National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61972324, 61179032, 61672437, 61702428]; Subproject of the National Key Research and Development Program of China [2017YFD0401102-02]; Key Project of Philosophy and Social Science Research Project of Hubei Provincial Department of Education in 2019 [19D59]; Science and Technology Research Project of Hubei Provincial Department of Education [D20191604]; Humanities and Social Sciences Fund Project of Hubei Provincial Education Department [17Y071]; Sichuan Science and Technology Program [2018GZ0086, 2017GZ0159]; Beijing Advanced Innovation Center for Intelligent Robots and Systems [2019IRS14]; Artificial Intelligence Key Laboratory of Sichuan Province [2019RYJ06]