1. Harvard John A. Paulson School of Engineering and Applied Sciences, Harvard University 1 , Cambridge, Massachusetts 02138, USA
2. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology 2 , Cambridge, Massachusetts 02139, USA
3. Department of Mechanical Engineering, Massachusetts Institute of Technology 3 , Cambridge, Massachusetts 02139, USA
4. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania 4 , Philadelphia, Pennsylvania 19104, USA
5. Department of Engineering Mechanics, Zhejiang University 5 , Hangzhou 310027, China
6. Laboratoire d'Acoustique de l'Université du Mans (LAUM), UMR 6613, Institut d'Acoustique - Graduate School (IA-GS), CNRS 6 , Le Mans Université, France