Department of Computer Science and Engineering, University of California San Diego, La Jolla, California, United States of America.|Electrical Engineering and Biological Science, University of Notre Dame, Notre Dame, Indiana, United States of America.|Electrical Engineering and Biological Science, University of Notre Dame, Notre Dame, Indiana, United States of America.|Electrical Engineering and Biological Science, University of Notre Dame, Notre Dame, Indiana, United States of America.|Department of Computer Science and Engineering, University of California San Diego, La Jolla, California, United States of America.