1. Department of Information and Computer Science, University of California at Irvine, Irvine, CA 92697-3425 USA
2. Jet Propulsion Laboratory 525-3660, California Institute of Technology, Pasadena, CA 91109 USA
3. Microsoft Research, Redmond, WA 98052-6399 USA
4. Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA 02139 USA