1. INSITE Lab, Department of Computer Science, Colby College, Waterville, ME 04901, USA
2. Department of Computer Science, Fu Foundation School of Engineering and Applied Science, Columbia University, New York, NY 10027, USA
3. John A. Paulson School of Engineering and Applied Sciences, Harvard University, Allston, MA 02134, USA
4. Sonos, San Francisco, CA 94109, USA
5. VEMI Lab, School of Computing and Information Science, University of Maine, Orono, ME 04469, USA