Computer Science Department, Rensselaer Polytechnic Institute, NY, USA. acare@cs.rpi.edu|Computer Science Department, Rensselaer Polytechnic Institute, NY, USA. acare@cs.rpi.edu|Computer Science Department, Rensselaer Polytechnic Institute, NY, USA. acare@cs.rpi.edu|Computer Science Department, Rensselaer Polytechnic Institute, NY, USA. acare@cs.rpi.edu|Computer Science Department, Rensselaer Polytechnic Institute, NY, USA. acare@cs.rpi.edu