About the Authors

Pengshun Li

Roles Data curation, Formal analysis, Software, Writing – original draft

Affiliations Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, PR China, Future Human Habitats Division, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, PR China

Jiarui Chang

Roles Data curation, Writing – review & editing

Affiliation Department of Mechanical Engineering, Rice University, Houston, Texas, United States of America

Yi Zhang

Roles Supervision

Affiliations Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, PR China, Future Human Habitats Division, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, PR China, Department of Automation, Tsinghua National Laboratory for Information Science and Technology (TNList), Tsinghua University, Beijing, PR China

Yi Zhang

Roles Conceptualization, Methodology, Writing – review & editing

zy1214@sz.tsinghua.edu.cn

Affiliations Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen, PR China, Future Human Habitats Division, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, PR China

Competing Interests

The authors have declared that no competing interests exist.