Shanghang Zhang

CMU, IST

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Guanhang Wu

CMU,  now at Google

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João P. Costeira 

IST

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José M. F. Moura

CMU

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Acknowledgment: This research was supported in part by Fundacao para a Ciencia e a Tecnologia (project FCT [SFRH/BD/113729/2015] and a grant from the Carnegie Mellon-Portugal program).