹, Yukihiko Okada^2,3, Keiichi Zempo⁴ (1. Graduate School of Science and Technology, University of Tsukuba, Japan, 2. Institute of Systems and Information Engineering, University of Tsukuba, Japan, 3. Center for Artificial Intelligence Research, University of Tsukuba, Japan, 4. Institute of Systems and Information Engineering, University of Tsukuba, Japan)

*Shogo Aoyagi¹, Takayoshi Yamada¹, Cheng Kelvin², Soh Masuko³, Keiichi Zempo¹ (1. Tsukuba University, 2. Rakuten Mobile, Inc., 3. Shibaura Institute of Technology)

*Phu Pwint Pwint Soe¹, Ilieva Ivelina², Claudia Orta Sueiro² (1. University of Tsukuba, 2. Kyoto University)