This work was supported by Singapore Ministry of Education Academic Research Fund Tier 1 (Award No. 2018- T1-002-069), the National Research Foundation, Prime Ministers Office, Singapore under its National Cybersecurity R&D Program (Award No. NRF2018 NCR-NCR005-0001), the Singapore National Research Foundation under NCR Award Number NSOE003-0001, NRF Investigatorship NRFI06-2020-
0022, the National Research Foundation, Prime Ministers Office, Singapore under NCR Award Number NRF2018NCRNSOE004-0001, the National Natural Science Foundation of China (No. 61902395). We gratefully acknowledge the support of NVIDIA AI Tech Center (NVAITC).