This work was supported by the National Key R&D Program of China (2017YFE0126500), the National Natural Science Foundation of China (31730034, U22A20299), Beijing Advanced Innovation Center for Human Brain Protection, Beijing Academy of Artificial Intelligence (BAAI,  20222001736) to B.L., and the National Natural Science Foundation of China (82071207), Beijing Municipal Natural Science Foundation (7232099) to F.M.