21

Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

  • Upload
    others

  • View
    4

  • Download
    0

Embed Size (px)

Citation preview

Page 1: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

� ��������� ����� ��������� ������ � ��� ��������! "�$#%&#'�(#*),+

-�.0/21'.43657/ 8:9<;>=?:@ ACBEDGFHDGIKJMLON

PRQSJMTULON�BEDGFHDGIKJMLONWV0IKXZY[JOIK\HY[J^]_ ` acb[bKd<e BgfQhF^LONhiUTkj[Y<lmhn<oqpsr<tSuwvcnyxEzMvy{s|}zMn<~�|

� / /E.��(��9K��.0/ 9<��.Z��._ Y<���wQS\HD�J��>L�TUDGlhL,D���D��wIKJ^\^��DGlq\

@&J^Yy��lW��lhTk�[D�JMF^TU\�]��J^Yy�>TU�SDGlhL,D[�hB}? d<�[�>�G� �(�>�o��c�woqphnc�$z�{SuS~[�q� z��q [t

¡£¢0¤G¥y¦�§w¨[¥�©Tkª<Tk\^I[i�F^TUª<lhIK\^QSJ^D�F^LONSDG��DGF«IKJ^DgI£¬­Qhlh�hI[�gDGls\^I[i�L,J^]c�h\HY[ª[JMIK�7NhTUL®�hJMTU�%Tk\^Tk�[D[�ZY[¬&QhF^D®X¯Y[\^N

TUl°Tk\^FgYy�}l±JMTkª<Nq\��&I[lh�²I[F%I�X7QhTUiU�hT³lSªWXwiUYcLMjT³l´L,J^]q�w\HY[ª[JMIK�wNhTUL*�hJ^Y[\HY>L,Y<i}�SDGF^TUª<lRµ°?�l´\^NhTUF�wIK�¯D�JG�K�¶D��hJMY[�ZY<F^D&I��hJMI[L,\^T³L�I[icI[lw�·�wJ^Yy�KIKXwik]�F^DGL�QSJ^D F^Tkª<lhIK\^QhJ^D¶F^LONSDG��DEI[lh��F^NhYy��hJ^Y[\HY>L,Y<iUF¸ �y¹ ¬ºY[J»TUFMF^QhTUlSª¼I�FMTkª<lhIK\^QSJ^D�Y<l²I½L,Y<�g�gTU\H\HDG�°�KI[iUQSD ¸ FHY�\^NSDWF^Tkª<lhD�J%NhI[F%lhY�TUlS¬ºY[JM�gIK\^TkY<lIKX¯Y<QS\�\^NSD«F^Tkª<lSDG�¾�KI[iUQSD ¹ �hI[lw� ¸ �<¹ ¬¿Y[J �wJ^Yy�>TUlSª�j>lSYy�}iUDG�Sª[D(Y[¬4I�FMTkª<lhIK\^QSJ^D©Y<l*I�L,Y<�%�gTk\H\HDG���I[i³QSD[µÁÀENhTUF&F^Tkª<lwIK\^QSJ^D(F^LMNhDG��D«I[lh��L,Y[J^J^DGF^�ZY<lw�hTUlSª·�hJ^Y[\HY>L,Y<iUFEIKJ^D(I�XwQhT³iU�hTUlSª�XwikY>L^j%¬ºY[J \^NSD�SDGF^Tkª<l�Y[¬¶I[lhY<ls]>�gTk\Â]sÃÄDGlhNwI[lhL�TUlSª¾L,J^]c�h\HY[ª[JMIK�wNhT³L�FH]>FH\HDG�gF��ÅFMQhLMN¼I[F©DGikDGL,\HJ^Y<lwTUL·L�I[FMNR�Rª[J^Y<QS�F^Tkª<lhIK\^QhJ^DGF��ÅI[lh�¼I[lSY<lq]c�gY<QhF(L,J^DG�SDGlq\^TUI[i�FH]>FH\HDG�gF�µ�ÀENSD�FHDGL�QSJOTk\�]�Y[¬¶Y<QSJ«FMTkª<lhIK\^QSJ^D�F^LONSDG��DI[lh�»�hJ^Y[\HY>L,Y<iUF&J^DGiUTkDGF�Y<l»\^NhD(�c\HJMY<lSª®B©�>�ÆI[F^F^Qw���h\^TkY<lRµ�ÀENhDGFHD}J^DGFMQhik\^F&IKJ^D�I·ª[DGlSD�JMI[i³TkÇGIK\^TkY<lY[¬0\^NhD�I[lSY<lq]c��Y<QwFEL,J^DG�SDGlq\^TUI[iÅFH]>FH\HDG�2Y[¬ _ I[�gDGlhTUF^LON*I[lh�*V�]cFH]<I[lwFHj�Iy]<I>µ

È ÉÁÊ�Ë�Ì Í½Î´Ï´Ð«Ë�Ñ�ÍWÊ

Ò�ÓºÔcÓ¿Õ�Öq× Ø�ÓºÔcÙRÖqÕ,ÚZÛ�ܼØOÝ�Þ¯Ü�ßWÜ�ØWÖcÛOÜ�ÖáàÄÚ¯Ù¯âRÖqß�Ü�ÙhÕ,Öc×�Ý�ÛOãwäZÕ�å>Ô>Û,Öqä¯Þ¯ÓºÝ¼Öcä¯ä¯×¿ÓºÝKÖsÕ,ÓºåcÙ$æ&Ó¿ÙhçcÜ�ÙSÕ,Ü�âèÕ�å>Ô>ÜyÕ,Þ¯Ü�Ûé Ó¿Õ�ÞÆä¯Ú¯ê¯×¿ÓºÝGëHìcÜyãíÝ�ÛOãwäZÕ,åcÔ>Û,ÖcäZÞhãíêhãíÒ�Ó¿îWÜ�ÖcÙZâ�ï�Ü�׿׺ß�ÖcÙñðkò[óqô©ÖcÙ¯âÆõRÛ�ØMÕ*Ý�å>ÙZØOÕ,ÛOÚ¯Ý�Õ�Ü�âèêSãÆö«Ó¿ç>Ü�ØOÕ�æ÷ ÞRÖqß�Ó¿Û»ÖqÙ¯âíø®âZ׺Ü�ß�ÖcÙ6ðúùcûsô:ü�ý(Þ¯ÜyãþÔ>Ó³ç>Ü*Õ,Þ¯Ü�Ü�׿Ü�Ý�Õ�Û�å>ÙZÓºÝ'Ü�ÿhÚ¯Ó¿çqÖc׿Ü�ÙSÕ£åqà©Õ,Þ¯Ü�äRÖcä�Ü�Û^ëHêRÖcØOÜ�âíÓ¿â¯ÜKÖ�åcàÞRÖKçwÓºÙ¯ÔWÖ*â¯åwÝ�Ú¯ßWÜ�ÙSÕ«Ø�Ó¿Ô>Ù¯Ü�â$ü

ø â¯Ó¿Ô>Ó¿Õ,Öc× Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�ÜWØ�Ý�ÞZÜ�ßWܼÝ�å>ÙZØ�ÓºØMÕ,Ø»åcà � ò��gÖ�ìqÜ�ã²Ô>Ü�ÙZÜ�Û,ÖsÕ,ÓºåcÙíÖc׿Ô>å>Û�Ó³Õ,Þ¯ß�Õ,ÞRÖqÕ»Ô>Ü�Ù¯Ü�Û�ÖqÕ,Ü�Ø�Öä¯Ú¯êZ׺ӺݮìcÜ�ã���� ÖcÙ¯â�Ö�Ø�Ü�Ý�Û�ÜyÕ®ìqÜ�ã���� � ù ��ÖWØOÓºÔ>ÙZÓºÙ¯Ô�Öq׺Ô>å>ÛOÓ¿Õ�Þ¯ß Õ�ÞRÖqÕ(Õ,ÖcìcÜ�Ø·ÖqØ�Ó¿Ù¯ä¯ÚZÕ�Ø«Ö�ß�Ü�Ø�Ø,ÖqÔ>Ü� ÖqÙ¯âþÖ�ØOÜ�Ý�ÛOÜ�Õ»ìcÜyã��� ÖcÙ¯â±Ô>Ü�Ù¯Ü�Û�ÖqÕ,Ü�ػֽØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü����&ÖcÙZâ ��� ��Ö½çcÜ�ÛOÓ¿õRÝ�ÖqÕ,Ó¿å>Ù±Öc׺Ô>åcÛ�Ó¿Õ�Þ¯ß Õ,ÞRÖsÕÕ,Ü�ØOÕ�Ø é ÞZÜ�Õ,ÞZÜ�ÛEØ�å>ßWÜ©ØMÕ,Û�Ó¿Ù¯Ô���ÓºØ�ÖgØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ©å>Ù�ßWÜ�ØOØ,ÖcÔ>Ü � Ú¯Ù¯âZÜ�Û�Õ,ÞZÜ(ä¯Ú¯ê¯×¿ÓºÝ©ìqÜ�ã����íü ÷ Ó¿Ô>ÙRÖqÕ�Ú¯Û�ÜØ�Ý�ÞZÜ�ßWÜ�Ü��7ÓºØMÕ,Ø©Ó³àÁÖcÙ¯â�å>ÙZ׿ãWÓ¿à�åcÙ¯Üyë é ÖKã'àÄÚZÙ¯Ý�Õ�Óºå>Ù¯Ø�Ü��7ÓºØMÕ%ð ù��7æZù �qôÂüEï·å é Üyç>Ü�Û�æ¯Õ,ÞZÜ�Ü�îWÝ�Ó¿Ü�Ù¯Ýyã¼åcà�Õ�Þ¯Ü�ØOÜÔ>Ü�Ù¯Ü�Û�Öc×(Ý�å>ÙZØOÕ,ÛOÚ¯Ý�Õ�Óºå>ÙZØ�æ©ÖqÙ¯â6Öq׺Ø�å´Õ�Þ¯Ü�à�ÖqÝ�Õ�Õ,Þ¯ÖqÕ*Õ,Þ¯Ü�Ø�Ü�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�ܽØ�Ý�Þ¯Ü�ß�Ü�Ø�ÛOÜ�ÿhÚ¯Ó¿Û�Ü�Õ,Þ¯Ü�Ø�Ó¿Ô>Ù¯Ü�Û�� ØØ�Ü�Ý�ÛOÜ�Õ�ìcÜ�ãþÕ,å°Ý�ÞRÖcÙ¯ÔcÜ�ê�Ü�Õ é Ü�Ü�Ù6ÓºÙSçcå7Ý�ÖqÕ,Ó¿å>Ù¯Ø�åcà«Õ,ÞZÜ�ØOÓºÔ>ÙZÓºÙ¯Ô°Öc׿Ô>å>ÛOÓ¿Õ,ÞZß�æ�ß�ÖcìqÜ�ؾÕ,ÞZÜ�Ø�Ü�Ø�åc׺ÚZÕ�Óºå>Ù¯ØÚ¯Ù¯âZÜ�Ø�Ó¿Û,ÖcêZ׺Ü�ÓºÙ½ä¯Û�ÖcÝ�Õ�ÓºÝ�Ücü

�·ØOÓºÙ¯Ô²ÖcÙ6Ó¿â¯ÜKÖqשÛ,ÖcÙZâ¯å>ß àÄÚ¯Ù¯ÝyÕ,Ó¿å>Ù � Õ,Þ¯Ó¿Ø�ÓºØ�Õ,ÞZÜ�ØOåqëHÝ�Öc׺׿Ü�â � � !#"$&%�'($&�(�)�*,+�ß�åwâ¯Ü�×-�yæEØ�Üyç>Ü�Û,Öc×Âæß¾Ú¯Ý�Þ ßWå>Û�Ü�Ü�îWÝ�Ó¿Ü�ÙSÕ*Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü'Ø�Ý�Þ¯Ü�ß�Ü�Ø é Ü�ÛOÜ�Ø�Þ¯å é ÙÆÕ,å´ê�ܼØOÜ�Ý�ÚZÛ�Ücü�.�å>ØMÕ*Ù¯åcÕ�Öqê¯×¿ãcæ&Õ,Þ¯åcØ�ܽÖcÛOÜÕ,ÞZÜ»ö ÷ ø ðúùcû<ôÂæÅÕ�Þ¯Ü0/&Ó­ÖsÕOë ÷ ÞRÖcßWÓºÛ®ðUò<û<ô:æÅÖcÙZâ�Õ,ÞZÜ ÷ Ý�Þ¯Ù¯å>ÛOÛ¾ð ù 1sô�ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ�Ø�Ý�Þ¯Ü�ß�Ü�Ø�ü(ï�å é Ü�çcÜ�Û�æ0Ó¿â¯ÜKÖc×

ò

Page 2: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø�Ý�ÖcٯٯåcÕ©ê0Ü�Ó¿ß�äZ׺Ü�ßWÜ�ÙSÕ�Ü�â'Ó¿Ù'Õ,ÞZÜ�ä¯×­ÖqÓºÙ'ßWåwâ¯Ü�×&ðUò[ùsô:æZÖcÙ¯â¼Õ�Þ¯Ü�ÛOÜ�àÄå>ÛOÜ�ÓºÙ'Õ�Þ¯Ü�ä¯×ºÖcÓºÙßWå7â¯Ü�×:æwÕ,Þ¯Ü�Ø�Ü%Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�Ø�Ý�ÞZÜ�ßWÜ�Ø·ÖcÛ�ÜgÙ¯åcÕ«äZÛ�å[çqÖcê¯×¿ã¼Ø�Ü�Ý�Ú¯Û�Üqü

� Ü�Ù¯ÙRÖcÛOå¯æwï®Öc׿Ü�çwÓ:æwÖcÙZâ'ö�Öcê¯Ó¿Ùð ù��sô0ÖcÙZâ���Û�Öcß�Ü�Û�ÖqÙ¯â ÷ Þ¯å>Ú¯äðUò � ôÅä¯Û�å>ä�å>ØOÜ�â�Õ�ޯܫõRÛ�ØMÕ�ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜØ�Ý�ÞZÜ�ßWÜ�Ø é ÞZå>Ø�ÜWÜ�îWÝ�Ó¿Ü�Ù¯Ýyã°ÓºØgØ�ÚZÓ¿Õ�Öqê¯×ºÜ¾àÄå>Û�äZÛ,ÖcÝyÕ,ÓºÝ�Öc× Ú¯ØOÜ'ÖcÙZâ é Þ¯åcØ�ÜWØ�Ü�Ý�Ú¯Û�Ó³ÕHã±ÖcÙRÖc׳ãwØ�ÓºØgâ¯åwÜ�ØgÙ¯åqÕÖcØOØ�Ú¯ßWÜ�ÖcÙ�Ó¿â¯ÜKÖc×�Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ$ü�ý(Þ¯Ü�ÓºÛ©ØOÝ�Þ¯Ü�ßWÜ�Ø«ÖcÛOÜ�Ø�Ü�Ý�Ú¯ÛOÜ�Ú¯Ù¯â¯Ü�Û©Õ,ޯܮØ�åqë�ÝKÖc׿׺Ü�â ��� � $&!�� ����� � ��%������ $&!Rü

�HÙ�Ý�å>ÙSÕ,Û�ÖcØOÕEÕ,å�Õ�Þ¯Ü�ØOÜ·ØMÕ�ÖcÙZâ7ë^Öc׿å>ٯܩØOå>׺Ú7Õ,ÓºåcÙ¯Ø�æ>åcÚ¯Û Ô>åSÖc×ZÓºØ&Õ�å%Ý�å>Ù¯ØMÕ,Û�ÚZÝ�Õ}Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü(ØOÝ�Þ¯Ü�ßWÜ�ØEÕ,ÞRÖsÕÖcÛOÜ%ØOÚ¯Ó¿Õ,Öcê¯×¿Ü�ÖcØ«ê¯Ú¯Ó¿×ºâ¯Ó¿Ù¯Ô¾ê¯×¿å7Ý�ìhØ(àÄå>Û(åcÕ�Þ¯Ü�Û�Öcä¯äZ׺ӺÝ�ÖqÕ,Ó¿å>Ù¯Ø�ü

��å>Ù¯ØOÓºâ¯Ü�Û©Õ,Þ¯Ü�Ú¯ØOÜ�åcà�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü·Ø�Ý�Þ¯Ü�ß�Ü�Ø«àÄåcÛ©Ý�å>ÙZØOÕ,ÛOÚ¯Ý�Õ�ÓºÙ¯Ô*ÖqÙ�ÖqÙ¯å>ÙSãwß�å>ÚZØ©Ý�ÛOÜ�â¯Ü�ÙhÕ�Ó­Öc×4ØOãwØOÕ�Ü�ß�ü� ޯӿ׺Ü(Ø�ÚZÝ�Þ�Ö%ØMãwØOÕ,Ü�ß ÝKÖcÙ�ê0Ü�Ý�å>ÙZØOÕ,ÛOÚ¯Ý�Õ�Ü�â'àÄÛOå>ß ÖcÙSã*ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ�ØOÝ�Þ¯Ü�ßWÜ�Ú¯Ø�Ó¿Ù¯Ô»ÔcÜ�Ù¯Ü�Û,Öc×RÕ,Ü�Ý�Þ¯Ù¯Ó¿ÿwÚZÜ�ØàÄå>Û�Ý�ÛOãwäZÕ�å>Ô>Û�Öcä¯Þ¯Ó¿Ý®ä¯ÛOåcÕ,åwÝ�å>×�â¯Ü�Ø�ÓºÔcÙ$æ é Ü�å>ê¯ØOÜ�ÛOçcÜ�Õ,ÞRÖsÕ©â¯å>Ó¿Ù¯Ô¾Ó³Õ�Ó¿Ù'Õ,Þ¯Ó¿Ø�à�ÖcØOÞ¯ÓºåcÙ¼ÓºØ}ç>Ü�ÛMã¼Ó¿Ù¯Ü�îWÝ�Ó¿Ü�ÙSÕKü��Ü�Õ�گثÜ��7ä¯×ºÖcÓºÙ�Õ�Þ¯ÓºØ(ä�å>ÓºÙSÕ«Ó¿Ù�ß�å>ÛOÜ�â¯Ü�Õ,ÖcÓº×Âü

�HÙ ÖèÝ�Û�Ü�â¯Ü�ÙSÕ�Ó­Öc×gØOãwØMÕ,Ü�ß�æ%ÖèÚZØ�Ü�Û�ÝKÖcÙ�å>êZÕ,ÖcÓºÙ�ÖcÝ�Ý�Ü�ØOØ�Õ,å�Ö�ÛOÜ�ØOå>Ú¯Û�Ý�Üþå>ÙZ׿ãñêSã ä¯Û�Ü�Ø�Ü�ÙhÕ�ÓºÙ¯Ô6ÖÝ�ÛOÜ�â¯Ü�ÙSÕ,Ó­Öq×�Õ,ÞRÖqÕ¼â¯Ü�ßWå>Ù¯ØMÕ,Û,ÖsÕ,Ü�Ø�Õ�ÞRÖqսޯܴӿؽÖcÚZÕ,ÞZå>Û�Ó¿Ø�Ü�âñÕ�åèâZåèØOå¯ü��HÙñÕ,ÞZÜ´äRÖcä�Ü�ÛMë�êRÖcØOÜ�â é å>ÛO׺â$æÜ��ZÖcßWä¯×¿Ü�Ø®åqàEØ�Ú¯Ý�Þ´Ý�Û�Ü�âZÜ�ÙSÕ,ÓºÖc׺Ø�ÖqÛ�Ü£ä¯ÖcØ�ØOä0å>ÛMÕ,Ø®Õ�ÞRÖqÕ�Öc׺׿å é گخÕ�å¼ä¯Û�å[çcÜ�Ý�Ó¿Õ�Ó���Ü�Ù¯ØOÞ¯ÓºäáÖcÙ¯â´ÖcÚ7Õ,Þ¯å>ÛOÓºØOÜÚ¯Ø�Õ,å�çcåcÕ,Üqæ0âZÛ�Ó¿çcÜ�Û �úط׺ӺÝ�Ü�Ù¯ØOÜ�Ø«Õ,ÞRÖsÕ®ä¯ÛOå[ç>ܾå>ÚZÛ®ÖcêZӺ׺ӳÕHã'Õ�å�â¯ÛOÓ¿çcÜ£ÝKÖqÛ�Ø�æ�Ü�Õ�Ýcü��HÙ�Õ�ޯܣâZÓºÔ>Ó³Õ�Öc× é å>ÛO׺â$æÅÓ¿ÕÓºØ}Û�Ü�ÖcØ�åcÙRÖcê¯×¿Ü·Õ,å»Óºß�ÖcÔ>Ó¿Ù¯Ü(Õ,ÞRÖqÕ�Ø�ÚZÝ�Þ½Ö£Ý�ÛOÜ�â¯Ü�ÙhÕ�Ó­Öc× é Ӻ׿×Rê0Ü·ÓºÙWÕ,ޯܮàÄåcÛ�ß åcàÁÖ»â¯ÓºÔ>Ó³Õ�Öc×RØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜcü���ÜyÕÚ¯Ø%Óºß�ÖcÔ>ӿٯܣÕ,Þ¯ÖqÕgÕ,Þ¯ÜWÚ¯Ø�Ü�Û�� Ø£Ó¿â¯Ü�ÙSÕ,Ó³ÕHã´ÓºØgÞ¯Ó¿ØgØ�Ü�Ý�Û�ÜyÕ£ìqÜ�ã ��íü���Ü�Õ»Ú¯ØgÕ,Þ¯Ó¿Ù¯ìåcà©Ö�Ý�Û�Ü�â¯Ü�ÙSÕ,ÓºÖc×}ÖcØ%ÖØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�åcÙ�Õ�Þ¯ÓºØ(ØOÜ�Ý�ÛOÜ�Õ·ìcÜyã>ü

ø Ý�Û�Ü�â¯Ü�ÙSÕ�Ó­Öc×ÅØOãwØMÕ,Ü�ß Ó¿Ø�ÖqÙ¯å>ÙSãwß�å>ÚZØ}Ó³à4Ó³Õ}Öc׺׿å é Ø Ú¯Ø�Ü�Û�ØEÕ,å%â¯Ü�ßWå>Ù¯ØMÕ,Û,ÖsÕ,Ü«Ø�Ú¯Ý�Þ'Ý�Û�Ü�â¯Ü�ÙSÕ�Ó­Öc×¿Ø é Ó³Õ,Þ7ëå>ÚZÕWÛOÜ�ç>Ü�Öc׺ӿٯԲÖcÙSãèÖcâ¯â¯Ó³Õ,ÓºåcÙRÖcשӿÙZàÄå>Û�ß�ÖqÕ�Óºå>ÙÆÖqê0å>Ú7Õ�Õ�Þ¯Ü�Ó¿ÛWÓ¿â¯Ü�ÙSÕ�Ó¿ÕHã>ü��HÙ�Ü�Ø�ØOÜ�Ù¯Ý�Ücæ é Þ¯Ü�Ù�Õ,Þ¯Ü�Ú¯Ø�Ü�ÛØ�ÞZå é Ø(ÚZä�ê0ÜyàÄå>Û�Ü®Õ�ޯܮçcÜ�Û�Ó³õRÜ�Û©ÖcÙ¯â�â¯Ü�ß�å>ÙZØOÕ,Û�ÖqÕ,Ü�Ø�Õ,Þ¯ÖqÕ©Þ¯Ü�Þ¯ÖcØ(Ö£Ý�Û�Ü�âZÜ�ÙSÕ,ÓºÖc×:æhÕ,Þ¯Ü�çcÜ�ÛOÓ¿õRÜ�Û©ÝKÖcÙ�Ó¿ÙZàÄÜ�ÛÙ¯åcÕ�Þ¯ÓºÙZÔ�Öcê�å>ÚZÕ é ÞZågÕ�ޯܩگØOÜ�Û Ó¿Ø&åcÕ�Þ¯Ü�Û&Õ�ÞRÖcÙ¾Õ�ÞRÖqÕ�Õ�ޯܩگØOÜ�Û ÞRÖcضÕ,ޯܩÛOÓºÔ>ÞSÕ&Ý�Û�Ü�â¯Ü�ÙSÕ�Ó­Öc×Âü&ø®âZâ¯Ó¿Õ�Óºå>ÙRÖq׺׿ãcæÖcÙ�ÖcÙ¯åcÙhãwßWå>گثÝ�ÛOÜ�â¯Ü�ÙSÕ,Ó­Öq×�ØMãwØOÕ,Ü�ß Öc׺׿å é Ø©Õ,Þ¯ÜgÚ¯ØOÜ�Û(Õ,å*å>êZÕ,ÖcÓºÙ�Ö�Ý�ÛOÜ�â¯Ü�ÙSÕ,Ó­Öq×ÁÖcÙ¯å>ÙSãwß�åcÚ¯Ø�׳ã>ü

�·ØOÓºÙ¯Ô½Ô>Ü�Ù¯Ü�Û�Öc×���Ü�Û�åqë�ìwÙZå é ׿Ü�â¯ÔcÜWäZÛ�åwåcàÄØ�æ�Ó³Õ�ÓºØ�ä�å>Ø�ØOÓºê¯×¿Ü£Õ,å½ä¯ÛOå[ç>Ü*ØOÕ,ÖqÕ,Ü�ß�Ü�ÙhÕ�Ø»ØOÚ¯Ý�Þ²ÖcØ! "�·Þ¯Ö[çcÜÖ²ØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜcæ$# é Ó¿Õ�Þ¯å>ÚZÕWØ,ÖKãwÓºÙZÔíÖcÙSãhÕ,Þ¯Ó¿Ù¯ÔþßWå>ÛOܽÕ�ÞRÖcÙèÕ,ÞRÖqÕ � ÓÂüúÜqü¿æ é Ó¿Õ�Þ¯å>ÚZÕ�â¯ÓºØOÝ�׿å>Ø�Ó¿Ù¯Ô é ÞRÖqÕWÕ,Þ¯Ó¿ØÝ�ÛOÜ�â¯Ü�ÙSÕ,Ó­Öq׶׿å7å>ìhط׺ӺìqÜ �Gü®ï�å é Ü�çcÜ�Û�æ�â¯å>ÓºÙZÔ'Ø�å'Û�Ü�ÿhÚ¯Ó¿Û�Ü�Ø·Õ,Þ¯ÖqÕ®Õ�ޯܾä¯ÛOå>ê¯×ºÜ�ß ÖqÕ�Þ¯ÖcÙ¯âê�Ü£ÛOÜ�ä¯ÛOÜ�Ø�Ü�ÙSÕ,Ü�âÖcØ�æÅàÄåcÛ·Ü �¯Öqß�ä¯×¿Ücæ�Ö&%�å7åc׺ÜKÖqÙ�Ý�ÓºÛ�Ý�Ú¯Ó¿Õ�æÅÖcÙ¯â�Õ,Þ¯Ü�Ù�Õ,ÞZÜ£ä¯ÛOå7åcà¶Õ,ÞRÖsÕ�Õ�ޯܣØMÕ�ÖqÕ�Ü�ßWÜ�ÙSÕ·ÓºØ(Õ,ÛOگܣÛOÜ�ÿhÚ¯ÓºÛOÜ�Ø·Öä¯ÛOå7åcà�Õ,Þ¯ÖqÕEÕ,Þ¯Ü�Ý�Ó¿Û�Ý�ÚZÓ¿ÕEÞRÖcØ�ÖgØ,ÖqÕ�ÓºØOà�ãwÓ¿Ù¯Ô%ÖcØ�ØOÓºÔ>Ù¯ßWÜ�ÙSÕ�ü�ý(Þ¯ÓºØ}ßWÜ�Õ,ÞZå7â$æSÞZå é Ü�çcÜ�Û�æ¯Û�Ü�ÿwÚZÓºÛ�Ü�Ø�Ü �7ä0Ü�Ù¯Ø�Ó³ç>ÜÝ�åcß�ä¯Ú7Õ�ÖqÕ�Óºå>Ù¯Ø(ê�Ü�ãcå>Ù¯â é ÞRÖqÕ�ÓºØ(Ý�å>Ù¯ØOÓºâ¯Ü�Û�Ü�â�ä¯Û,ÖqÝ�Õ,Ó¿ÝKÖc×Âü

ø®Ù�Öcâ¯âZÓ¿Õ,Ó¿å>ÙRÖc×ÅÝ�å>ß�äZ׺ӺÝ�ÖqÕ,Ó¿å>ÙWӺةå>ê7Õ�ÖcÓ¿Ù¯ÓºÙ¯Ô»Ý�ÛOÜ�â¯Ü�ÙhÕ�Ó­Öc׿ةӺٽ־ØOÜ�Ý�Ú¯Û�Ü é ÖKã>ü}ý(Þ¯Ü�Ø�Ó¿ß�ä¯×¿Ü·ØOå>׺Ú7Õ,ÓºåcÙé Þ¯Ü�Û�Ü»Õ�ޯܣÚZØ�Ü�Û·Û�Üyç>ÜKÖq׺خÞZÓºØ�Óºâ¯Ü�ÙhÕ�Ó¿ÕHã� � Õ�åWÕ�ޯܣÝ�Û�Ü�â¯Ü�ÙSÕ,ÓºÖc×�Ô>Û,ÖcÙSÕ�ÓºÙ¯ÔWå>Û�Ô>ÖcÙ¯Ó���ÖqÕ,Ó¿å>Ù$æ é ÞZå'ÓºÙ�Õ,Ú¯ÛOÙÔ>Û�ÖcÙSÕ,ØgÞ¯Óºß�Õ,Þ¯ÜWÝ�ÛOÜ�â¯Ü�ÙhÕ�Ó­Öc×ÂæÁÓºØgÛ�گ׿Ü�â°å>ÚZÕ(' é Ü é ÖcÙSÕ%Õ,å�Öc׺׿å é Õ�Þ¯ÜWÚ¯Ø�Ü�Û%Õ�å�ê�ÜWÖcÙ¯å>ÙSãwß�åcÚ¯Ø é ÞZÜ�Ùå>êZÕ,ÖcÓºÙZÓºÙ¯Ô½Ý�ÛOÜ�â¯Ü�ÙSÕ,Ó­Öq׺ػÖcØ é Ü�×¿× � é Ü'Öc׺ØOå é ÖcÙSÕ»Õ�åáä¯ÛOåcÕ,Ü�Ý�Õ%Õ,Þ¯ÜWÚ¯ØOÜ�Û»àÄÛOå>ß!ÓºâZÜ�ÙSÕ,Ó³ÕHãÕ,Þ¯Üyà�ÕKæ&ÖcÙ¯âþØOåÕ,ÞZÜ·Ú¯ØOÜ�Û �úØ�Ø�Ü�Ý�Û�ÜyÕ©ìcÜyã ���Ø�ÞZå>گ׺â�Ù¯Ü�çcÜ�Û�ê0ܫ׺Ü�ÖcìcÜ�â�Õ�å¾ÖcÙSã*åcÕ�Þ¯Ü�ÛEäRÖcÛMÕHã>üEï�Ü�Û�Üqæ7ÔcÜ�Ù¯Ü�Û,Öc×RÕ,Ü�Ý�Þ¯Ù¯Ó¿ÿwÚZÜ�ØåcàgØOÜ�Ý�ÚZÛ�ÜÕ é åqëHäRÖqÛOÕHã Ý�å>ßWä¯ÚZÕ�ÖsÕ,ÓºåcÙ6Ø,ÖKçcÜÕ,Þ¯Üâ¯Ö[ã�'±Õ,Þ¯ÜÚZØ�Ü�Û½ÖqÙ¯â6Õ,ÞZÜå>Û�Ô>ÖcÙ¯Ó���ÖqÕ,Ó¿å>Ù6Ý�ÖcÙñÚ¯ØOÜ´ÖØ�Ü�Ý�Ú¯ÛOÜ'Õ é åqëHäRÖqÛOÕHã±ä¯Û�åqÕ,åwÝ�å>×EØ�ÚZÝ�ÞíÕ,ÞRÖqÕ%Õ,ÞZÜ'Ú¯ØOÜ�Û�� ؾå>Ú7Õ,ä¯ÚZջӺػÖ�ØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ'å>Ù²Þ¯ÓºØ%ÓºâZÜ�ÙSÕ,Ó³ÕHã>æ é ÞZӺ׺ÜÕ,ÞZÜ�å>ÛOÔSÖcÙ¯Ó)�KÖqÕ�Óºå>ٴ׿ÜKÖcÛOÙ¯ØgÙ¯åcÕ�Þ¯ÓºÙ¯ÔZü*%�ÚZÕ»Õ�Þ¯ÓºØgÓ¿Ø»Öq׺Ø�å�çcÜ�ÛOã±Ü �Zä�Ü�ÙZØ�Ó¿çcÜ�'¾ÔcÜ�Ù¯Ü�Û,Öc× ØOÜ�Ý�ÚZÛ�Ü�Õ é åqë�äRÖcÛOÕHãÝ�åcß�ä¯Ú7Õ�ÖqÕ�Óºå>Ù Öc׿Ø�å±Û�Ü�ä¯Û�Ü�Ø�Ü�ÙSÕ�Ø�Õ,ÞZܽàÄÚZÙ¯Ý�Õ�Óºå>Ù Õ,å±ê0ܽÝ�å>ß�äZÚZÕ,Ü�â6ÖcØWÖ+%�åwå>׺Ü�ÖcÙ Ý�ÓºÛOÝ�Ú¯Ó³ÕKæ}ÖcÙ¯â Õ,ÞZÜ�Ùä¯ÛOå7Ý�Ü�Ü�âZØ�Õ�åWÜyçqÖc׺ÚRÖsÕ,Ü�Ó¿Õ«Ô>ÖqÕ,Ü�êSã½ÔSÖqÕ�Ücü

÷ åáà�ÖcÛ�æ é Ü'Þ¯Ö[çcܼÝ�åcß�ÜWÚ¯ä é Ó³Õ,ÞíÖ�Ý�å>ÙZØOÕ,ÛOÚ¯Ý�Õ�Óºå>Ù²åcà«ÖcÙþÖcÙ¯å>ÙSãwßWå>گأÝ�Û�Ü�â¯Ü�ÙSÕ,ÓºÖc×}ØOãwØOÕ�Ü�ß àÄÛ�å>ßÖ�ØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ'ØOÝ�Þ¯Ü�ßWÜ'Ú¯ØOÓºÙ¯Ô,��Ü�ÛOåqëHìhÙ¯å é ׿Ü�â¯Ô>Ü�ä¯Û�åwåcàÄØ%åcà(ìhÙ¯å é ׺Ü�â¯Ô>Ü�ÖqÙ¯âíÔ>Ü�Ù¯Ü�Û�Öc×}Õ é åqë�äRÖcÛOÕHã±Ý�å>ß*ëä¯ÚZÕ,ÖqÕ,Ó¿å>Ù$ü-�²Ü¾ÞRÖKç>Ü�Öq׺Ø�å�å>ê¯ØOÜ�ÛOçcÜ�â´Õ,Þ¯ÖqÕ·Õ�ޯӺطØ�å>׿ÚZÕ,Ó¿å>Ù�ÓºØ�Ù¯åcÕ�Ø�ÖqÕ,Ó¿ØOà�ÖcÝyÕ,å>ÛMã�ÖcØ·à�ÖcÛ·ÖcØ·Ü�îWÝ�Ó¿Ü�Ù¯ÝyãáÓ¿ØÝ�åcÙ¯Ý�Ü�Û�Ù¯Ü�â$ü�ø Ù¯ÖqÕ,Ú¯Û�Öc×$ÿhÚ¯Ü�ØOÕ,Ó¿å>Ù½Õ,Þ¯Ü�Û�Ü�àÄåcÛ�Üg é Þ¯ÜyÕ,Þ¯Ü�Û é Ü%ÝKÖcÙ½Ý�Û�ÜKÖsÕ,Ü%Ö�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�Ø�Ý�ÞZÜ�ßWÜ é ÞZÓºÝ�Þ

ù

Page 3: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

é Ӻ׿×�Ü�ÖcØ�ӿ׿ãþãwÓ¿Ü�׺âÆÓ³Õ,ØOÜ�׿à«Õ�å²ÖqÙèÜyîWÝ�ÓºÜ�ÙSÕ'Ý�å>Ù¯ØOÕ�Û�Ú¯ÝyÕ,Ó¿å>Ù åcà�ÖqÙ�ÖqÙ¯å>ÙSãwß�å>ÚZØWÝ�Û�Ü�â¯Ü�ÙSÕ,ÓºÖc×(ØOãwØMÕ,Ü�ß�ü �HÙåcÕ�Þ¯Ü�Û é å>ÛOâ¯Ø�æ é Ü�Ù¯Ü�Ü�âèØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOܼØ�Ý�ÞZÜ�ßWÜ�ؾàÄå>Û é ÞZÓºÝ�ÞÆä¯ÛOå<çwÓ¿Ù¯Ô°ÖáØOÕ,ÖqÕ,Ü�ß�Ü�ÙSÕ*Ø�Ú¯Ý�ÞèÖcØ �%Þ¯Ö[çcܽÖØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Üqæ #'ӺطÖ�ß¾Ú¯Ý�Þáß�å>ÛOÜ»ÜyîWÝ�ÓºÜ�ÙSÕ�å>ä�Ü�Û,ÖsÕ,ÓºåcÙ�Õ�ÞRÖcÙÛOÜ�ä¯ÛOÜ�Ø�Ü�ÙSÕ,ÓºÙZÔ'Õ,Þ¯Ó¿Ø®ØMÕ�ÖqÕ�Ü�ßWÜ�ÙSÕ�ÖcØ®Ö�Ý�ÓºÛ�Ý�Ú¯Ó¿ÕÖcÙ¯âWä¯ÛOå<çwÓ¿Ù¯Ô»ØOå>ßWÜ�Õ,ÞZÓºÙ¯Ô»Öcê�å>ÚZÕ}Ø�Ú¯Ý�Þ¼Ö%Ý�ÓºÛ�Ý�Ú¯Ó¿Õ�ü �²Ü�Öc׺ØOå»Ù¯Ü�Ü�âWÕ,å%ê0Ü·Öcê¯×¿Ü©Õ,å%ÞRÖKç>Ü·Õ�Þ¯Ü�Ú¯Ø�Ü�Û�å>ê7Õ�ÖcÓ¿ÙÖ�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ügå>Ù½Þ¯Ó¿Ø(Óºâ¯Ü�ÙhÕ�Ó¿ÕHã é Ó³Õ,Þ¯åcÚZÕ«Ý�å>ßWä¯ÛOå>ß�Ó¿Ø�Ó¿Ù¯Ô¾Þ¯Ó¿Ø(Óºâ¯Ü�ÙhÕ�Ó¿ÕHãcü

�HÙÆÕ,ޯӿؾäRÖcä�Ü�Û�æ é Ü�Ý�å>Ù¯ØOÕ�Û�Ú¯ÝyÕ�ÖØ�ÓºÔcÙRÖqÕ,ÚZÛ�Ü'ØOÝ�Þ¯Ü�ßWÜ�Õ,ÞRÖsÕ�ß�Ü�Ü�Õ�Ø£Õ,Þ¯Ü�Ø�Ü�ç>Ü�ÛOãÆÔcÜ�Ù¯Ü�Û,Öc×�Û�Ü�ÿhÚ¯Ó¿Û�ÜGëßWÜ�ÙSÕ,Ø�ü�ý(Þ¯Ü'Ô>Ü�Ù¯Ü�Û,Öc׿ӿÕHã°åcà©å>Ú¯Û¾Öqä¯ä¯Û�å>ÖcÝ�ÞíÜ�Ù¯Öcê¯×ºÜ�Ø»Õ�Þ¯Ü'Ú¯ØOܼåcà©Õ�Þ¯ÓºØ%Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�Ø�Ý�Þ¯Ü�ß�Ü�àÄå>Û»åqÕ,Þ¯Ü�ÛÝ�ÛMãwäZÕ,å>ÔcÛ,Öcä¯ÞZÓºÝWä¯Û�åcÕ�å7Ý�å>׺Ø�Ó¿Ù é ÞZÓºÝ�ÞþÓ³Õ%ÓºØgâ¯Ü�ØOÓºÛ�Öcê¯×ºÜ�Õ�å�ä¯ÛOå[ç>Ü'ØMÕ�ÖqÕ�Ü�ßWÜ�ÙSÕ,Ø%åcà�Õ,Þ¯Ü*àÄå>Û�ß �®ÞRÖKç>Ü'ÖØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Üqæ #WÖcÙZâ�Õ�åWåcêZÕ�ÖcÓ¿Ù½Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�Ø(åcÙ�Ý�å>ß�ßWÓ¿ÕOÕ,Ü�â'çqÖc׺گÜ�Ø�ü

� Ú¯ÛEØ�ÓºÔcÙRÖqÕ,ÚZÛ�Ü«Ø�Ý�Þ¯Ü�ß�Ü·ÓºØ êRÖqØ�Ü�â�å>Ù*Õ,Þ¯Ü ÷ Õ,ÛOå>Ù¯Ô»ö ÷ ø�ÖqØ�Ø�ÚZß�äZÕ�Óºå>Ù4æhÖcÙ¯â'åqà$Öc׿ׯä¯ÛOå<çqÖcêZ׿ã�ØOÜ�Ý�ÚZÛ�ÜØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�Ø�ìhÙ¯å é Ù$æ¯Ó³Õ�ÛOÚ¯Ù¯Ø�Ö£Ý�׿å>Ø�Ü�Ø�Ü�Ý�å>Ù¯â½Ó¿Ù'Ü�îWÝ�ÓºÜ�ÙZÝ�ãWÕ,å»Õ�ޯܮØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ®ØOÝ�Þ¯Ü�ßWÜ�åcà ��Û�ÖcßWÜ�Û©ÖqÙ¯â÷ Þ¯åcÚ¯äíðkò � ôÂü

� Ú¯Û¾Û�Ü�Ø�گ׳Õ,ؾÝ�ÖcÙíê�Ü'Õ,ÞZå>Ú¯Ô>ÞSÕ�åcà�ÖqØ�ÖáÔ>Ü�Ù¯Ü�Û�Öc׺Ó)�KÖqÕ�Óºå>Ù±åcà(Õ,ÞZÜ�ÖcÙ¯å>ÙSãwßWå>گؾÝ�Û�Ü�âZÜ�ÙSÕ,ÓºÖc×�ØMã7ØMÕ,Ü�ßâ¯Ú¯ÜWÕ,å �©Öcß�Ü�Ù¯ÓºØOÝ�ÞÆÖcÙ¯â �$ã7ØMãSÖcÙZØ�ìsÖKãSÖèðúû<ô:æ&ÖcÙ¯âþÝ�ÖcÙÆÖc׿Ø�å�ê0ÜWçw é Ü�âíÖcؾÖ�Ô>Ü�Ù¯Ü�Û,Öc׿Ó���ÖqÕ,Ó¿å>Ù°åcà©Õ,ÞZÜø©Õ,Ü�Ù¯ÓºÜ�Ø�Ü%Ü�Õ·Öc×Âü�ðkò�ô�Ô>ÛOå>Ú¯ä�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�Ø�Ý�ÞZÜ�ßWÜcü

�HÙ ÷ Ü�Ý�Õ�Óºå>Ùáù é ÜgÔ>Ó³ç>Ü�Õ,Þ¯ÜgêRÖqØ�ÓºÝgØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ%ØOÝ�Þ¯Ü�ßWÜcæRàÄå>Û é ÞZÓºÝ�Þ é Ü%Ô>Ó¿çcÜ%ÖWä¯ÛOå7åqà&åcà¶Ø�Ü�Ý�Ú¯ÛOÓ¿ÕHã½Ó¿Ù÷ Ü�Ý�Õ,Ó¿å>Ù � ü-�HÙ ÷ Ü�ÝyÕ,Ó¿å>Ù�� é Ü»Ô>Ü�Ù¯Ü�Û,Öc׿Ó���Ü%Õ�Þ¯ÓºØ�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü%Ø�Ý�Þ¯Ü�ß�Ü%Õ,å'Ö�Ø�Ý�ÞZÜ�ßWÜ»Õ,Þ¯ÖqÕ�Öq׺׺å é Ø«Õ,åWØ�Ó¿Ô>ÙÖ�êZ׺åwÝ�ì´åcà(ßWÜ�Ø�Ø�ÖcÔ>Ü�Ø£ÓºÙZØOÕ,Ü�Öcâþåqà(å>Ù¯ÜWß�Ü�Ø�Ø�ÖcÔ>Ücü ÷ ÚZÝ�Þ Ö�ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ�ØOÝ�Þ¯Ü�ßWܼÝKÖqÙ²àÄå>Û%Ü��ZÖcßWä¯×ºÜWê�ÜÚ¯ØOÜ�âÕ,å'Ü�Ù¯Ý�å7â¯Ü£ä¯Ú¯ê¯×¿ÓºÝyë�ìcÜyãáÖsÕ�Õ,ÛOÓºê¯Ú7Õ,Ü�Ø®ÖcØ®äZÛ�å>ä�å>Ø�Ü�â´êSã %�Û�ÖcÙ¯â¯Ø¾ð �<ô:æ0å>Û·Õ�å'ÓºØOØ�گܣØ�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�Ø�Õ,ÞRÖsÕÝKÖqÙå>ٯ׳ã½ê0ܻگØ�Ü�â´å>Ù¯Ý�Ü � Ø�Ü�Ü ÷ Ü�Ý�Õ�Óºå>Ù´ó7ü � �Gü �HÙáØ�Ü�ÝyÕ,Ó¿å>Ù� é ܾßWÜ�ÙSÕ,Ó¿å>ÙáìhÙ¯å é Ù´ä¯ÛOåcÕ,åwÝ�åc׺Ø(Õ,ÞRÖsÕ�ÖcÛOÜÙ¯Ü�Ü�â¯Ü�âíàÄå>Û»åcÚ¯Û£ä¯ÚZÛ�ä�å>Ø�Ü�Ø�æ ÖcÙZâþÕ,Þ¯Ü�ÙíÓºÙ²Ø�Ü�Ý�Õ,Ó¿å>ÙÆó é Ü�Ô>Ó¿çcÜ'ä¯ÛOåcÕ,åwÝ�å>׿Ø�àÄå>Û»ØOÓºÔ>ÙZÓºÙ¯Ô�ÖáÝ�åcß�ßWÓ¿ÕOÕ,Ü�âçqÖc׺ÚZÜgÖcÙ¯â½àÄå>Û(ä¯Û�å[çwÓºÙZÔWìhÙ¯å é ׿Ü�â¯Ô>Ügåcà�Ö�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ücü

ý¶å�ê�ܾßWå>Û�Ü£ÖcÝ�Ý�Ü�ØOØ�ÓºêZ׺ܾÕ,å¼Ö¼Ù¯å>Ù7ë�Ø�ä�Ü�Ý�ÓºÖc׺ӿØOÕ·Û�Ü�Öcâ¯Ü�Û�æ$å>Ú¯Û®Ü��7ä0åcØ�Ó¿Õ�Óºå>ÙáÖc׺ØOå¼ÓºÙZÝ�׺ÚZâ¯Ü�Ø®Õ é å½Ü��wÕ,Û�ÖØ�Ü�Ý�Õ�Óºå>Ù¯Ø�ü �HÙ²Õ�Þ¯Ü'ø·ä¯ä0Ü�Ù¯â¯Ó �±ø£æ é ÜWÜ��7ä¯×­ÖqÓºÙ±å>Ú¯Û%Ù¯åcÕ�ÖsÕ,ÓºåcÙ$æ�ÖcÙ¯âþÔcÓ¿ç>Ü*Õ,ÞZÜ�â¯ÜyõRÙ¯Ó³Õ,ÓºåcÙ²åcà(Ö�ØOÜ�Ý�ÚZÛ�ÜØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�ÜWØ�Ý�ÞZÜ�ßWÜcæ ÖcÙZâÆÖ�â¯ÜyõRÙ¯Ó³Õ,ÓºåcÙ²åcà(Ö�ä¯ÛOå7åcà�åcà(ìhÙ¯å é ׺Ü�â¯Ô>Üqü �²Ü¼Öq׺Ø�å�Ý�å[çcÜ�Û�Ö½àÄÜ é Ùhگ߾ê�Ü�Û^ëÕ,ÞZÜ�å>ÛOÜ�Õ,Ó¿Ý�êRÖcØOÓºÝ�Ø«Ó¿Ù�ø·ä¯ä�Ü�Ù¯â¯Ó � %®ü

� ���� ��� �Ñ�Ð �½Ñ��WÊ�%Ë Ï´Ì�� �½Ð����� �

����� �����! #"�$%"#&('��)"#�+*��Ü�Õ�گثÛ�Ü�ÝKÖc׿×$Ø�åcß�Ü�êRÖqØ�ÓºÝgâ¯ÜyõRÙ¯Ó³Õ,ÓºåcÙ¯Ø � ØOÜ�Ü%ø®ä¯ä�Ü�Ù¯âZÓ � % àÄå>Û(ßWå>Û�Ü�Ó¿Ù7ëHâZÜ�äZÕ�Þ�âZÓºØ�Ý�Ú¯Ø�ØOÓºå>Ù �,.-0/21!354638791;:=<8>@?BADCFEG-�HJIK38LM-ONKPQ< � �#� � %�+ ! � %SR�+��UT �� )(� * *,+("±Ø,ÖsàÄÜ � V�TXW ùBTFY0Z òK[ �� )]\ �5\ ���T Y �� � * $����#� � %�+ ! � %SR�+��_^;`�a=\ + ) $&� � +� � $&!#"�� !�� ! � %SR�+��bT Y �� dc&! $Ke ! �� � ÷ åcä¯Þ¯ÓºÜ � Ü�Û�ß�ÖcÓºÙ�#� � %�+�^gf,.-0/21!354638791;:=<h:;?BADH�-Oi038CFj�klA=mnL�7poJq!j8qJNKP6< � !* ��� %�$�"�� * � srlWtT�u �� ®Ø�ä�Ü�Ý�Ó­Öc× � V=TvW ùwT Y Zò � !#"xu�W ùyuQYyZ ò � � + ���V +-�#� � %�+� �^

zl7�46C{4Q38791s| %�ã.} �~d�����~ é Ü é Ӻ׺×câ¯Ü�Ù¯åqÕ,Ü Õ,Þ¯ÜEØOÜ�Õ�åcà7ÿwÚ¯Öcâ¯Û,ÖsÕ,ÓºÝ ÛOÜ�ØOÓºâ¯Ú¯Ü�ضßWåwâ¯Ú¯×ºå�r¶æ<Ó:ü Ücü³æqÜ�׺Ü�ßWÜ�ÙSÕ�Ø�v� ���~ ØOÚ¯Ý�Þ�Õ�ÞRÖqÕ��F� � ���~ Ø�ÚZÝ�Þ�Õ,Þ¯ÖqÕb�]��� � ßWå7â�r¶ü

Page 4: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

��� � ��� ����� � �J$���l-��)-O1!- IQC 4Q35791U< � ÙþÓ¿Ù¯ä¯ÚZÕ�ò� qæ&Ý�Þ¯åwå>Ø�Ü'Ö�ØOä0Ü�Ý�Ó­Öq×�ö ÷ øCß�åwâ¯Ú¯×¿Ú¯Ø r;W T�uwæ T@W ùwT Y Z ò>æ ulW

ùyu Y Z ò�åqà�Õ,ÞZÜW׿Ü�Ù¯ÔqÕ,Þ��_~ W ù��0ü ��Þ¯åwå>Ø�Üqæ&Ú¯Ù¯Ó³àÄå>Û�ßW׿ãáÖqÕ%Û,ÖqÙ¯â¯å>ß�æ ��� � ���v� } U~Zü � ÚZÕ,ä¯Ú7Õ��� W � r �]��� � ��� �GæÅÖcÙ¯â � � WtT�ü

� -ON N�C��)- N�H!C�i -)< �ÁÜyÕ���� ê�Ü�Ö¼äRÖcÛ�ÖcßWÜ�Õ,Ü�Û�ü�ý(Þ¯Ü�ßWÜ�ØOØ,ÖcÔcÜ�Ø�äRÖcÝ�Ü�Ý�å>ÙZØ�ÓºØMÕ,Ø�åcà}Öq׺×�ê¯ÓºÙRÖqÛOã�ØOÕ,ÛOÓºÙ¯ÔcØåcà�׺Ü�ÙZÔcÕ,Þ�����ü � ÿhÚ¯Ó³çcÖq׺Ü�ÙSÕ�׿ã>æ�Ó¿Õ·ÝKÖqÙê0Ü%Õ,Þ¯åcÚ¯Ô>ÞSÕ�åcàEÖqØ®Ý�åcÙ¯Ø�Ó¿ØOÕ,Ó¿Ù¯Ô¼åcà�ÓºÙSÕ,Ü�Ô>Ü�ÛOخӺÙ�Õ,ޯܻÛ,ÖcÙ¯ÔcÜð � � ù"!$# �Gü

A=3%�91!3 1&�MC�j$�)7)Iy3 4('!L < � ÙñÓ¿Ù¯ä¯ÚZÕ � æ·Ý�Þ¯åwå>ØOÜ°ÖþÛ,ÖcÙZâ¯å>ß äZÛ�ÓºßWÜáÙhگߣê0Ü�Û*),+ ù ! #.-0/Wåcàg׿Ü�Ù¯ÔcÕ�Þ�21�W3����Z ù7æ0ÖcÙ¯âáÖ'Û,ÖcÙZâ¯å>ß Ùhگ߾ê�Ü�Û 4�åqà ׺Ü�Ù¯ÔcÕ,Þ5�76�W3�_~�Z8�2��Z:9Hæ é Þ¯Ü�ÛOÜ;9 ӺطÖ�ØOÜ�Ý�ÚZÛ�Ó¿ÕHãäRÖqÛ,ÖcßWÜ�Õ�Ü�Û�ü ��åcß�ä¯Ú7Õ,Ü�Õ,Þ¯Ü�çqÖc׿گÜ=<'ØOÚ¯Ý�Þ�Õ�ÞRÖqÕ

< 1 � � � � 6 � ßWå7â�r> - Iy3 / i C 4Q357 1tC�j$�)79IK3 4('!L <®ý�å�ç>Ü�ÛOÓ¿à�ã�Õ,ÞRÖqÕ�Õ�Þ¯Ü�Õ,Ú¯äZ×ºÜ � ) � 4 � < �·ÓºØgÖ�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü£å>Ù°ß�Ü�Ø�Ø,ÖqÔ>Ü � Ó¿Ù

Õ�Þ¯Ügß�Ü�Ø�Ø,ÖqÔ>ÜgØ�äRÖcÝ�ÜcæÅÝ�Þ¯Ü�Ý�ì½Õ�ÞRÖqÕ?< 1 � � � � 6 � ßWå7âdr&æÅÖqÙ¯â½Ý�Þ¯Ü�Ý�ì�Õ,Þ¯ÖqÕ·ù"!%@A+,)B+ñù"!$@DC / ü

E�F i038-O1!iG C�1+C�jH+N 38N < �HÙ¼ä¯Û�ÖcÝ�Õ�ÓºÝ�ÜcæI�w~ W2ò �Sùy�»ÓºØ�Ý�å>Ù¯ØOÓºâ¯Ü�Û�Ü�â�ØOÜ�Ý�Ú¯Û�Üqü}ø·Ø�àÄå>Û}Õ,ޯܷß�Ü�Ø�Ø,ÖqÔ>Ü�Ø�ä¯ÖcÝ�ÜqæÓ¿à¶Õ,ޯܻØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü%Ø�Ý�Þ¯Ü�ß�ܣӺثӺÙSÕ,Ü�Ù¯â¯Ü�âÕ,å'ê�Ü%Ú¯Ø�Ü�â´â¯ÓºÛOÜ�Ý�Õ�׿ã¼àÄåcÛ·ØOÓºÔ>Ù¯Ó¿Ù¯ÔWß�Ü�Ø�Ø,ÖqÔ>Ü�Ø�æ0Õ,ÞZÜ�Ù����;W ò[ó��ÓºØ(Ôcå7åwâ½Ü�Ù¯å>ÚZÔ>Þ$æRØ�Ó¿Ù¯Ý�ÜqæRÔ>Ó¿çcÜ�Ù�Ö�Ø�Ú¯Ó³Õ�Öcê¯×¿Ü�Ý�å>׿׺ӿØ�ÓºåcÙ7ëHÛOÜ�Ø�Ó¿ØOÕ,ÖcÙSÕ©ÞRÖcØOÞ�àÄÚZÙ¯Ý�Õ�Óºå>Ù$æZØ�Ú¯Ý�ÞáÖcØ ÷ ï·ø«ë�ò>æRå>ÙZÜÝKÖqÙèõRÛOØOÕWÞRÖcØOÞ Ö´ßWÜ�Ø�Ø�ÖcÔ>Ü�Õ,åèò[ó �´ê¯Ó³Õ,Ø�æ�ÖcÙZâèÕ�Þ¯Ü�ÙèØ�Ó¿Ô>ÙÆÕ,Þ¯Ü�Û�Ü�Ø�گ׳Õ,ÓºÙZÔçcÖq׺گÜqüèý(ÞZÜ�Ù��21vW ò[óSù7üý(Þ¯Ü�äRÖqÛ,ÖcßWÜ�Õ�Ü�Û=9}Ô>Ú¯ÓºâZÜ�Ø®Õ�Þ¯Ü�ØOÕ,ÖqÕ,Ó¿ØOÕ,Ó¿ÝKÖc×�Ý�׿å>Ø�Ü�Ù¯Ü�ØOØgåcàEÕ,Þ¯Ü�ØOӺ߾گ׺ÖqÕ,Ü�ââ¯Ó¿ØOÕ,ÛOÓºê¯Ú7Õ,ÓºåcÙ�Õ,å¼Õ�Þ¯Ü*ÖcÝyÕ,ÚRÖc×â¯Ó¿ØOÕ,ÛOÓºê¯Ú7Õ,ÓºåcÙ$æRÞ¯Ü�ÙZÝ�Ü�ÓºÙ�ä¯Û,ÖqÝ�Õ,Ó¿Ý�ÜqæJ9JW ò[ó���ÓºØ�Ø�Ú7î�Ý�ÓºÜ�ÙhÕ�æ$ÖcÙZâáÕ,Þ¯Ü�Û�ÜyàÄå>Û�ÜK�76 W ò �>ùy�(Z ò[ó ��Z�ò[ó �dWò � �>óZü

ý(Þ¯Ü�ÛOÜ�àÄå>ÛOÜcæ�Õ�Þ¯ÓºØ*ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ�ØOÝ�Þ¯Ü�ßWÜ�Û�Ü�ÿhÚ¯Ó¿Û�Ü�Ø�å>ÙZÜ�ØOÞ¯å>ÛMÕ � ò[ó �së�ê¯Ó¿Õ �£ÖcÙ¯â Õ é åþ׺åcÙ¯Ô � ò �SùK�²ÖqÙ¯âò � �>ó �$Ü��7ä0åcÙ¯Ü�ÙSÕ,ÓºÖqÕ,Ó¿å>Ù¯Ø�àÄå>ÛÁØ�ÓºÔcÙ¯ÓºÙ¯ÔZæ é ޯӿ׺ÜEç>Ü�Û�Ó¿õ¯ÝKÖqÕ�Óºå>Ù%Û�Ü�ÿwÚZÓºÛ�Ü�Ø¶Õ é å�Ø�Þ¯åcÛOÕ � ò[óSù�ÖcÙ¯â�ò[ó �·êZÓ¿Õ,Ø ��ÖqÙ¯âå>ٯܮ׺å>Ù¯Ô � ò � �>ósëHê¯Ó³Õ � Ü��7ä�å>Ù¯Ü�ÙSÕ�Ó­ÖqÕ�Óºå>Ù¯Ø�ü ý(Þ¯ÓºØ�ӺةٯåqÕ«ÖcØ©Üyî�Ý�ÓºÜ�ÙhÕ�ÖqØ©Õ,Þ¯Ü ��Û�ÖcßWÜ�ÛMë ÷ Þ¯å>ÚZä�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ücæé Þ¯Ó¿Ý�Þ�ÛOÜ�ÿhÚ¯ÓºÛOÜ�Ø*Õ,Þ¯ÛOÜ�ܽØ�ÞZå>ÛOÕ � ÓÂüúÜqü¿æ�ò[ó �<ëHê¯Ó³Õ �£ÖcÙZâèåcٯܽ׺å>Ù¯Ô � Ó:ü Ücü³æ·ò �>ùy�qëHêZÓ¿Õ �gÜ��7ä�å>Ù¯Ü�ÙSÕ�Ó­ÖqÕ�Óºå>ٯؾàÄåcÛØ�Ó¿Ô>Ù¯Ó¿Ù¯Ô¯æ ÖcÙZâíàÄå>Ú¯Û¾ØOÞ¯å>ÛOÕ*Ü �7ä0å>ÙZÜ�ÙSÕ,ÓºÖqÕ,Ó¿å>ٯأàÄå>Û%ç>Ü�Û�Ó¿à�ãwÓ¿Ù¯Ô¯ü±ï·å é Ü�ç>Ü�Û�æ�å>Ú¯Û¾ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOܼØ�Ý�Þ¯Ü�ß�ܽÞRÖqØåcÕ�Þ¯Ü�Û«Û�Ü�â¯Ü�Ü�ß�Ó¿Ù¯Ô*ÿhÚRÖc׺ӳÕ,Ó¿Ü�Ø�ü

L M ÌEÍ�ÍON�ÍPN �.��Ð�Ï´Ì}ÑyËRQ�²Ü é Ӻ׺×7Ø�Þ¯å é Õ,ÞRÖsÕ Õ,Þ¯Ü(ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ(Ø�Ý�Þ¯Ü�ß�Ü«ÓºÙ ÷ Ü�Ý�Õ�Óºå>ÙWù�Ó¿Ø�Ø�Ü�Ý�Ú¯ÛOÜcüTS·åqÕ,Ü©Õ,Þ¯ÖqÕ}Ö®àÄå>Û�ÔcÜ�ÛOã � ��� 4 � ) � < �ß�Ö[ã'ÞRÖKç>ÜgçqÖc׺گÜU)%åcà¶×ºÜ�ÙZÔcÕ,ÞV�21(Ù¯åcÕ«Ù¯Ü�Ý�Ü�Ø�Ø,ÖqÛOã�Ö�ä¯Û�Ó¿ß�Ü�Ùhگ߾ê�Ü�Û�ü

�þÜgä¯ÛOå[ç>Ü%Ø�Ü�Ý�Ú¯Û�Ó³ÕHã½Ú¯Ù¯â¯Ü�Û(Õ,Þ¯Ü ÷ Õ�Û�å>Ù¯Ô�ö ÷ ø"ÖcØ�ØOÚ¯ßWäZÕ,Ó¿å>Ù²ðúù7æ�ò �sô�'m.N N q!LMH+4Q357 1XW=< > ?BAD4 IK791&�MklA=m m.N N q!LMH!46387912PQ<la=\ +& �� � $&!�� ��� �� � ��%���� � $&! �� ��� +� ��5\ ���� ���� b\ � �("K[ $&! � !������ � !� ��� %�$�"�� * � r � !#" � !�+�*,+�%�+�! �RY � ���~ [�� $ ) $&%������ + Z&� * � +� A)B+ ò�� !#"< �� )]\+� \ ���[< 1 �\Y�ß�åwâdr�^^] $&� +bV $&� % � * *`_Q[ e +��� � �� %�+*� \ ���JV $&��� * * � $&*`_ ! $&% ��� * ' � � %�+ )�� � )���� �V � % � * � +� =a(b (c [ � \ +�� +�+ed �� �� � ! + � * � ���8R�*,+�V �! )�� � $&!5f � � � �� )]\ �5\ ���g Û<ð r�hjilk�mGnpoGq�r�s(rpt � ò ���uY*h } �~ � � < � )��vh b � r � Y � 'w)K+ òyxz< 1 �3Y�ß�åwâdr0ô Wyf � � �

Page 5: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

ý(Þ¯ÜgÕ,Ú¯ä¯×¿Ü � r � Y ��Ô>Ü�Ù¯Ü�Û,ÖqÕ�Ü�â�ÖcØ�Öcê�å<çcÜcæÅÓºØ(Ý�Öc׺׿Ü�â½ÖcÙ+� ! �� � ! ) +gåcà�Õ,Þ¯Ü�� +ed �8R�*,+%ö ÷ ø2äZÛ�å>ê¯×¿Ü�ß�üý(ޯܮàÄå>׿׺å é ÓºÙZÔ%׿Ü�ßWß'Ö � äZÛ�å[ç>Ü�â�ÓºÙ'ø·ä¯ä�Ü�Ù¯â¯Ó � %®æ ��Ü�ß�ß�Ö %®ü³ò � � ÓºØ}ÓºßWä�å>ÛOÕ,ÖcÙSÕ}àÄåcÛ}Õ�Þ¯Ü�ä¯ÛOå7åcà4åcà

Ø�Ü�Ý�Ú¯ÛOÓ¿ÕHã�'�s-{LMLMC Wp<8>�<�� +�� � � + )���� * ��� %�$�"�� * � �r�W@T�u0[ T W ùwT Y Zíòy[Du W ùyu Y Zíòy[�R�+ ���HZ +�!9^ ��� � � $ +e + � � + ���HZ +�! �5\ +OZ&� * � +� UY � < � } �~ � !#"�� ����� [}Ô>Ý�â � � ��� � ��� �� )]\ � \ ��� <��S� Y���ß�åwâdr�^� � * � +� ��O[�� + ò& �� )]\ � \ �������l�3Y'ß�åwâ�r )(� ! R�+ ) $&%������ +(" +�� )�� +�! ��*`_ ^

÷ Ú¯ä¯ä�å>ØOÜ£Õ,ÞRÖsÕ�Ö�àÄå>ÛOÔ>Ü�Û �úØ®Öc׺Ôcå>Û�Ó³Õ,Þ¯ß�� Ó¿Ø®Ô>Ó³ç>Ü�Ù4ü ÷ Ú¯äZä0å>ØOÜ�� ß'ÖqìcÜ�Ø � Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü£ÿhÚ¯Ü�Û�Ó¿Ü�Ø�Ó¿ÙÜ��7ä�Ü�ÝyÕ�ÖqÕ�Óºå>Ù�ê0ÜyàÄå>Û�ÜgÓ¿Õ�å>Ú7Õ,ä¯ÚZÕ�Ø®ÖWØ�Ú¯Ý�Ý�Ü�Ø�ØOàÄÚZ׶àÄå>ÛOÔ>Ü�ÛMã>ü-%�ã�Õ�Þ¯Ü .áÖcÛ�ìqå[ç�Ó¿Ù¯Ü�ÿhÚRÖq׺ӿÕHãcæRÞRÖc׳à¶Õ�Þ¯Ü%Õ�ÓºßWÜcæ��Ù¯Ü�Ü�â¯Ø%ù � å>Û�àÄÜ é Ü�Û�ÿhÚ¯Ü�Û�ÓºÜ�Ø�ü � Ó³Õ,Þ¯å>Ú7ծ׿å>Ø�Ø·åcàEÔ>Ü�ÙZÜ�Û,Öq׺ӿÕHãcæ é ܾß�ÖKãÖcØOØ�Ú¯ßWÜ»Õ�ÞRÖqÕ � Ó¿Ø®ìhÙ¯å é Ù� ØOÓºÙ¯Ý�ÜgÓ¿à�Ó¿Õ«Ó¿Ø(Ù¯åcÕKæ¯Õ�Þ¯Ü�Ù�Ó¿Õ©ÝKÖcÙ�ê0ÜgÜ�ØOÕ,Ó¿ß'ÖsÕ,Ü�â½Ü �Zä�Ü�ÛOÓºßWÜ�ÙSÕ�Öq׺׿ã �Gü

÷ Ú¯ä¯ä�å>ØOÜ%Õ�ÞRÖqÕ(Õ,ÞZÜ%åcÚZÕ,ä¯Ú7Õ·åqà�� Ó¿Ø � ��� 4 � ) � < �Gü ��Ü�Õ�گثâ¯ÓºØMÕ,Ó¿Ù¯Ô>Ú¯Ó¿Ø�Þ¼Õ,ÞZÛ�Ü�Ü�ÕHãwä�Ü�Ø�åcà&åcÚZÕ,ä¯Ú7Õ,Ø�ü al_ � +"!�#�ý(Þ¯Ü�àÄå>ÛOÔ>Ü�Û �úØ�Ü��7ä0åcÙ¯Ü�ÙSÕ�)gÓºØ�ÛOÜ�׺ÖqÕ,Ó³ç>Ü�׳ãWä¯Û�Ó¿ß�Ü�Õ,å*Öc׿×�Õ�Þ¯Ü�Ü��7ä�å>Ù¯Ü�ÙhÕ�Ø«å>ÚZÕ,äZÚZÕ«êSã'Õ,ÞZÜØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ�å>Û,ÖcÝ�׺Üqü

al_ � + $%#�ý(Þ¯ÜgàÄå>Û�ÔcÜ�Û�� Ø«çcÖq׺گÜB)£Ó¿Ø�ÙZåcÕ�Û�Ü�׺ÖqÕ,Ó³ç>Ü�׿ã�ä¯ÛOÓºßWÜ�Õ,åWØ�å>ßWÜ%ä¯Û�Üyç7Ó¿å>Ú¯ØO׿ã½Ø�Ü�Ü�ÙÜ �7ä0å>ÙZÜ�ÙSÕ)'&¶ÖcÙ¯â�Õ�Þ¯ÜgÛ�åwåcÕ?<'Ó¿Ø(â¯Ó)(0Ü�ÛOÜ�ÙSÕ«àÄÛ�å>ß Õ�Þ¯ÜgÝ�å>ÛOÛ�Ü�Ø�ä�å>Ù¯â¯Ó¿Ù¯Ô*Û�åwåcÕ?<*&:ü

al_ � +,+-#�ý(Þ¯Ü�àÄåcÛ�Ô>Ü�Û�� Ø�çqÖc׺گÜ�ØA)�ÓºØ�Ù¯åcÕ(ÛOÜ�×­ÖsÕ,Ó¿çcÜ�׳ã�äZÛ�ÓºßWÜ«Õ,å�Ø�åcß�Ü·ä¯Û�Üyç7Ó¿å>Ú¯ØO׿ã�Ø�Ü�Ü�Ù�Ü �7ä0å>ÙZÜ�ÙSÕ)'&¶ÖcÙ¯â5<dW <*&}æRê¯Ú7Õ�Õ�Þ¯Ü�Õ,Ú¯äZ×ºÜ � ��� 4&��Ó¿Ø(Ù¯Ü é ü

%�ã.� / � Û�Ü�Ø�ä$ü³æ/� � æ��10 �%׺Üyվگأâ¯Ü�Ù¯åqÕ,Ü'Õ�Þ¯Ü�àÄå>ÛOÔ>Ü�Û é Þ¯åÛOÚ¯Ù¯Ø�� ê¯ÚZÕ»Õ,Þ¯Ü�ÙÆå>ٯ׿ã±å>Ú7Õ,ä¯ÚZÕ�Ø£Õ,ÞZÜàÄå>ÛOÔ>Ü�ÛMã Ó¿à�Ó³Õ�Ó¿Ø�åqà�ý}ãwä�Üíò � Û�Ü�Ø�ä$ü³æ(ý}ãwä�Ü°ù7æ©ýEãwä0Ü � �yü ý(Þ¯Ü�àÄå>׺׿å é ӿٯ԰׺Ü�ß�ß�Ö´ÓºØWÝ�׺Ü�ÖcÛWêhãèÕ,ÞZÜØOÕ,ÖcÙ¯âRÖqÛ�â�Þhãwê¯ÛOÓºâ�ÖcÛ�ÔcÚ¯ß�Ü�ÙSÕ '�s-{LMLMC Wp<h:=< 25V �5\ ++V $&���+��/� �� ) ) +� � �#� $ R �0R(� * � � _ �� 43w[ � \ +�! $&! + $ V/� / [5� � [ $&�/�10� �� ) ) + +("� e�� � \�#� $ R �0R(� * � � _ ��� *,+(�� ���3�6 � ^

S·Ü �7Õ�æ é Ü é Ӻ׿×RØ�Þ¯å é Õ,Þ¯ÖqÕ©Ú¯ÙZâ¯Ü�Û}Õ,ޯܷØOÕ,ÛOå>Ù¯Ô�ö ÷ ø�ÖcØ�ØOÚ¯ßWäZÕ,Ó¿å>Ù$æwØ�Ú¯Ý�Ý�Ü�ØOØ(ä¯Û�åcêRÖcê¯Ó¿×ºÓ¿Õ�ÓºÜ�Ø�àÄå>Û�Ü�ÖcÝ�Þåcà�� / æ7� � æ8�10·ÖcÛ�ÜgÙ¯Ü�Ô>׺ӿÔ>ÓºêZ׺Ücü�s-{LMLMC Wp< W=<:9 !#"+�� � \ +������ $&!�� ��� �� � ��%������ $&! [��5\ + �� ) ) +� � �#� $ R �0R(� * � �%_ $ V;� / �� 0! + � * � ���8R�*,+�^] $&� +& ���� $&!�� *`_6[ � V"� / �� ) ) + +("� e�� � \ �#� $ R �0R(� * � �%_<3 / � ! +ed � + )�� +(" � � %�+�= � T / � � �(�][ � �� !�� +ed � + )�� +("! �%SR�+��,> � � �@?(� +���� +� ][ �5\ +�!+� \ +�� +�� � !�� *$�$&� � �5\% �5\ ��� � �! � ! ��� %�+,= � T / � � �(��� !#" $&*`Z +� � \ +� +ed �8R�*,+ ��� �#� $ R�*,+�% e�� � \ �#� $ R �0R(� * � � _A3B6y�)^� � $ $ V_^ ÷ Ú¯äZä0å>ØOÜC� / Ø�ÚZÝ�Ý�Ü�Ü�â¯Ø é Ó¿Õ�Þ%ÙZå>Ù7ëHÙZÜ�Ô>׿ӺÔ>Ó¿ê¯×ºÜÁä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHã>ü ��Ü�ÕÁÚ¯ØÁØOÞ¯å é Õ,Þ¯ÖqÕ�Õ,Þ¯Ó¿Ø�Ý�å>ÙSÕ�Û,Öcâ¯Ó¿Ý�Õ�ØÕ,ÞZÜ ÷ Õ,Û�åcÙ¯ÔWö ÷ ø2ÖcØOØ�Ú¯ßWäZÕ�Óºå>Ù$ü

ö�Ü�ÝKÖc׿×4Õ,Þ¯ÖqÕD> ӺةÕ�Þ¯Ü�Ü��7ä�Ü�Ý�Õ�Ü�âÙhگߣê0Ü�Û�åqà¶ÿhÚ¯Ü�Û�Ó¿Ü�Ø�æ�ÖcÙZâ�êSã¼Õ�Þ¯Ü .áÖcÛOìcå[ç½ÓºÙ¯Ü�ÿhÚRÖc׺ӳÕHã>æ7ÞRÖc׿à�Õ,ÞZÜÕ,Ó¿ß�Üqæ8� / é ӿ׺×0Ù¯Ü�Ü�âÖqÕ«ßWå>ØOÕ·ù�> WE= � T / � � �(��ÿhÚ¯Ü�Û�ÓºÜ�Ø�ü

��Ü�Õ�گطÝ�å>ÙZØOÕ,ÛOÚ¯Ý�Õ�ÖcÙ´Öc׿Ô>å>Û�Ó³Õ,Þ¯ß b Ø�Ú¯Ý�Þ´Õ�ÞRÖqÕKæ�å>ÙÓ¿Ù¯ä¯ÚZÕ�Ö�ØMÕ,Û�åcÙ¯Ô½ö ÷ ø ÓºÙZØOÕ�ÖqÙ¯Ý�Ü � r � Y �Gæ4ÖqÙ¯âé Ó¿Õ�Þ�ÖcÝ�Ý�Ü�Ø�Ø�Õ,åF� / æ�b é Ӻ׺×4å>ÚZÕ,äZÚZÕ � < � )��©Ø�ÚZÝ�Þ�Õ,Þ¯ÖqÕ�)K+�ò£ÖcÙZâ < 1 �3Y�ß�åwâdr&üS·å é bCä¯×­ÖKãwØ©Õ,ÞZÜ%ÛOå>׺Ü�åqà¶Õ�Þ¯ÜgØ�ÓºÔcÙ¯Ü�Û�æÅÖcØ©àÄå>׺׿å é Ø('

�l-��)-O1!- IQC 4Q35791U| ��Þ¯åwå>ØOܼùG> äZÛ�ÓºßWÜ�Ùhگ߾ê�Ü�ÛOØ ) / �IH'HIHR� ) �KJ ü ��Þ¯åwå>Ø�Üqæ&ÖqÕ%Û�ÖcÙ¯â¯å>ß�æ�çqÖc׺گÜFL / �� ~IM ÖcÙ¯âNL � � � ~OM ü ��Ü�Õ � W Y5P�æ é Þ¯Ü�ÛOÜFQ W�R �KJ&TS / )'&:æD��W �VUXW æ � W �VU M ü ��Ü�Õ � r �]��� � ��� �(ê�ÜÕ�Þ¯Ügä¯Ú¯ê¯×¿ÓºÝ�ìcÜyã>ü

Page 6: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

A=3%�91!3 1&�+|��·ä�å>ÙWÛ�Ü�Ý�Ü�Ó³ç7Ó¿Ù¯Ô�Õ,Þ¯Ü������®Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü«ÿhÚ¯Ü�ÛOã � &�æhÝ�Þ¯åwå>ØOÜ·Ö�çqÖc׺ÚZÜ�4I&Ååqà$׺Ü�Ù¯ÔcÕ�Þ;�76&ÚZÙ¯Ó¿àÄå>ÛOß�׳ãÖqÕ�Û,ÖcÙZâ¯å>ß�ü � Ú7Õ,ä¯ÚZÕ � )'& � 4I& � < & �yæ é Þ¯Ü�ÛOÜ=<*&DW � ���& � 6��& � &:æ é Þ¯Ü�Û�Ü � &DWyY P� 1� æ���&DW � U W& æ � &=W � U M& ü� �HÙáåcÕ�Þ¯Ü�Û é å>ÛOâ¯Ø�æ � &Hæ9��& ÖcÙ¯â � &&ÖcÛOÜ%çqÖc׿گÜ�Ø�Ø�Ú¯Ý�ÞÕ�ÞRÖqÕ � 1��& W � æ � 1��& W �[æ4ÖcÙZâ � 1��& W � �Gü?S·åcÕ�ÜÕ�ÞRÖqÕ � )'& � 4'& � < & �©Ý�å>Ù¯ØOÕ�Ó¿Õ�ÚZÕ,Ü%Ö¾çqÖc׺ӿâ�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�'

< 1��& W � � ���& � 6��& � & � 1��W � ��� � 6� � H

S·åcÕ�Ü�Õ�ÞRÖqÕWÕ,Þ¯Ü�ä¯Ú¯ê¯×¿ÓºÝ½ìcÜyã ÖcÙZâñÖc׺שÕ�Þ¯ÜáØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ�ØWÞRÖKç>ÜáÕ�Þ¯ÜáØ�ÖcßWÜ�â¯Ó¿ØOÕ�Û�ÓºêZÚZÕ,Ó¿å>ÙèÖcØ'Ó¿Ù�Õ,ÞZÜå>ÛOÓºÔ>Ó¿ÙRÖc×�Ø�Ý�Þ¯Ü�ß�Üqü

÷ Ú¯ä¯ä�å>ØOÜ�Õ,ÞZÜWàÄå>ÛOÔ>Ü�ÛMã°ÓºØ � ) � 4 � < ��å>Ù±ß�Ü�Ø�Ø�ÖcÔ>Ü � æ¶ÖcÙ¯â ) + �¯ü'ý(Þ¯ÓºØ%Ô>Ó¿çcÜ�Ø%Ú¯Ø < 1 W � � � 6 � WY P� � - UXW 6 - U M�� ü � ê¯Ø�Ü�ÛOçcÜ£Õ,ÞRÖsÕ·Ó³à&Ó³Õ«ÓºØ(Õ,ÞZÜ»Ý�ÖcØ�ÜgÕ,ÞRÖsÕ�)£ÖcÙ¯âNQ � � Z L / 4�Z L � �«ÖcÛOÜ%ÛOÜ�׺ÖqÕ,Ó³ç>Ü�׳ã¼ä¯ÛOÓºßWÜcæÕ,ÞZÜ�ÙÆêSã ÷ Þ¯Öcß�Ó¿Û�� Ø»Õ�Û�ÓºÝ�ì � ��Ü�ß�ß�Ö,%®ü 1 � é Ü�ÖcÛOܼâ¯å>ÙZÜcü �þÜ é Ӻ׺×EÙ¯åqÕ�Ù¯Ü�Ý�Ü�ØOØ,ÖcÛOӺ׿ã²ÞRÖKç>Ü�Õ�ޯӺػٯӺÝ�ÜÝKÖqØ�ÜcæÅê¯Ú7Õ é Ü é Ӻ׿×4Ø�ÞZå é Õ,ÞRÖqÕ(Õ�Þ¯ÓºÙZÔ>Ø é Ӻ׺×0ê0ÜgÔ>åwåwâ�Ü�Ù¯å>ÚZÔ>Þ$ü

/&ÓºÛOØOÕ�æ�êSãíÖcØOØ�Ú¯ßWäZÕ�Óºå>ÙíåcÙ � / é ܼÞRÖKçcÜ�Ô>Ý�â � ) � Q � W ò>ü ÷ Ü�Ý�å>Ù¯â$æ é Ü é Ӻ׿×}ÚZØ�ܼÕ,ÞZÜ'àÄå>׺׿å é ÓºÙ¯ÔÝ�׺Öc '� j8CF3 L <�� � � \��#� $ R �0R(� * � �%_ ��� *,+(�� ��«ò 6>ù�$ Z +��� \ + � � !#"$&% )]\ $�� ) +� �% � "+dR7_ � \ + � +("�� )���� $&! [ � ���� � \ +�)(�� + �5\ ��� +�� � \ +���ÔcÝ�â � ) � � Z L / 4 Z L � �;�,)y[ $&� [ $&! � !������ )y[ $&! + )(� ! +�� )�� +�! ��*`_�V �)�� $&� r2^

ý(Þ¯Ü'Ý�×­ÖcÓ¿ß Ó¿ß�ßWÜ�â¯ÓºÖqÕ,Ü�׿ã�Ô>Ó³ç>Ü�Ø%Ú¯ØgÕ,Þ¯ÜWÝ�åcÙ¯â¯Ó¿Õ�Óºå>ÙZØ�åcà-��Ü�ßWß�Ö � ü¿ò>æ é Þ¯Ó¿Ý�ÞþÔ>Ó³ç>Ü�Ø%Ú¯ØgçqÖc׺گÜ�ØU<�æ� + ògØ�ÚZÝ�Þ�Õ,Þ¯ÖqÕ?< � �3Y¼ßWå7â�r¶ü

�þÜ°ß¾ÚZØOÕ½Ù¯å é äZÛ�å[ç>Ü°Õ,ޯܴÝ�×­ÖcÓ¿ß�ü ÷ Ú¯ä¯ä�å>ØOÜ°Õ�ÞRÖqÕ½Ó³Õ�Ӻؼà�Öc׿Ø�Üqü ý(Þ¯Ü�Ù Õ,ÞZܱäZÛ�å>êRÖqê¯Óº×¿Ó¿ÕHã Õ,ÞRÖsÕÔ>Ý�â � ) � � Z L / 4DZ L � � �:)�ÓºØ ×¿Ü�Ø�Ø Õ�ÞRÖcÙ½ò 6>ù7ü ÷ Ú¯ä¯ä�å>ØOÜ�L � W ��Z�� � r � �ZüvS�åcÕ,Ü(Õ�ÞRÖqÕ �gÓºØ ÓºÙZâ¯Ü�ä�Ü�Ù¯âZÜ�ÙSÕåcà�Õ�ޯܽç7Ó¿Ü é åqà�Õ,Þ¯Ü�ÖcâZçcÜ�ÛOØ,ÖcÛMã ÖcÙZâ6Ó¿ÕWÓ¿Ø�Ý�Þ¯åcØ�Ü�Ù6ØOÕ�ÖsÕ,ÓºØMÕ,Ó¿ÝKÖc׿׿ãíÓ¿Ù¯â¯Ó¿ØOÕ,Ó¿Ù¯Ô>Ú¯Ó¿Ø�ÞRÖqê¯×ºÜ'àÄÛOå>ß Û,ÖqÙ¯â¯å>ßå[ç>Ü�Û�� ~Sü°ý(Þ¯Ü�ÛOÜ�àÄå>ÛOÜcæ}Ó¿à é Ó³Õ,ÞÆä¯ÛOå>êRÖcêZӺ׺ӳÕHã°Ô>Û�Ü�ÖqÕ,Ü�Û£Õ,Þ¯ÖcÙñò 6>ù7æT)�� � Z L / 4(ZEL � æ�Õ,ޯӿؾޯå>׿â¯Ø»àÄåcÛÔ>ÛOÜKÖqÕ�Ü�ÛgÕ,ÞRÖcÙ�ò 6>ù�åcà«Öc׿×�Õ,Þ¯ÜWä�å>Ø�ØOÓºê¯×¿ÜWÝ�ÞZå>ÓºÝ�Ü�Ø»àÄåcÛ��Zü�ý(ÞZÜ�ÙþÕ�Þ¯Ü�ÛOÜ'Ü��7Ó¿ØOÕ,Ø£Ö½çqÖc×¿Ú¯Ü ��� � � ~'Ø�Ú¯Ý�ÞÕ,Þ¯ÖqÕB)�� � � Z L / 4 Z�vZ�� � r � ��� ��ÖqÙ¯â )�� � � Z L / 4 Z � Z�� � � � � ���UZ ò��(�Gü¾ý(Þ¯Ü�Ù²Ó³Õ�Þ¯å>׿â¯Ø�Õ,ÞRÖsÕ)��� � r � é Ó³Õ,Þ±ä¯Û�åcêRÖcê¯Ó¿×ºÓ¿ÕHãÖqÕ%׺Ü�ÖcØOÕ*ò 6cù7ü'ý(Þ¯Ü�Û�ÜyàÄå>Û�Üqæ é Ó¿Õ�Þ²äZÛ�å>êRÖqê¯Óº×¿Ó¿ÕHã²ò 6>ù7æ é Ü'Ü�Ó³Õ,Þ¯Ü�Û�à�ÖcÝ�Õ�å>Û r� êSã ��Ü�ß�ß�Ö %®ü � ��å>Û�� W ÔcÝ�â � ) �(� Z L / 4 Z L � � �:)>üý(Þ¯Ü�ÛOÜ�àÄå>ÛOÜcæ?b Ø�ÚZÝ�Ý�Ü�Ü�â¯Ø�Ó¿Ù6ê¯ÛOÜKÖcìhÓ¿Ù¯Ô²Õ�Þ¯ÜØOÕ�Û�å>ÙZÔíö ÷ ø�ÖcØOØ�Ú¯ßWäZÕ�Óºå>Ù é Þ¯Ü�Ù¯Üyç>Ü�Û¼Õ,Þ¯ÜÙhگߣê0Ü�Ûåcà}ÿhÚ¯Ü�ÛOÓºÜ�Ø�â¯å7Ü�Ø�Ù¯åcÕ�Ü �7Ý�Ü�Ü�âÆùG> � é Þ¯Ó¿Ý�Þ°ÞRÖcä¯ä�Ü�Ù¯Ø é Ó³Õ,Þ´ä¯ÛOå>êRÖcêZӺ׺ӳÕHã°ò 6>ù'êSã .�ÖcÛ�ìqå<çÓºÙ¯Ü�ÿwÚ¯Öc׺ӳÕHã �ÖcÙ¯â é ÞZÜ�Ù¯Üyç>Ü�Û(Õ�Þ¯Ü�Ý�åcÙ¯â¯Ó¿Õ�Óºå>ÙZØ�åcàÁÕ,ÞZÜ�Ý�׺Öc ÖcÛOÜ�Ø,ÖsÕ,ÓºØMõRÜ�â � é Þ¯ÓºÝ�Þ½ÞRÖqä¯ä0Ü�Ù¯Ø é Ó³Õ,Þ�ä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHã½ò 6>ù7æÓºÙZâ¯Ü�ä�Ü�Ù¯âZÜ�ÙSÕ,׳ã�åcÙ�Õ�ޯܻÙhگߣê0Ü�Û·åcà�ÿwÚZÜ�Û�Ó¿Ü�Ø �yæ0ÖcÙ¯â�Ø�å�Õ�ޯܣØOÚ¯Ý�Ý�Ü�ØOØ�ä¯Û�åcêRÖcê¯Ó¿×ºÓ¿ÕHã'åcà bCÓºØD3 / 6y�Zæ é ÞZӺ׺ÜÓ¿Õ�Ø(Û�Ú¯ÙZÙ¯ÓºÙ¯Ô�Õ�ÓºßWÜ� = � T / � � �(�Gü�s-{LMLMC Wp<��+<:9 !#"+�� � \ +������ $&!�� ��� �� � ��%������ $&! [��5\ + �� ) ) +� � �#� $ R �0R(� * � �%_ $ V;�10 �� 0! + � * � ���8R�*,+�^] $&� +& ���� $&!�� *`_6[ � V"��0 �� ) ) + +("� e�� � \ �#� $ R �0R(� * � �%_<3 / � ! +ed � + )�� +(" � � %�+�= � T / � � �(�][ � �� !�� +ed � + )�� +("! �%SR�+�� > � � � ?(� +���� +� ][ �5\ +�!��5\ +�� + �� � ! � *$�$&� � �5\% � \ ��� � � ! �� !�� � %�+F= � T�0 � � � � � !#" �� ) ) + +("� e�� � \ �#� $ R �0R(� * � �%_ 3�0 6>ùF^� � $ $ V_^�ý(Þ¯Ü%ÓºÙ¯äZÚZÕ(Õ,å�Õ,ÞZÜ%ÛOÜ�â¯ÚZÝ�Õ,Ó¿å>Ù� � r � )��yæÅÖqÙ�Ó¿Ù¯ØOÕ,ÖcÙ¯Ý�Ü%åqà¶Õ�Þ¯Ü! RÜ��7ÓºêZ׺Ügö ÷ ø"ä¯Û�å>êZ׺Ü�ß�ü

ý(Þ¯ÜWìcÜ�ã±Ô>Ü�Ù¯Ü�Û�ÖqÕ,Ó¿å>Ù±ÖcÙ¯â±Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�Ø%Ó¿Ù´Õ,Þ¯Ó¿Ø%Ý�ÖcØ�Ü�ÖcÛOÜ�ÖqØ%Ó¿Ù´Õ,Þ¯ÜWä¯Û�åwåcà�åcà �ÁÜ�ß�ß�Ö � ü � ü*ý(Þ¯ÜØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�Ø � ��� 4 � ) � < ��ÖcÙZâ � � & � 4I& � )'& � < �«Ô>Ó¿çcܾگخÕ�ޯܣàÄå>׿׺å é ÓºÙZÔ '[S�åcÕ,Ü£Õ�ÞRÖqÕ·àÄÛ�å>ß Ô>Ý�â � )'& � )��#"W òÖcÙ¯â Õ,ÞZÜ�à�ÖcÝyÕ*Õ,ÞRÖqÕ'ù"!$@^+ ) � )'&O+�ù�!%@�Ó¿Õ�àÄå>׿׺å é ؾÕ,Þ¯ÖqÕ )'&xW )�ÖcÙ¯â�Õ�ÞhÚ¯Ø � � � 6 � � ��� � 6�� ü6ý(Þ¯Ó¿ØÓºßWä¯×¿ÓºÜ�Ø(Õ�ÞRÖqÕ � ZL / 4 � � &�ZL / 4'&�ß�åwâ$� � r �yü ÷ ÓºÙ¯Ý�Ü � ��� 4��%"W � � & � 4'& �Gæ$ÖcÙ¯â L / + � æ L / + � &Hæ

ó

Page 7: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

� Z L / 4 "W � & Z L / 4'&:ü ý(Þ¯Ü�ÛOÜ�àÄå>ÛOÜcæ � � r � � � Z.L / 4 � � &0Z.L / 4'& "W �Zæ7ÖcÙ¯â�Ø�å�êSã ��å>Û�å>׿׭ÖcÛMã&%®üúóZæ é ÜÖcÛOÜ%âZå>Ù¯Ücü

ý(ޯܣäZÛ�å>êRÖqê¯Óº×¿Ó¿ÕHã'Õ�ÞRÖqÕ�b ØOÚ¯Ý�Ý�Ü�Ü�â¯Ø�ÓºÙ�ê¯Û�Ü�ÖcìhÓºÙ¯Ô*Õ,ÞZÜ ÷ Õ�Û�å>ÙZÔ¼ö ÷ ø2ÖcØ�ØOÚ¯ß�ä7Õ,ÓºåcÙ�Ó¿Ø·Ösծ׿ÜKÖcØMÕ13�6>ùê�Ü�ÝKÖqÚ¯Ø�Ü é Ó¿Õ�Þ�äZÛ�å>êRÖqê¯Óº×¿Ó¿ÕHã'Öqի׺Ü�ÖcØOÕgò 6cù7æZÕ,ÞZÜgàÄåcÛ�Ô>Ü�Û �10 é Ӻ׿×4Ù¯Ü�Ü�âÖsÕ«ß�å>ØMÕ·ùG> ÿhÚ¯Ü�Û�ÓºÜ�Ø�ü�s-{LMLMC Wp<��=<:9 !#"+�� � \ +������ $&!�� ��� �� � ��%������ $&! [��5\ + �� ) ) +� � �#� $ R �0R(� * � �%_ $ V;� � �� 0! + � * � ���8R�*,+�^] $&� +& ���� $&!�� *`_6[ � V"� � �� ) ) + +("� e�� � \ �#� $ R �0R(� * � �%_<3 � � ! +ed � + )�� +(" � � %�+�= � T � � � �(�][ � �� !�� +ed � + )�� +("! �%SR�+�� > � � � ?(� +���� +� ][ �5\ +�!��5\ +�� + �� � ! � *$�$&� � �5\% � \ ��� � � ! �� !�� � %�+F= � T � � � � � � !#" �� ) ) + +("� e�� � \ �#� $ R �0R(� * � �%_ 3 � � ��6 �V> � � ��^� � $ $ V_^�ý(Þ¯Ü%ÓºÙ¯äZÚZÕ(Õ,å�Õ,ÞZÜ%ÛOÜ�â¯ÚZÝ�Õ,Ó¿å>Ù� � r � Y �yæRÖqÙ�Ó¿Ù¯ØOÕ,ÖcÙ¯Ý�Ü%åqà¶Õ�Þ¯Ü! RÜ��7ÓºêZ׺Ü%ö ÷ ø ä¯Û�å>êZ׺Ü�ß�ü

��Þ¯åwå>Ø�Ü�ÖçqÖc׺گܴò�� ����ù�> � � �£Ú¯Ù¯Ó³àÄå>Û�ßW׿ã²ÖqÕ*Û�ÖcÙ¯â¯å>ß�ü � Ó³Õ,Þ ä¯Û�åcêRÖcê¯Ó¿×ºÓ¿ÕHãèò 6cùG> � � �yæEÕ,ÞZÜÜ��7ä�å>Ù¯Ü�ÙhÕ�) é ӿ׺×0ê0Ü�Õ,ÞZÜ%Ø�ÖcßWÜgÖcØ«ÓºÙ�Õ,Þ¯Ü � � Õ�Þ�ÿhÚ¯Ü�ÛOã�Õ,å�Õ�Þ¯ÜgØ�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�å>Û�ÖcÝ�׿Ücü

ý(Þ¯Ü(ÓºâZÜKÖ·åqàRÕ,Þ¯Ó¿Ø&Û�Ü�â¯Ú¯ÝyÕ,ÓºåcÙ¾ÓºØ�Õ,ÞRÖqÕ é Ü é Ӻ׺×hØOÜ�Õ Ú¯ä¾Õ�ޯܩä¯ÚZê¯×ºÓ¿Ý�ìqÜ�ã¾Ó¿Ù¾Ø�ÚZÝ�Þ*Ö é ÖKã»Õ,ÞRÖqÕ�æ é Ó³Õ,Þ¯å>Ú7ÕìhÙ¯å é ׺Ü�â¯Ô>Ü�åcà(Õ�Þ¯Ü'à�ÖcÝyÕ,å>ÛOÓ��KÖsÕ,ÓºåcÙ²åcà r¶æ ӿջӺؾä�å>ØOØ�ÓºêZ׺Ü�Õ�åÓºØOØ�Ú¯Ü'Ý�å>ÛOÛ�Ü�ÝyÕ,׳ãþâ¯Ó¿ØOÕ�Û�ÓºêZÚZÕ,Ü�âíØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�Øå>Ù ÿhÚ¯Ü�ÛMã�� "W ��æEÓ¿Ù Öc׺ßWå>ØOÕ£Õ,Þ¯Ü�Ø�Öcß�Ü�ß�ÖcÙ¯ÙZÜ�Û*ÖcØ�Ó¿ÙíÕ,Þ¯Ü�ä¯ÛOå7åqà®åcà ��Ü�ßWß�Ö � ü � ü�/Rå>Û¾ÿhÚ¯Ü�ÛOã ��æÕ,ÞZÜ�ÖqÙ¯Ø é Ü�Û é Ӻ׿×�ê�ܽä0å>ØOØ�Ó¿ê¯×ºÜ¼åcٯ׿ã²àÄå>Û*Ö´Ø�ä�Ü�Ý�Ó³õRÝcæ}ä¯ÛOÜ�Ý�åcß�ä¯Ú7Õ,Ü�â çqÖc׺ÚZÜ�åcà W ��� Z 4>æ é Þ¯Ü�ÛOÜ� W�׿å>Ô� � ü

�l-��.-O1+- IKC{4Q38791s| ��Þ¯åwå>Ø�ܲùG> � � �'Û�ÖcÙ¯â¯åcß ä¯ÛOÓºßWÜ�Ø a )�� c ü ��Ü�Õ Q W � R �KJ� S / )���� 6G)'&�ü ��ÞZå7å>ØOÜ� ����� � � ~´Ú¯ÙZÓ¿àÄå>ÛOß�׳ãÆÖqÕWÛ,ÖqÙ¯â¯å>ß�ü ��Þ¯åwå>Ø�ÜáÖ²Û�ÖcÙ¯â¯å>ß çqÖc׿گÜ��åcà�׿Ü�Ù¯ÔqÕ,Þ8��6Gü ��Ü�Õ �WY P ß�åwâ�r&ü ��Ü�Õ � W ���»ß�åwâ�r&æÅÖqÙ¯â � W � 1���� C � ü ��Ü�Õ � r �]��� � ��� �©ê0Ü�Õ,ÞZÜ%äZÚ¯ê¯×ºÓ¿Ý�ìcÜyã>ü

A=3%�91!3 1&�+|��·ä�å>Ù6ÛOÜ�Ý�Ü�Ó¿çwÓ¿Ù¯Ô±Õ�Þ¯Ü�� ��� Ø�ÓºÔcÙRÖqÕ,ÚZÛ�ܽÿhÚ¯Ü�ÛMã � �<æ�� "W �Oæ©Ý�Þ¯åwå>Ø�ÜáÖ°çqÖc׿گÜ�4��¼åcà�׿Ü�Ù¯ÔcÕ�Þ�76gÚ¯Ù¯Ó¿àÄåcÛ�ßW׿ã°ÖqÕ£Û,ÖcÙZâ¯å>ß�ü � ÚZÕ�ä¯ÚZÕ � )�� � 4�� � <�� �yæ é Þ¯Ü�Û�ÜV<�� W �

���� � 6��� � �sæ é ÞZÜ�Û�Ü ���vW Y P � 1�� æ� ��W ���� æ � ��W � 1���� C �� ü � �HÙWåcÕ,ÞZÜ�Û é åcÛ�â¯Ø�æ � �<æ{� �(ÖcÙZâ � �©ÖcÛOÜ«çqÖc׿گÜ�ØEØOÚ¯Ý�Þ�Õ�ÞRÖqÕ � 1!�� W � æO�

1!�� W �[æÖcÙZâ � 1!�� W � �Gü S·åcÕ�Ü�Õ,ÞRÖqÕ � )�� � 4�� � <�� ��Ý�å>Ù¯ØMÕ,Ó³Õ,ÚZÕ�ܻ־çqÖc׿Ӻâ�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Üqü��ä0å>ÙáÛ�Ü�Ý�Ü�Ó³ç7Ó¿Ù¯Ô'Õ�Þ¯Ü � ��� ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOܾÿhÚ¯Ü�ÛMã � &�æ0Ý�å>ßWä¯ÚZÕ�Ü£Õ,ÞZÜ£çqÖc×ºÚ¯Ü 4'&2W" � � � &�ü=< & W � � üS�åcÕ,ܽÕ,ÞRÖsÕV< 1��& W � 1���� C � - � W � � � W � ��� � 6� � ü S·åcÕ�Ü�Õ�ÞRÖqÕ�Ó¿à �76�ÓºØWØ�Ú7î�Ý�ÓºÜ�ÙhÕ�׿ãè׺åcÙ¯Ô � Ücü Ô¯ü¿æ�w~ Z ���tZ 9Hæ é Þ¯Ü�ÛOÜP�w~½ÓºØ�Õ�Þ¯Ü�׿Ü�Ù¯ÔqÕ,Þ±åcà�Õ�Þ¯ÜWß�åwâ¯Ú¯×¿Ú¯Ø�r&æ.��� ÓºØ�Õ,ÞZÜW׿Ü�Ù¯ÔqÕ,Þ±åcà(Ö�ßWÜ�Ø�Ø�ÖcÔ>ÜqæÖcÙZâ 9�ÓºØgÖ�Ø�Ü�Ý�Ú¯ÛOÓ¿ÕHã°äRÖcÛ�ÖcßWÜ�Õ,Ü�Û �Gæ 4I&}Ó¿Ø�â¯ÓºØMÕ,Û�Ó¿ê¯ÚZÕ�Ü�â°ØOÕ,ÖqÕ,Ó¿ØOÕ,Ó¿ÝKÖc׿׿ã�Ý�׿å>Ø�Ü�Õ�å�ÚZÙ¯Ó¿àÄå>ÛOß�å[çcÜ�Û»Öc׺×ØMÕ,Û�Ó¿Ù¯Ô>Ø(åcà¶×ºÜ�Ù¯ÔcÕ�Þ*�76Gü

÷ Ú¯ä¯ä�å>ØOÜ«Õ�ޯܩàÄå>ÛOÔ>Ü�ÛMã¾Ô>Ó³ç>Ü�Ø � ��� 4 � ) � < �¶ØOÚ¯Ý�ÞWÕ�ÞRÖqÕ )«ÓºØ�ÙZåcÕEÛ�Ü�×­ÖqÕ�Ó¿ç>Ü�׿ã%ä¯ÛOÓºßWÜ�Õ,åU)'&Hü¶ý(Þ¯Ü�Ù )(Wy)'&ê�Ü�ÝKÖqÚ¯Ø�Ü )£ÓºØ«åcà ׿Ü�Ù¯ÔqÕ,Þ*�71yü©ø·×ºØ�åZæÅÖcØ�Õ�Þ¯Ügç>Ü�ÛOÓ¿õRÝ�ÖqÕ,Ó¿å>ÙáÓ¿Ø«Ø�Ú¯Ý�Ý�Ü�ØOØOàÄÚ¯×�àÄå>Û«Õ,Þ¯ÜgàÄå>Û�ÔcÜ�ÛOã�ÖqØ é Ü�׿׶ÖqØ«àÄåcÛÕ,ÞZÜ �(� Õ,Þ�ÿhÚ¯Ü�ÛMã>æJ< 1� W � � � 6 � W � � � - 6 - 1�#� C � W � � C ��� � � - 6 C 6� � - 1��$� ü���Ü�Õ � W � / � � r �+Z � � ü?S·åcÕ�ÜÕ,Þ¯ÖqÕ é Ó¿Õ�Þ�ä¯Û�åcêRÖcê¯Ó¿×ºÓ¿ÕHã�çcÜ�ÛMã¾Ý�׿å>Ø�Ü©Õ�å¾ò>æ>Õ�Þ¯Ü�çqÖc׺ÚZÜ � / � a�� � ò c ü¶ø·×ºØOå¯æ>Ù¯åcÕ�Ü©Õ,ÞRÖsÕ � / Ó¿Ø�ÓºÙZâ¯Ü�ä�Ü�Ù¯âZÜ�ÙSÕå>Ù´Õ,ÞZÜ*ÖcâZç>Ü�Û�Ø�ÖcÛOã#� Ø%çw é ü£ý(Þ¯Ü�Û�ÜyàÄå>Û�Üqæ�Ó³à Õ,Þ¯Ü�äZÛ�å>êRÖqê¯Óº×¿Ó¿ÕHã½Õ,ÞRÖsÕU)'& � � � � � &�� � Z � 4 � 4'& � Z,)'& �ӺثٯåcÙ7ëHÙ¯Ü�Ô>׺ӿÔ>ÓºêZ׿ã�Þ¯ÓºÔ>ÞZÜ�Û(Õ,ÞRÖqÙ²ò 6cù7æRÕ,Þ¯Ü�ÙáÓ¿Õ�Ó¿Ø«Õ�Þ¯Ü%ÝKÖcØOÜ%Õ�ÞRÖqÕ�)'&�� � � � � & � � � Z � 4 � 4I& �+ZX)'& �ÖcÙ¯â )'& � � � � � & � � � � r �+Z � � �pZ � 4 � 4'& �!Z )'& � æ�ÖcÙ¯â�Õ�Þ¯Ü�ÛOÜ�àÄå>ÛOÜ )'&�� � � � � & � � Ù¯åcÕ�Ü%Õ�ÞRÖqÕ·êhãâ¯ÜyõRÙ¯Ó¿Õ�Óºå>Ù'åcà¶Ö£àÄå>Û�Ô>Ü�ÛOã � "W � & �yü���àÁÕ,ÞZÜ�׺Ü�ÙZÔcÕ,Þ �21�Ó¿Ø�Õ é å*ê¯Ó¿Õ�ة׺å>ÙZÔ>Ü�Û}Õ,ÞRÖcÙ�Õ�Þ¯Ü�׺Ü�Ù¯ÔcÕ�Þ�åcà¶Ö£çcÖq׺ӺâßWÜ�Ø�Ø�ÖcÔ>Ü ���®æ7Õ,Þ¯Ó¿Ø(ÓºØ(ÓºßWä�å>Ø�ØOÓºê¯×¿Ücü

ý(Þ¯Ü�ÛOÜ�àÄå>ÛOÜcæ é Ó¿Õ�Þä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHãáÖsÕ�׺Ü�ÖcØOÕ£ò 6>ù7æ4Õ�ޯܣàÄå>׿׺å é ÓºÙZÔ'Ý�åcÙ¯â¯Ó¿Õ�Óºå>ÙáӺخßWÜ�Õ(' )'&&% � ��� Z 4�Z)'& � � ��W �¶ü·ý(Þ¯Ü�ÛOÜ�àÄå>ÛOÜcæ é Ü�ÞRÖKç>Ü»Õ,ޯܣàÄåc׺׺å é Ó¿Ù¯Ô ' < 1� � Y5P('Sæ é Þ¯Ü�ÛOÜ�Ô>Ý�â � )'& � � ��W ò>æ0ÖcÙ¯â´Ø�å'êhã��Ü�ßWß'Ö %·ü 1Zæ é ÜgÝ�å>ßWä¯ÚZÕ�ÜB)'& � Õ,Þ�Û�åwåcÕ«åcà Y�ü

û

Page 8: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

ý(Þ¯Ü�ÛOÜ�àÄå>ÛOÜcæRb ØOÚ¯Ý�Ý�Ü�Ü�â¯ØgÓºÙØOå>׿çwÓºÙZÔ¼ÖcÙÓ¿Ù¯ØOÕ,ÖcÙ¯Ý�Ü£åcà Õ�Þ¯Ü RÜ �ZÓ¿ê¯×ºÜ£ö ÷ ø ä¯ÛOå>ê¯×ºÜ�ß é Þ¯Ü�Ù±ùG> ӺخÖØ�Ú7î�Ý�ÓºÜ�ÙhÕ*Ùhگߣê0Ü�Û¾åcà«ÿhÚ¯Ü�ÛOÓºÜ�Ø � é Ó¿Õ�Þíä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHã±Öqվ׿ÜKÖcØMÕ¼ò 6>ù½Õ,ޯӿؾӺØ%Õ,ޯܼÝ�ÖcØ�Ü�êSã±Õ,Þ¯Ü .�ÖcÛ�ìqå<çÓºÙZÜ�ÿhÚRÖc׿ӿÕHã �yæ é ÞZÜ�Ù ��ӺػÝ�Þ¯å>Ø�Ü�Ù�Ý�å>Û�ÛOÜ�ÝyÕ,׿ã � Õ�ޯӺأӺػÕ�Þ¯Ü�ÝKÖqØ�Ü é Ó³Õ,ÞÆä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHã ò 6>ùG> �£ÖcÙ¯â é ÞZÜ�ÙÕ,ÞZܾÝ�å>ÙZâ¯Ó¿Õ�Óºå>Ù�ӺخßWÜ�Õ � é Ó³Õ,Þä¯ÛOå>êRÖcêZӺ׺ӳÕHã°ò 6>ù�Ó¿Ù¯â¯Ü�ä0Ü�Ù¯â¯Ü�ÙSÕ�׿ã�åcàEÜ�çcÜ�ÛOãhÕ�Þ¯ÓºÙ¯Ô�Ü�׺ØOÜ �yü�ý(ÞZÜ�Û�ÜyàÄå>Û�ÜqæRbØ�ÚZÝ�Ý�Ü�Ü�â¯Ø é Ó¿Õ�Þ�äZÛ�å>êRÖqê¯Óº×¿Ó¿ÕHã 3 � 6 �V> Ó¿Ù�Õ,ÓºßWÜ T � � � �yü

÷ ÓºÙZÝ�Ü�Õ,Þ¯Ü*Ùhگ߾ê�Ü�Ûgåcà�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�ÿhÚ¯Ü�Û�Ó¿Ü�Ø%ÓºØgÖqÕgßWå>ØOÕ�Õ�Þ¯Ü*Û�Ú¯ÙZÙ¯ÓºÙ¯Ô�Õ�ÓºßWÜcæ é Ü�ÞRÖKçcÜ�ØOÞ¯å é Ù²Õ,ÞZÜàÄå>׿׺å é ÓºÙ¯Ô»Õ,Þ¯Ü�å>Û�Ü�ß!'� '+- 7)IK-OL W=<��p<�� ��* �� � !#��� � � +& )]\ +�%�+��� & + )��� + �!#"+�� � \ + ����� $&!��, ��� �� � �� %���� � $&!9^ ] $&� +�#� + )��� +�*`_Q[ � V ��V $&� �+���R�� +(�Kc 0$���� �� � !#������ +� )]\ +�%�+�� !,� � %�+2T � � �(e�� �5\ �#� $ R �0R(� * � �%_"3 � � �][ � \ +�!,� \ +����� $&!��& ��� �� � �� %���� � $&! )(� ! R�+ R�� $6c +�! � !,��� %�+�= � T � � �(��e�� �5\ �#� $ R �0R(� * � �%_�� � 3 � � ��6wT � � � ��^

� ���� �½Ð ���� � N>ÍWÌ ��ͽÐ�. �ÍON � �� 2 J� �d��

÷ Ú¯äZä0å>ØOÜcæEÓºÙZØOÕ,Ü�Öcâíåcà�ØOÓºÔ>Ù¯Ó¿Ù¯ÔÖ�Ø�ÓºÙZÔ>׺Ü�ß�Ü�Ø�Ø,ÖqÔ>Ü � æ å>Ù¯Ü é ÖcÙSÕ�ؾÕ,åØOÓºÔ>ÙÆÖ�ê¯×ºåwÝ�ì²åqà��2ßWÜ�ØOØ,ÖcÔ>Ü�Ø� / �IHIH'HR� ��� ü /Rå>ÛEß�å>ØMÕ�Öcä¯ä¯×¿ÓºÝKÖsÕ,ÓºåcÙ¯Ø�æcÕ�Þ¯Ü�ØOÜ�Õ é å£äZÛ�å>ê¯×¿Ü�ßWØ}ÖcÛ�Ü«Ü�ÿhÚ¯Ó³çqÖc׺Ü�ÙhÕ�æhØ�ÓºÙZÝ�Ü�ÓºÙ*å>Û�âZÜ�ÛEÕ,ågØ�Ó¿Ô>ÙØ�ÚZÝ�Þ´ÖWêZ׺åwÝ�ì�æÅӳիӺثØ�ÚZîWÝ�ÓºÜ�ÙSÕ�Õ,å�ÞRÖcØ�Þ�Ó¿Õ(Õ�å'Ö*Ø�ß�Öc׺×4ß�Ü�Ø�Ø,ÖqÔ>Ü � Ú¯Ø�Ó¿Ù¯Ô'Ö*Ý�åc׺׺ӿØ�Ó¿å>Ù7ëHÛOÜ�ØOÓºØOÕ,ÖcÙSÕ©ÞRÖqØ�ÞàÄÚ¯Ù¯ÝyÕ,Ó¿å>Ù$æRÖcÙZâ�Õ�Þ¯Ü�Ù½Õ,å*Ø�Ó¿Ô>Ù � Ú¯ØOÓºÙ¯ÔWÖ*å>Ù¯ÜGëHßWÜ�Ø�Ø�ÖcÔ>ÜgØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�ØOÝ�Þ¯Ü�ßWÜcü

ï·å é Ü�ç>Ü�Û�æ�Ó³àEÕ,Þ¯ÜWÖcä¯äZ׺ӺÝ�ÖqÕ,Ó¿å>Ù é Ü�Þ¯Ö[çcÜ�Ó¿Ù°ß�Ó¿Ù¯â´ÓºÙSç>åc׿ç>Ü�Ø»äZÛ�å[çwÓºÙ¯Ô½ìhÙ¯å é ׺Ü�â¯Ô>ÜWåcà©Ö�ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜÖcÙ¯â'ä¯Û�å[çwÓºÙ¯Ô»Û�Ü�×­ÖqÕ�Óºå>Ù¯Ø}ÖcßWå>Ù¯Ô»Ý�Ü�ÛOÕ�ÖqÓºÙ'Ý�å>ßWä0å>ÙZÜ�ÙSÕ,Ø�åcà � / �IHIH'H.� ��� æwÓ¿Õ�ß�Ö[ã*ê�Ü®ÞZÜ�׺ä7àÄÚ¯×�Õ�å£ÞRÖKçcÜ�ÖØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�ÜgØOÝ�Þ¯Ü�ßWÜ»Ü�Ø�ä�Ü�Ý�Ó­Öc׿׿ã¼âZÜ�Ø�Ó¿Ô>Ù¯Ü�â�Õ,åWÞRÖcÙZâ¯×ºÜgê¯×¿å7Ý�ìhØ«åcà���ß�Ü�Ø�Ø,ÖqÔ>Ü�Ø�ü©ï·Ü�Û�Üqæ é Ü%ä¯Û�å>ä�å>ØOÜ»å>ÙZÜØ�ÚZÝ�ÞáØ�Ý�ÞZÜ�ßWÜcü

�l-��)-O1!- IQC 4Q35791U< � Ù ÓºÙZä¯ÚZÕíò æ%Ý�Þ¯å7åcØ�Ü Ö6ØOä0Ü�Ý�Ó­Öq×¾ö ÷ ø ßWå7â¯ÚZ×ºÚ¯Ø r W TFu7æ T W ùBT Y Z ò>æu�W ùyu Y Z ò>ü ��ÞZå7å>ØOÜcæ�Ú¯Ù¯Ó¿àÄåcÛ�ßW׿ã²ÖqÕ*Û,ÖqÙ¯â¯å>ß�æ � / �'HIHIH.�]���p� � ���X� } U~7ü � ÚZÕ,ä¯Ú7Õ ��� W� r �]� / �IH'HIH.�]���0� � ��� �GæRÖcÙ¯â �� W@T�ü �ÁÜyÕ[�w~*â¯Ü�Ù¯åqÕ,Ü�Õ,Þ¯Üg׿Ü�Ù¯ÔcÕ�Þ½åcà¶Õ�Þ¯Ügß�åwâ¯Ú¯×¿Ú¯Ø�r&ü �w~xW�ù��0ü

� -ON N�C��)- N�H!C�i -)< �ÁÜyÕ���� ê�Ü�Ö¼äRÖcÛ�ÖcßWÜ�Õ,Ü�Û�ü�ý(Þ¯Ü�ßWÜ�ØOØ,ÖcÔcÜ�Ø�äRÖcÝ�Ü�Ý�å>ÙZØ�ÓºØMÕ,Ø�åcà}Öq׺×�ê¯ÓºÙRÖqÛOã�ØOÕ,ÛOÓºÙ¯ÔcØåcà�׺Ü�ÙZÔcÕ,Þ�����ü � ÿhÚ¯Ó³çcÖq׺Ü�ÙSÕ�׿ã>æ�Ó¿Õ·ÝKÖqÙê0Ü%Õ,Þ¯åcÚ¯Ô>ÞSÕ�åcàEÖqØ®Ý�åcÙ¯Ø�Ó¿ØOÕ,Ó¿Ù¯Ô¼åcà�ÓºÙSÕ,Ü�Ô>Ü�ÛOخӺÙ�Õ,ޯܻÛ,ÖcÙ¯ÔcÜð � � ù ! # �Gü

A=3%�91!3 1&�MC�j$�)7)Iy3 4('!L < � Ù±ÓºÙZä¯ÚZÕ � / �IHIHIHJ� ��� æ�Ý�Þ¯åwå>Ø�Ü�Ö½Û,ÖcÙ¯âZå>ß�ä¯ÛOÓºßWÜ�ÙwÚZß¾ê0Ü�ÛB)�+ ù�! #R-0/ åcà׿Ü�Ù¯ÔcÕ�Þ^�71 W �2�MZ ù7æÁÖcÙ¯â±Ö�Û,ÖqÙ¯â¯å>ß�ÙwÚZß¾ê0Ü�ÛK4Wåcà�׺Ü�Ù¯ÔcÕ,Þ^�76�W �w~�ZX��� Z,9^æ é Þ¯Ü�Û�ÜP9�Ó¿ØgÖØOÜ�Ý�ÚZÛ�Ó¿ÕHã½ä¯ÖcÛ,ÖcßWÜ�Õ�Ü�Û�ü ��å>ß�äZÚZÕ,Ü�Õ�Þ¯Ü�çcÖq׺گÜ=<¼ØOÚ¯Ý�Þ�Õ�ÞRÖqÕ

< 1 � � � W/ HIH'H ����� � 6 � ß�åwâ�r

> - Iy3 / i C 4Q357 1tC�j$�)79IK3 4('!L <®ý�åþç>Ü�Û�Ó³à�ã�Õ�ÞRÖqÕ'Õ�Þ¯ÜáÕ�Ú¯ä¯×ºÜ � ) � 4 � < ��ÓºØ'ÖþØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�å>Ù ßWÜ�Ø�Ø�ÖcÔ>Ü � æÝ�Þ¯Ü�Ý�ì�Õ,ÞRÖqÕ?< 1 � � � W/ H'HIH �

� �� � 6 � ß�åwâ�r&æÅÖqÙ¯â�Ý�ÞZÜ�Ý�ì�Õ,ÞRÖsÕ�)K+ñù !%@eC /Gü

� '+- 7)IK-OL �+<8>)<a=\ + �� � !#��� �� + )]\ +�%�+ �0R�$ Z ++�� + )��� +dV $&�MR�*,$ )]c �$ V %�+� � �� �+� ][ �!#"+�� � \ +����� $&!��& ��� �� � �� %���� � $&!9^

Page 9: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

� � $ $ V_^��²Ü é ӿ׺×�Ø�Þ¯å é Ö¾ÛOÜ�â¯ÚZÝ�Õ,Ó¿å>Ù�àÄÛ�å>ß Ö¾àÄå>Û�Ô>Ü�Û;� àÄåcÛ©Õ,Þ¯Ó¿Ø(Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�ØOÝ�Þ¯Ü�ßWÜcæRÕ,å*ÖqÙ�Öq׺Ô>å>ÛOÓ¿Õ�Þ¯ßÕ,Þ¯ÖqÕ'êZÛ�ÜKÖqìwØ�Õ,Þ¯Ü�êRÖcØ�Ó¿ÝáØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ�ØOÝ�Þ¯Ü�ßWÜáàÄÛ�åcß ÷ Ü�Ý�Õ�Óºå>Ù ù7ü ý(Þ¯ÜáÛOÜ�â¯Ú¯ÝyÕ,Ó¿å>Ù Û�Ü�Ý�Ü�Ó¿ç>Ü�Ø�ÖcØ�ÓºÙ¯ä¯Ú7ÕÕ,ÞZܾä¯Ú¯ê¯×¿ÓºÝ»ìcÜ�ãáåcàEÕ,ޯܣêRÖcØ�ӿݾØ�Ý�ÞZÜ�ßWÜ�' � r �]��� � ��� �yæ4ÖcÙ¯â´ÞRÖqØ�å>Û,ÖqÝ�׺ܣÖcÝ�Ý�Ü�ØOØgÕ�å'Õ,ÞZÜ�êRÖcØ�Ó¿Ý£ØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜØ�Ý�ÞZÜ�ßWÜcü

�l-��.-O1+- IKC{4Q38791s< ��Þ¯åwå>Ø�Ü*ÖcÙ°Ó¿Ù¯â¯Ü���� � ðUò � ��ô ÖqÕ�Û�ÖcÙ¯â¯åcß�ü ��Ü�Õ ��Ü�Õ ��� W � ü /Rå>Û � � ðkò � ��ô:æ� "W��Åæ�Ý�ÞZå7å>ØOÜ£ÖqÙ¯âÓºÙSÕ�Ü�Ô>Ü�ÛDL���àÄÛOå>ß � � ~¾Ú¯Ù¯Ó¿àÄåcÛ�ßW׿ã�ÖsÕ·Û�ÖcÙ¯â¯åcß�æ�ÖcÙ¯â�׺ÜyÕ � �bW � U � ü � ÚZÕ,ä¯Ú7ÕÕ�Þ¯Ügä¯Ú¯ê¯×¿ÓºÝ�ìcÜyã � r �]� / �IHIHIH.� � �p� � ��� �yü

A=3%�91+C 4Qq+IK-��)-{1+- IQC 4Q357 1s< � Ù°ÓºÙ¯ä¯Ú7ÕgØ�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�ÿhÚ¯Ü�ÛMã � � / �'HIHIH.� ��� �yæÁÖcØOìáÕ,ÞZÜWØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ�å>Û,ÖqÝ�׺ÜàÄå>Û�Ö Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü°å>Ù Õ,ޯܰçqÖc׺ÚZÜ ��� ü �·ä�å>Ù Û�Ü�Ý�Ü�Ó³ç7Ó¿Ù¯Ô Õ,ޯܰçqÖc×ºÚ¯Ü � 4 � < � )��yæ�׿Ü�Õ 4 Y W 4 �� ���S � L�� � �<ü®ý(ÞZܾÛ�Ü�Ø�گ׳Õ,ÓºÙZÔ'Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü% � 4 Y � < � )��yü ��Õ�ÓºØ�ÜKÖqØOã�Õ,å¼ØOÜ�Ü£Õ�ÞRÖqÕ�Ó³Õ®Ó¿Ø·âZÓºØOÕ�Û�Ó¿ê¯ÚZÕ,Ü�âØMÕ�ÖqÕ�ÓºØOÕ�ÓºÝ�Öc׺׳ã�Ý�׺å>ØOܾÕ,å�Õ,ÞZÜWÛOÓºÔ>ÞSÕgâ¯Ó¿ØOÕ�Û�ÓºêZÚZÕ,Ó¿å>Ùä¯ÛOå<çwÓ¿â¯Ü�â°Õ,ÞRÖsÕU�76�W��w~(Z:��� Z,9^æ é Þ¯Ü�Û�Ü 9�Ó¿ØØOÚZîWÝ�ÓºÜ�ÙSÕ,׿ã¼×ºå>Ù¯ÔZü

÷ Ú¯ä¯ä�å>ØOܾÕ,Þ¯Ü�ÖqâZç>Ü�Û�Ø,ÖqÛOã#�úØ�àÄå>ÛOÔ>Ü�ÛMãáÓ¿Ø � � / �IHIHIH.� ���p� 4 � < � )��Gü�ý(Þ¯Ü�Ù � 4�Z � ���S � L�� � � � < � )���ӺخÖçqÖc׺ӿâ°Ø�ÓºÔcÙRÖqÕ,ÚZÛ�ÜWÓºÙ²Õ�Þ¯Ü'ê¯ÖcØ�Ó¿Ý�ØOÝ�Þ¯Ü�ßWÜ'å>Ù²ß�Ü�Ø�Ø�ÖcÔ>Ü ��� ü ÷ ÚZä¯ä0åcØ�Ü�Õ�Þ¯Ü'ØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ � Ø )'Ó¿Ø»âZÓ)(0Ü�Û�Ü�ÙSÕàÄÛ�åcß ÖcÙSãWä¯Û�Üyç7Ó¿å>Ú¯ØO׿ã�ØOÜ�Ü�ÙV)'&Hü�ý(Þ¯Ü�Ù é Ü·ÖcÛOÜ·â¯åcÙ¯Ü�' é Ü�ÞRÖKç>Ü®Ý�Û�Ü�ÖqÕ,Ü�â'àÄå>Û�ÔcÜ�ÛC��ÖcÙ¯â�Ý�å>ÙSÕ,Û�Öcâ¯Ó¿Ý�Õ,Ü�â��Ü�ßWß'Ö � ü � ü ÷ å»ØOÚ¯ä¯ä�å>Ø�Ü�Õ,Þ¯Ó¿Ø )(Wy)'&�ü�%�ÚZÕ � � / �'HIHIHR� ��� �!"W � � & / �IHIHIHR�(�

&� �yü � Ó¿Õ,Þ*ä¯ÛOå>êRÖcêZӺ׺ӳÕHã¾ÖsÕ

׺Ü�ÖcØOÕ»ò 6 �(æ0ӿշӺثÕ,ޯܾÝ�ÖcØ�Ü%Õ,ÞRÖsÕ ��� � �&� æ$ÖcÙZâ é Ü£ÞRÖKç>ܾÝ�Û�ÜKÖsÕ,Ü�â°Ö*àÄå>Û�ÔcÜ�âØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜ£å>Ù�ß�Ü�Ø�Ø,ÖqÔ>Ü

��� ü� ç>Ü�Û�Öc׺×ÂæÅÓ¿à&Õ�ޯܻÖcâZç>Ü�Û�Ø�ÖcÛOã � Ø�Ú¯Ý�Ý�Ü�Ü�â¯Ø�Ó¿Ù�Õ,Ó¿ß�Ü�T � � � é Ó¿Õ,Þ�ä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHã<3®Ú¯ØOÓºÙ¯Ô > � � �(ÿwÚZÜ�Û�Ó¿Ü�Ø�æ

Õ,ÞZÜ%ÛOÜ�â¯ÚZÝ�Õ,Ó¿å>Ù�Ø�Ú¯Ý�Ý�Ü�Ü�â¯Ø�ÖcÔ>ÖcÓºÙ¯ØMÕ(Õ,Þ¯ÜgêRÖqØ�ÓºÝgØOÝ�Þ¯Ü�ßWܻӿÙ�Õ�ÓºßWÜ T � � � é Ó¿Õ,Þ�ä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHã¼Öqի׿ÜKÖcØMÕ�3B6>ù �Öc׿Ø�å*Ú¯Ø�Ó¿Ù¯Ô�> � � �©ÿhÚ¯Ü�ÛOÓºÜ�Ø�ü

� M Ìs� �KÑ � ÑKÊ�£ÌvQ M Ì Í�Ë�Í½Ð«Í �

�HÙÆÕ,Þ¯Ó¿Ø�Ø�Ü�Ý�Õ,Ó¿å>Ù$æ é Ü é ӿ׺×}Ø�Þ¯å é Þ¯å é Õ,å´Ý�å>Ù¯ØMÕ,Û�ÚZÝ�Õ�Ö´Ø�Ü�Ý�Ú¯Û�ܽä¯ÛOåcÕ,åwÝ�åc×�àÄå>Û¾ØOÓºÔ>Ù¯Ó¿Ù¯Ô´Ö´Ý�åcß�ßWÓ¿ÕOÕ,Ü�âßWÜ�Ø�Ø�ÖcÔ>Ü%ÖcØ(â¯Ü�Ø�Ý�Û�Óºê�Ü�â�ÓºÙ ÷ Ü�Ý�Õ�Óºå>Ù°ò>æ¯ÚZÙ¯â¯Ü�Û«å>ÚZÛ�ê¯ÖcØ�Ó¿Ý�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü�Ø�Ý�ÞZÜ�ßWÜ%âZÜ�Ø�Ý�Û�Ó¿ê0Ü�â�Ó¿Ù ÷ Ü�Ý�Õ�Óºå>Ù�ù7ü

����� ���$%$�"���$��!&�� ��� � �J$��ý(Þ¯Ü�àÄå>׿׺å é ÓºÙ¯Ô�Ý�å>ßWßWÓ¿Õ,ßWÜ�ÙSÕ·Ø�Ý�Þ¯Ü�ß�Ü*Ó¿Ø�â¯Ú¯Ü¾Õ,å /RÚ��OÓ¿Ø,ÖcìhÓ�ÖqÙ¯â � ìsÖcßWåcÕ�å°ðUò 1qô ÖcÙZâ±Ü�×­Öcê�å>Û�ÖqÕ,Ü�â´å>ÙêSã½Ò�ÖcßWÔ��ÖcÛOâ½ÖcÙ¯â /ÅÚ��OÓºØ,ÖqìwÓ ðUò��<ô:ü���Õ�Ø�ØOÜ�Ý�Ú¯Û�Ó³ÕHã½Û�Ü�׿ӺÜ�Ø(å>Ù�Õ,Þ¯ÜgÞRÖcÛOâ¯Ù¯Ü�Ø�Ø�åcà¶à�ÖqÝ�Õ,åcÛ�ÓºÙZÔ¯ü

�l-��)-O1!- IQC 4Q35791 ý(ÞZÜ�ä¯ÚZê¯×ºÓ¿Ý¼ìcÜyã�Ý�å>Ù¯ØOÓºØOÕ�Ø*åcà�Ö°Ø�ä�Ü�Ý�Ó­Öcשö ÷ ø ßWå7âZگ׺گØ�rñåqà�׺Ü�Ù¯ÔcÕ�Þ8�w~7æ�ÖqÙ¯â� h } U~Zæ��Oh � ��� æ é Þ¯Ü�ÛOÜ�� ��� Ó¿Ø©Õ,Þ¯ÜgÔ>ÛOå>Ú¯ä½Ô>Ü�ÙZÜ�Û,ÖsÕ,Ü�â�êSã � ü

� 79L L 3 4QLM-O1 4°ý(ޯܻÝ�å>ßWß�Ó³Õ,ßWÜ�ÙSÕ �lo"nwn"!$# � ��� � � � L �(àÄåcÛ�Ó¿Ù¯ä¯ÚZÕ�Ø·åqà ׺Ü�Ù¯ÔcÕ,Þ*� � ÖcÙZâáÛ,ÖqÙ¯â¯å>ßWÙ¯Ü�ØOØL � � ~hæ¯ÓºØ(âZÜ�õRÙ¯Ü�âÖcØ(àÄå>׿׺å é Ø('%��o"nwn&!$# �(� r � � � � � � � � L �2W'� � � U ßWå7âdr&ü�s-{LMLMC��p<8>�<a=\ + ) $&%�% � � %�+�! � )]\ +�%�+ "+� )�� �8R�+(" �0R�$ Z + �� �� ������ �� � )(� * *`_ \���"�� !�� � !#" ) $&%������ � '� � $&!#� * *`_ R(� !#"�� !�� � V�V �)�� $&� � !��*�� �\ � � "0^

1

Page 10: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

+�% � � c ^ S·åqÕ,Ü«Õ,ÞRÖqÕEàÄå>ÛEÕ,ÞZÜ·Þ¯Ó¿â¯ÓºÙZÔ%äZÛ�å>ä�Ü�ÛMÕHã>æhÕ,ޯܷå>ٯ׿ã¾Û�Ü�ÿhÚ¯Ó¿Û�Ü�ß�Ü�ÙhÕ}àÄÛ�åcß Õ,Þ¯Ü�ä¯Ú¯ê¯×¿ÓºÝ«ìcÜyãW Õ,ÞRÖsÕ� � � � � æwÖcÙ¯â'ØOå%Õ�Þ¯Ü�ä¯Ú¯ê¯×¿ÓºÝ«ìcÜyã�Ý�ÖcÙ'ê�Ü�Ô>Ü�Ù¯Ü�Û,ÖqÕ�Ü�â'ÖcâZç>Ü�Û�Ø�ÖcÛ�ÓºÖc׺׳ã¾ä¯ÛOå<çwÓ¿â¯Ü�âWÕ,ÞRÖqÕEÕ�Þ¯ÓºØ}Û�Ü�ÿwÚZÓºÛ�Ü�ß�Ü�ÙSÕÞ¯å>׿â¯Ø�ü

�þÜ é ÖcÙSÕ¶Õ�å«Ô>ÚRÖcÛ�ÖcÙSÕ,Ü�Ü Õ�Þ¯ÜEØ�Ü�Ý�Ú¯Û�Ó³ÕHã�åcàwÕ,Þ¯Ó¿Ø�Ý�å>ßWßWÓ¿Õ,ßWÜ�ÙSÕ�ØOÝ�Þ¯Ü�ßWÜEÜ�çcÜ�Ù é Þ¯Ü�Ù%Õ�Þ¯ÜEÝ�å>ßWßWÓ¿Õ,ßWÜ�ÙSÕØ�Ý�ÞZÜ�ßWÜ � ؼä¯Ú¯ê¯×¿ÓºÝ½ìcÜyã6Ó¿Ø�äZÛ�å[çwÓºâ¯Ü�â êSãèÕ�Þ¯ÜÖqâZç>Ü�Û�Ø,ÖqÛOã>ü ý�åþÜ�ÙZØ�Ú¯ÛOÜáÕ,ÞRÖsÕKæ é Ü´Öcâ¯âèÕ,Þ¯Ü�àÄå>׺׿å é ÓºÙ¯ÔìcÜyãíÝ�Ü�ÛOÕ�Ó¿õRÝ�ÖqÕ,Ó¿å>ÙþäZÛ�åwÝ�Ü�âZÚ¯Û�Ü '�Õ,ÞZÜ'äRÖcÛMÕHã²Õ�ÞRÖqÕ�ÔcÜ�Ù¯Ü�Û,ÖqÕ�Ü�âíÕ,ÞZܼÝ�å>ßWßWÓ¿Õ,ßWÜ�ÙSÕ%ìcÜyãwØ � r � � � � �gß¾Ú¯ØMÕä¯ÛOå<çcܾÜ��7Ó¿ØOÕ,Ü�Ù¯Ý�Ü�åqà Õ,ޯܻâ¯ÓºØOÝ�Û�ÜyÕ,ܾ׿å>ÔSÖcÛOÓ¿Õ�Þ¯ß ×ºåcÔ � �¾ßWå7âdr&ü·ý(ޯӺطÝKÖcÙáê0ܾâZå>ٯܣÚZØ�ÓºÙZÔ é Ü�׺×UëHìhÙ¯å é ÙÕ,Ü�Ý�Þ¯Ù¯Ó¿ÿwÚZÜ�Ø«Õ,ÞRÖqÕ é ÜgÜ�×­Öqê0å>Û�ÖqÕ,Ü�åcÙ�Ó¿Ù�Õ,Þ¯ÜgØ�Ü�ÿhÚ¯Ü�× � Ýyà^üÁðUò �sô �Gü

��� � � &��� &�� " *l�p���"�F���� ���'��)"�� � $�� t'�* ��� ��� � � �?� �� #*ø®×¿×�ä¯ÛOåcÕ,åwÝ�åc׺ؾÖqØ�Ø�ÚZß�ܼÕ�ÞRÖqÕ¾Õ�Þ¯Ü�ä¯Ú¯ê¯×¿ÓºÝ�äRÖcÛ,Öqß�ÜyÕ,Ü�ÛOØ é Ü�Û�Ü�õ �7Ü�â6Öqà�Õ�Ü�Û£Õ�Þ¯Ü�Öcâ7ç>Ü�ÛOØ,ÖcÛMã é ÖcØ�õ �7Ü�â� åqÕ,Þ¯Ü�Û é ÓºØOÜ%Ö*ÙZå>Ù7ëHÚZÙ¯Ó¿àÄå>ÛOß Öcâ7ç>Ü�ÛOØ,ÖcÛMã½ß'ÖKã'ìwÙZå é Ø�Ü�Ý�Û�ÜyÕ®ìqÜ�ãwØ �Gü

ý(Þ¯ÜgàÄå>׺׿å é Ó¿Ù¯Ô¾ìhÙ¯å é ÙáäZÛ�åcÕ�å7Ý�å>׺Ø(ÖqÛ�ÜgØ�Ü�Ý�Ú¯ÛOܻگÙZâ¯Ü�Û(Õ,ÞZÜ%ØMÕ,ÛOå>Ù¯Ô�ö ÷ ø2ÖcØOØ�Ú¯ßWäZÕ�Óºå>Ù '

g Û�åwåcàÅåcà�ìhÙ¯å é ׺Ü�â¯Ô>Ü(åcàÅâZÓºØ�Ý�Û�ÜyÕ,Ü(׺åcÔSÖcÛ�Ó³Õ,Þ¯ß ÛOÜ�ä¯ÛOÜ�ØOÜ�ÙSÕ�ÖqÕ�Óºå>Ù*ßWå7âZگ׺å®Ö�Ý�å>ßWä0åcØ�Ó¿Õ�Ü�ðkò �sôÂü�ý(ÞRÖsÕӿضÕ,å�Ø�ÖKã>æhÖ�ä¯ÛOåcÕ,åwÝ�å>× é Ó¿Õ�Þ¾Ý�å>ßWßWå>Ù¾ÓºÙZä¯ÚZÕ,Ø � ò��&Ö � r � � / �'HIHIH.� � � �yæ é Þ¯Ü�Û�Ü�r�Ó¿Ø�Ö�Ø�ä�Ü�Ý�Ó­Öc×Zö ÷ øßWå7âZگ׺گثÖqÙ¯â���& � } s~�àÄå>Û«Öc׿×�ò � � � � �ÅÖcÙZâ � ù��©Ö*çqÖc׿گÜ�� � } U~7æ¯Õ,Þ¯Ügä¯ÛOå<çcÜ�Û�ä¯Û�å[çcÜ�ØìhÙ¯å é ׺Ü�â¯Ô>Ügåcà�çqÖc׺گÜ�Ø � / �'HIHIH.��� �ñØ�ÚZÝ�Þ�Õ,Þ¯ÖqÕ�� W R �&TS / � �

�& ß�åwâdr&ü

g Û�åwåcà¶åcà¶ìwÙZå é ׿Ü�â¯ÔcÜ%åqà�Ü�ÿhÚRÖq׺ӿÕHã'åcà¶Û�Ü�äZÛ�Ü�ØOÜ�ÙSÕ�ÖsÕ,ÓºåcÙ�ßWå7âZگ׺å¾Õ é å � ä0åcØ�Ø�Ó¿ê¯×¿ã'â¯Ó)(0Ü�ÛOÜ�ÙSÕ �©Ý�å>ß*ëä�å>Ø�Ó³Õ,ÜßWåwâ¯Ú¯×ºÓ»ð 1qôÂü ý(ÞRÖsÕ�ÓºØ'Õ�åÆØ,ÖKã>æ·Öíä¯ÛOåcÕ,åwÝ�å>× é Ó¿Õ�ÞñÝ�å>ßWß�åcÙ ÓºÙ¯äZÚZÕ,Ø � r / � � / �IH'HIHR� � � �ÖcÙZâ � r � � � / �IH'HIHR� � � �*ÖqÙ¯âèÕ�Þ¯Ü�çqÖc׺گÜ�Ø�� / � } U~ W ÖcÙZâ�� � � } U~ M æEÕ,Þ¯Ü�ä¯ÛOå<çcÜ�ÛWä¯Û�å[çcÜ�ØìhÙ¯å é ׺Ü�â¯Ô>Ügåcà�çqÖc׺گÜ�Ø � / �'HIHIH.��� �ñØ�ÚZÝ�Þ�Õ,Þ¯ÖqÕ

� / W��& S /� � �& ßWå7âdr / ÖcÙ¯â � � W

��& S /� � �& ßWå7â�r � H

g Û�åwåcà¶Õ,ÞRÖqÕ·Ö*Ý�å>ßWßWÓ¿Õ�Õ�Ü�â¼çqÖc׿گÜgÓºØ(Õ,Þ¯Ügä¯ÛOå7âZÚ¯Ý�Õ·åcà&Õ é å'åqÕ,Þ¯Ü�Û�Ý�å>ßWß�Ó³Õ�Õ,Ü�â�çcÖq׺گÜ�Ø£ð �qôÂü�ý(ÞRÖsÕÓ¿Ø«Õ�å'Ø�Ö[ãcæ4Ö*ä¯ÛOåcÕ,åwÝ�å>× é Ó³Õ,Þ�Ý�å>ßWß�åcÙ�Ó¿Ù¯ä¯ÚZÕ�Ø � ò��(Ö�Ý�å>ß�ßWÓ¿Õ�ß�Ü�ÙSÕ(ìcÜyã � r � � � � �©ÖcØ�â¯Ü�ØOÝ�ÛOÓºê�Ü�âÓ¿Ù ÷ Ü�Ý�Õ�Óºå>Ù �7ü³ò��ÅÖcÙ¯â � ù���çqÖc׺ÚZÜ�Ø����<æ�� æ���� Ó¿Ù } �~7æ é Þ¯Ü�ÛOÜ%Õ�Þ¯Ü%ä¯Û�å[ç>Ü�Û®ä¯ÛOå[ç>Ü�Ø·ìhÙ¯å é ׺Ü�âZÔ>Üåcà}Õ,ÞZÜWÓ¿ÙSÕ,Ü�ÔcÜ�Û�Ø � æ � æ�� / æ�� � æ���0£Ø�ÚZÝ�Þ²Õ,Þ¯ÖqÕ�����W � � ��� W ßWå7âdr&æ�� W � � ��� M ßWå7â�r¶æ&ÖqÙ¯â��� W � � � � � � ßWåwâSr¶ü

g Û�åwåcà�Õ,ÞRÖsÕ'Ö°Ý�åcß�ßWÓ¿ÕOÕ,Ü�âíçqÖc׿گܽ׺ӿÜ�Ø�ÓºÙèÖ°Ô>Ó¿çcÜ�Ù�ÓºÙSÕ,Ü�Ô>Ü�Û*ÓºÙSÕ�Ü�ÛOçqÖc×�ð �côÂü6ý(Þ¯ÖqÕWÓºØ�Õ,å±Ø,ÖKã>æ�Öä¯ÛOåcÕ,åwÝ�åc× é Ó¿Õ�ÞgÝ�å>ßWß�åcÙ�ÓºÙ¯ä¯Ú7Õ,Ø � ò �$Ö©Ý�å>ßWß�Ó³Õ,ßWÜ�ÙSÕ$ìqÜ�ã � r � � � � �4ÖcØ�âZÜ�Ø�Ý�Û�Ó¿ê0Ü�â»Ó¿Ù ÷ Ü�ÝyÕ,ÓºåcÙ �wü¿ò��� ù��·Ö�çqÖc׿گÜ!� � } U~ � � � �«ÓºÙSÕ,Ü�Ô>Ü�ÛOØ � ÖcÙ¯âX�[æ é Þ¯Ü�Û�Ü£Õ�ޯܾä¯ÛOå[ç>Ü�Û®ä¯Û�å[ç>Ü�Ø�ìhÙ¯å é ׺Ü�âZÔ>Ü�åcà Õ,ÞZÜÓ¿ÙhÕ�Ü�Ô>Ü�Û�Ø � ÖcÙ¯â"�'ØOÚ¯Ý�Þ�Õ�ÞRÖqÕ�� W � � ��� ß�åwâdr°ÖcÙ¯â � � � � �[ü

zl7�46C{4Q38791s| �HÙ*Õ,ÞZÜ·ØOÜ�ÿhÚ¯Ü�×Âæ é Ü é Ӻ׺×7Ø�å>ßWÜ�Õ�ÓºßWÜ�Ø Ú¯ØOÜ�Õ�Þ¯Ü�Ù¯åcÕ�ÖsÕ,ÓºåcÙ�ÓºÙSÕ,ÛOå7â¯ÚZÝ�Ü�â�êSã&�©ÖcßWÜ�Ù¯Ó¿Ø�Ý�Þ¼ÖqÙ¯â÷ Õ,Öcâ¯×ºÜ�Û[ðkò �sôÁàÄå>Û«çqÖcÛ�Ó¿å>Ú¯Ø�ä¯Û�åwåcàÄØ�åcà ìhÙ¯å é ׺Ü�â¯Ô>Ü»åcà â¯Ó¿Ø�Ý�ÛOÜ�Õ�ܣ׺åcÔSÖcÛ�Ó³Õ,Þ¯ßWØ(ÖcÙZâä¯Û�åwåcàÄØ«åcà�Õ�ޯܻçqÖc׿Ӻâ¯Ó³ÕHãåcà¶ØOÕ,ÖqÕ,Ü�ß�Ü�ÙhÕ�Ø®Öqê0å>Ú7Õ«â¯ÓºØOÝ�Û�ÜyÕ,Üg׺åcÔSÖcÛ�Ó³Õ,Þ¯ßWØ�ü�/Rå>Û(ÓºÙ¯ØMÕ�ÖcÙZÝ�Ücæ

��#Ua � � ���T� � � ' � W � � � � x $� W%$� � $� ' x � Y � � �,< � cò �

Page 11: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

â¯Ü�Ù¯åcÕ,Ü�Ø�Ö ��&+�� $&' c&! $Ke *,+(" �+ g � $ $ V $ V���! $Ke *,+(" �+�$ V � ! � + �+�� � [ � [ � !#" �� �� )]\ � \ ��� � W � � � �� !#" $� W%$� � $� ' \ $&* "� ][!e \ +�� + < � � � YÁæ # é Þ¯Ü�ÛOÜ �p� � � � � $��� $�ÅæwÖcÙZâ $� ÖqÛ�Ü�Ü�׺Ü�ß�Ü�ÙSÕ,ØEåcà$ØOå>ßWÜ�ÔcÛ�å>Ú¯äZØ� W � � � W � � � ÖcÙ¯â $� W � $� � W � $� � ügý(Þ¯Ü�Ý�åcÙhçcÜ�ÙSÕ,Ó¿å>ٱӺطÕ�ÞRÖqÕ � Û�Ü�Ü�ì�׺Ü�ÕOÕ,Ü�Û�Ø�â¯Ü�Ù¯åcÕ�Ü�ÿwÚ¯ÖcÙSÕ,Ó¿Õ�ÓºÜ�ØÕ,ÞZÜ·ìhÙ¯å é ׺Ü�â¯Ô>Ü�åcà é ÞZÓºÝ�Þ'Ó¿ØEê0Ü�ÓºÙ¯Ôgä¯ÛOå<çcÜ�â$æ é ޯӺ׿ܫÖc׺×RåqÕ,Þ¯Ü�Û}ä¯ÖcÛ,ÖcßWÜ�Õ�Ü�ÛOØ�ÖqÛ�Ü�ìwÙZå é ÙWÕ,ågÕ,ޯܫç>Ü�Û�Ó³õRÜ�Û�ü�·ØOÓºÙ¯ÔÕ�ޯӺأٯåcÕ�ÖsÕ,ÓºåcÙ$æ Öä¯ÛOå7åcà­ë�ä¯Û�åqÕ,åwÝ�å>×EÝKÖqÙÆê0Ü�â¯Ü�Ø�Ý�Û�Óºê�Ü�â êSã �OÚZØOÕ�ä�å>ÓºÙSÕ�ÓºÙ¯ÔåcÚZÕ�Ó¿Õ�Ø�ÖcÓ¿ß é ÞZӺ׺ÜÞ¯Ó¿â¯ÓºÙ¯Ô*Öq׺×$â¯ÜyÕ�Öcӿ׺Ø�ü

� M ÌEÍ�Ë&ͽÐ�Í � N>ÍWÌ�Ë��� �½Ñ��WÊ�»Ë�Ï´Ìs� �½Ð ��(� �

�HÙ´Õ,Þ¯Ü*ØOÜ�ÿhÚ¯Ü�×Âæ é Ü*ÛOÜ�׿ãáå>Ù°Þ¯å>Ù¯Ü�ØOÕMë�ç>Ü�Û�Ó³õRÜ�Û ��Ü�Û�åqë�ìhÙ¯å é ׺Ü�âZÔ>Ü*ä¯Û�åwåcàÄØ�åcà}ìhÙ¯å é ׺Ü�â¯Ô>Ü*åcà�Û�Ü�ä¯Û�Ü�Ø�Ü�ÙSÕ,ÖsëÕ,Ó¿å>Ùíä¯ÛOåcÕ,åwÝ�åc׺Ø�� Õ�Þ¯Ü�ã²ÝKÖcÙÆê�ܼÝ�å>ÙSç>Ü�ÛMÕ,Ü�â�Ó¿ÙhÕ�å´ÖáÔ>Ü�Ù¯Ü�Û�Öc× ��Ü�Û�åsëHìhÙ¯å é ׺Ü�â¯Ô>ܼä¯ÛOå7åqà«Ú¯Ø�Ó¿Ù¯Ô´ØOÕ,ÖcÙ¯âRÖcÛOâÕ,Ü�Ý�Þ¯Ù¯Ó¿ÿwÚZÜ�Ø�êRÖcØ�Ü�âáå>Ù�Õ�Û,Öcä�â¯åwå>Û(Ý�å>ßWßWÓ¿Õ,ßWÜ�ÙSÕ�Ø�Ý�Þ¯Ü�ß�Ü�Ø � Ýyà^üÁðkò �cô-�yü

����� ��� � � ��� �� �� �U�3��" �&�"#& �' � $%$%" � �F��� 's ��(��HÙZàÄå>ÛOß'Öq׺׿ãcæÁÓºÙíÖ�ä¯Û�åqÕ,åwÝ�å>×EàÄå>Û%Ø�ÓºÔcÙ¯ÓºÙ¯Ô�ÖáÝ�å>ß�ßWÓ¿ÕOÕ,Ü�â°çqÖc׿گÜcæ é Ü'ÞRÖKç>Ü�ÖáØOÓºÔ>ÙZÜ�Û é Ó¿Õ,Þþä¯Ú¯ê¯×¿ÓºÝ*ìcÜyã���íæwÖcÙ¯â�Õ�ޯܫÝ�å>ÛOÛ�Ü�Ø�ä�å>Ù¯â¯Ó¿Ù¯Ô»ØOÜ�Ý�Û�Ü�Õ�ìcÜyã ��íæwÖcÙZâ'ÖgÚ¯Ø�Ü�Û é ÞZå£ÿhÚ¯Ü�ÛOÓºÜ�Ø}Õ�ޯܷØOÓºÔ>ÙZÜ�Û àÄå>ÛEÖgØ�ÓºÔcÙRÖqÕ,ÚZÛ�Ücüý(Þ¯Ü�Ý�å>ßWßWå>Ù*ÓºÙ¯ä¯Ú7Õ Õ,ågÕ,ޯܫä¯ÛOåcÕ,åwÝ�å>×RÓ¿Ø}ÖgÝ�å>ßWß�Ó³Õ,ßWÜ�ÙSÕ � àÄå>Û é Þ¯Ó¿Ý�ÞWÕ�ޯܷÚZØ�Ü�Û}ìhÙ¯å é Ø}Õ�Þ¯Ü�å>ä0Ü�Ù¯ÓºÙZÔ� ��� L��Gü �HÙ�Õ,Þ¯Ü(Ü�Ù¯â*åcà�Õ,Þ¯Ü(ä¯ÛOåcÕ,åwÝ�åc×:æqÕ�Þ¯Ü(Ú¯ØOÜ�ÛEå>êZÕ,ÖcÓºÙ¯Ø�Ö�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü �� �� � � �yæhÖqÙ¯â�Õ,Þ¯Ü(ØOÓºÔ>Ù¯Ü�Û�׺Ü�ÖcÛ�ÙZØÙ¯åcÕ�Þ¯ÓºÙZÔ�Öqê0å>Ú7Õ � ü

�������������������Å¥�¤ � ��QSXwi³TUL&j[D�] ¸"!$#&%'#)(*#&+ ¹ Y[¬R\^NSD�F^TUª<lhIK\^QSJ^DEF^LONSDG��D��}Tk\^N��7IKJMI[��D�\HD�JMF-, � �., 6 �, 1 µ

_ Y<�g�gTU\^��DGls\ �7QSXwiUTUL}j[D�] ¸"!�/0#21 /3#)4'/ ¹ �7L,Y<�g�gTk\^��DGlq\65�µ7 ¤98c¦;: ¤<�������Å¥.�$= I[lh�?> / F^QhLMN*\^NhIK\65A@ 1 �/ 4 U2B/ ��Y>� !�/ µC��"D��E8q¦;:k¤F��������¥G�IH I[L,\HY[JMTkÇGIK\^TUY<lWY[¬ ! µJLKNMPO H Y[JM�CL,Y<�g�gTk\^�gDGls\Q5 � @ % � ( U ��Y>� ! �$I[lh���hJ^Y��[D%\^NhIK\R5 � TUF«IWL,Y<�%�gTk\^��DGlq\«\HY\^NSD«F^I[�gD«��I[i³QSD«I[F65�µ

�ÁJMYy�[D«j>lSYy��ikDG�Sª[D«Y[¬ = �S>>µÁ��J^Yy�[D·\^NhIK\ =�T ¸ d # � ! # ¹ �wI[lw�U> T ¸ d # � !WV ¹ µJLK?XYO _ NSYcY<FHD�I¾JMI[lh�hY<�Z> Y Y[¬¶iUDGlSª[\^N[, 6 ��I[lh��I¾�hJOTU��D�lqQw��X¯D�J©Y[¬&iUDGlSª[\^N\, 1 µ _ Y<���wQS\HD

] @ ¸ 5 � ( U2^ + ¹ /� 1 µ&�cDGlh� ¸ > Y #)_ # ] ¹ \HYg\^NSD·QhFHD�JGµ7 ¤98c¦;: ¤F����¥`���Å¥Ga VÅD�\cbd@e>gfh> Y µÁÀENSD«QhFHD�J}Y<QS\H�wQS\^FEI�FMTkª<lhIK\^QSJ^D ¸ b #)_ # ] ¹ Y<l = µ

/&ÓºÔ>ÚZÛ�Ü�ò ' ÷ Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�åcÙ�Ö*��å>ßWß�Ó³Õ�Õ�Ü�â\i}Öc׿گÜ

�s-{LMLMC �p<8>�<<j � ���� +�! "+� )�� �8R�+� �& + )�� � + �#� $�� $ ) $&* V $&�� �� � ! � !�� � ) $&%�% � � � +(" Z&� * � +�^� � $ $ V_^ ��Ü�Õ·Õ,Þ¯Ü¾Ü �wÕ,Û,ÖqÝ�Õ,åcÛ,QCê�ܾÖqØ·àÄå>׿׺å é Ø('©Ó³Õ®ÛOÚ¯Ù¯Ø�Õ,Þ¯Ü¾Ü �wÕ,Û,ÖqÝ�Õ,åcÛ·àÄå>Û�ØOÕ�Ü�ä°óZü³ò¾åcà�Õ�ޯܣäZÛ�åcÕ�å7Ý�å>×:æÖcÙ¯âWâ¯Ó¿Ø�Ý�å[çcÜ�Û�Ø ��ÖcÙZâ L®Õ�ÞRÖqÕ�ÖcÛ�Ü«åcà4׺Ü�Ù¯ÔcÕ,ÞZØv� � ÖcÙ¯â;� U ÛOÜ�ØOä0Ü�Ý�Õ,Ó³ç>Ü�׿ã>ü���ÕEÕ�Þ¯Ü�Ù�ÿwÚZÜ�Û�Ó¿Ü�ØEÕ,ޯܫØOÓºÔ>ÙRÖsÕ,Ú¯ÛOÜå>Û�ÖcÝ�׿Ü'àÄå>Û*ÖØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�åcÙ �Áü ��Õ*å>êZÕ�ÖqӺٯأÕ�Þ¯Ü�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü � 4 � ) � < �yü S·åcÕ�Ü�Õ,ÞRÖqÕ£Õ,Þ¯Ü�çqÖc׺ÚZÜ54�Ó¿Ø�ÖÛ,ÖqÙ¯â¯å>ß Ó¿ÙhÕ�Ü�Ô>Ü�Û«åcà�׿Ü�Ù¯ÔcÕ�Þ5�76�ü�ý(ÞZÜ£Ü��wÕ�Û,ÖcÝyÕ,å>Û«Õ,Þ¯Ü�ÙáØOÜ�Õ,ØDL Y W 4 � Lwü ��à �76lk,�w~bZ �qæ é Þ¯Ü�Û�ÜB��ÓºØ�Ö

ò>ò

Page 12: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

Ø�Ü�Ý�Ú¯ÛOÓ¿ÕHã�ä¯ÖcÛ,ÖcßWÜ�Õ�Ü�Û©ÔcÚ¯Óºâ¯Ó¿Ù¯Ô£Õ�Þ¯Ü�ØOÕ,ÖqÕ,Ó¿ØOÕ,Ó¿ÝKÖc×0Ý�׿å>Ø�Ü�Ù¯Ü�ØOØ�æ¯Õ,ÞZÜ�Ù½Õ,Þ¯Ü�çqÖc׿گÜ,LQYÅå>êZÕ�ÖqÓºÙ¯Ü�â¼Õ,Þ¯Ó¿Ø é ÖKã é ӿ׺×ê�Ü·ØMÕ�ÖqÕ�ÓºØOÕ�ÓºÝ�Öc׺׳ã£Ý�׺å>ØOÜ«Õ�å»Õ�Þ¯Ü�çqÖc×¿Ú¯Ü L Y Ô>Ü�Ù¯Ü�Û�ÖqÕ,Ü�â¼êSã��©æ7ÖqÙ¯â'ØOå£ØOÕ,ÖqÕ,Ó¿ØOÕ�ÓºÝKÖq׺׿ãcæcÕ,ÞZÜ®Öcâ7ç>Ü�ÛOØ,ÖcÛMã#�úØ�çwÓ¿Ü éӺةÕ�Þ¯ÜgØ,ÖcßWÜ é Þ¯Ü�Õ�Þ¯Ü�Û(Õ,Öc׺ìhÓºÙZÔ¾Õ,å*Õ,Þ¯ÜgÛ�Ü�Öc×$ØOÓºÔ>Ù¯Ü�Û��(æZå>Û©Õ,å�Õ,ÞZÜ%Ü �wÕ,Û,ÖqÝ�Õ,åcÛ�QWü

��� � ��� � �g� �c� � &��� ��� U� �g� ' ��" �&(' � �(����HÙÆÕ,Þ¯Ó¿Ø�Ø�Ü�Ý�Õ,Ó¿å>Ù$æ é Ü�ÔcÓ¿ç>Ü½Ö ��Ü�ÛOåqëHìhÙ¯å é ׺Ü�â¯Ô>ܽä¯ÛOå7åcà�åcà�ìhÙ¯å é ׺Ü�â¯Ô>ܽä¯ÛOåcÕ,åwÝ�å>×}àÄå>Û�Ø�ÞZå é Ó¿Ù¯Ô´Õ,ÞRÖsÕ*ÖÝ�åcß�ßWÓ¿ÕOÕ,Ü�â¼çqÖc׿گÜ�Ø(Ó¿Ø«ÖWØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜ�å>Ù�ÖcÙ¯åcÕ�Þ¯Ü�Û«Ý�å>ß�ßWÓ¿ÕOÕ,Ü�â¼çcÖq׺گÜqü�s-{LMLMC �p<h:=<a=\ +-�#� $�� $ ) $&* � !hj � ��� � + $ �� �U�&+�� $&' c&! $Ke *,+(" �+ �#� $ $ V $ V(c&! $Ke *,+(" �+ $ V �5\ +BZ&� * � +� � � � L � � 4 � ) � < �� �� )]\ �5\ ��� � � W �%� � U�� ßWå7âdr � !#"���� !��� ;� � � � 4 � ) � < �_^� � $ $ V_^�ý(ޯܫÝ�åcß�ä¯×¿Ü�Õ�Ü�Ù¯Ü�Ø�ØEä¯Û�åcä0Ü�ÛOÕHã�Ó¿Ø�Ý�׿ÜKÖcÛ�ü&ý(Þ¯Ü���Ü�Û�åqë�ìhÙ¯å é ׺Ü�âZÔ>Ü«ä¯Û�å>ä�Ü�ÛMÕHã¾àÄå>׿׺å é Ø&ê�Ü�Ý�ÖcÚ¯Ø�Ü«Õ,ÞZÜØ�ӿ߾گ׺ÖqÕ,å>Û�ÝKÖqÙ*àÄåcÛ�ß"Õ,Þ¯Ü(Ý�å>ß�ßWÓ¿Õ�ß�Ü�ÙSÕ,Ø�ÖsÕ Û,ÖcÙZâ¯å>ß � Ø�Ó¿Ù¯Ý�Ü©Õ�Þ¯Ü�ã£Û�Üyç>ÜKÖq×RÙ¯åcÕ,ÞZÓºÙ¯Ô�ØMÕ�ÖqÕ�ÓºØOÕ�ÓºÝ�Öc׺׳ã �GæcÖqÙ¯âÕ,ÞZÜ�Ù�ÓºÙSç>å>ìqÜ%Õ�Þ¯ÜgØ�ӿ߾گ׭ÖsÕ,å>Û�àÄåcÛ©Õ,Þ¯Ü ��Ü�Û�åqë�ìhÙ¯å é ׺Ü�âZÔ>Ü»äZÛ�åwåcàÄØ(åcà¶ìwÙZå é ׿Ü�â¯ÔcÜ»åcà¶Û�Ü�ä¯Û�Ü�Ø�Ü�ÙhÕ,ÖqÕ,Ó¿å>ÙÖqÙ¯âê�Ü�׺åcÙ¯Ô>ÓºÙZÔ¾Õ,åWÖcÙ½ÓºÙSÕ,Ü�ÛOçqÖc×Âü

�þܻ߾گØMÕ®Ù¯å é ØOÞ¯å é Õ,ÞRÖsÕ·Õ�Þ¯Ü�ÛOÜ£Ü��7Ó¿ØOÕ,Ø®ÖcÙ�Ü��wÕ,Û�ÖcÝ�Õ�å>Û·Õ�ÞRÖqÕ�Ý�å>ßWä¯ÚZÕ�Ü�Ø®ÖWçqÖc׺ӿâ½Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ücü � ÚZÛÜ��wÕ�Û,ÖcÝyÕ,å>Û é ӿ׺×4Ó¿ÙSç>å>ìqÜgÕ�Þ¯Ü�Ü��wÕ�Û,ÖcÝyÕ,å>Û©àÄå>Û©Õ�Þ¯Ü�ä¯ÛOå7åcà�ä¯ÛOåcÕ,åwÝ�åc×ºØ é ÜgÚ¯Ø�Ü%ÖcØ«Ö�ê¯ÚZӺ׺âZÓºÙ¯Ô»ê¯×ºåwÝ�ìÅü���à&å>ÚZÛÜ��wÕ�Û,ÖcÝyÕ,å>Û(à�Öcӿ׺Ø�æwÕ,Þ¯Ü�Ù é Ü%ÝKÖcÙ�Ø�ÜyÕ·ÚZäáÖ�Û�Ü�â¯Ú¯ÝyÕ,ÓºåcÙ�Õ�ÞRÖqÕ«ê¯ÛOÜKÖcìhØ«Õ,Þ¯Ü ÷ Õ�Û�å>Ù¯ÔWö ÷ ø2ÖcØ�ØOÚ¯ßWäZÕ,Ó¿å>Ù$ü

÷ Ú¯ä¯ä�å>ØOܽÕ�ޯܽÜ��wÕ,Û�ÖcÝ�Õ�å>Û�Ø�ÚZÝ�Ý�Ü�Ü�â¯Ø'ÖcÙ¯â Ý�åcß�ä¯Ú7Õ,Ü�Ø � � � 4 � ) � � � � � L � � L"6 � L�1 � L � � L�� � L��%Ø�Ú¯Ý�Þ Õ,ÞRÖsÕ� W � ����� 1 � U ÖcÙZâ � W � �6� 6 � � � � U æ7ÖqÙ¯â ��� W'� 1 � � U�� üvS·åqÕ,Ü(Õ,ÞRÖsÕ}Õ�Þ¯ÓºØEÓ¿ß�ä¯×¿ÓºÜ�Ø&Õ,ÞRÖsÕ�� 1� W � �Q� 6 � � � ü��Ü�Õ�<�W ���I6�� � ü S�åcÕ,Ü�Õ,Þ¯ÖqÕ?< 1 W � 1� 6�� � W � � � 6 � ü ÷ ÓºÙZÝ�Ü é Ü%Öc׿Ø�å*ìhÙ¯å é Õ,Þ¯ÖqÕ��Ó¿Ø(åcà�׿Ü�Ù¯ÔcÕ�ÞV�2��æp4ÓºØ(åqà�׺Ü�Ù¯ÔcÕ�Þ*�76(ÖcÙZâ )%ÓºØ(åcà&׺Ü�ÙZÔcÕ,ÞV�21�æ é Ü»ÖcÛ�Ügâ¯å>ÙZÜ�' é Ü%å>ÚZÕ�ä¯ÚZÕ � 4 � ) � < � é Þ¯Ó¿Ý�Þ�Ó¿Ø�Ö*ØOÓºÔ>Ù¯ÖqÕ,Ú¯ÛOÜgå>ÙÕ,ÞZÜ%ßWÜ�ØOØ,ÖcÔcÜ"�Áü

����� ��� � � ��� �� * � ���3��" &(' � �(���+* ��& �?���b* �g��� �!*{* ' U�+*�²Ü�ÙZåcÕ,Ü(Õ,Þ¯ÖqÕ}ØOÕ,Û�ÖcÓºÔcÞhÕOàÄå>Û é ÖcÛOâWßWåwâ¯Ó¿õRÝ�ÖqÕ,Ó¿å>Ù¯Ø&Õ�å�Õ,ޯܫä¯ÛOåcÕ,åwÝ�å>׿ØEÖcê�å<çcÜ·ÔcÓ¿ç>Ü«Ú¯ØEä¯ÛOåcÕ,åwÝ�åc׺Ø�àÄå>Û ØOÓºÔ>Ù7ëÓºÙZÔ·ê¯×¿å7Ý�ìhØ�åcà¯Ý�å>ßWß�Ó³Õ�Õ,Ü�â�çcÖq׺گÜ�Ø�æqÖcÙ¯â»Õ�å·äZÛ�å[ç>Ü�ìwÙZå é ׿Ü�â¯ÔcÜ�åcà¯Ö·Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�ÜEå>Ù»ê¯×ºåwÝ�ìhضåqà¯Ý�åcß�ßWÓ¿ÕOÕ,Ü�âçqÖc׺ÚZÜ�Ø�ü �²Ü¼Öc׿Ø�å�Ù¯åcÕ�Ü�Õ,Þ¯ÖqÕKæ¶Ú¯Ø�Ó¿Ù¯ÔÖcÙSã±ä¯ÛOåcÕ,åwÝ�å>× àÄå>Ûgä¯ÛOå[ç7Ó¿Ù¯ÔáÛOÜ�׺ÖqÕ,Ó¿å>Ù¯Ø%ÖcßWå>Ù¯ÔáÝ�å>ßWä0å>ÙZÜ�ÙSÕ,Ø%åcàÖáâ¯Ó¿Ø�Ý�Û�Ü�Õ�Üyë�׺å>ÔSÖqÛ�Ó¿Õ�Þ¯ß!Û�Ü�ä¯Û�Ü�Ø�Ü�ÙhÕ,ÖqÕ,Ó¿å>Ù¯Ø�åcà�Ö�Ô>Û�å>ÚZäÆÜ�׺Ü�ß�Ü�ÙSÕ½ðkò>ò>æ �7æ �sôÂæ ÝKÖqÙÆê0ܼÚZØ�Ü�âíÕ�å´â¯Ü�ßWå>Ù7ëØOÕ�Û,ÖqÕ�Ü*Û�Ü�׺ÖqÕ,Ó¿å>Ù¯Ø�Öqß�å>ÙZÔ�Ý�å>ßWä0åcÙ¯Ü�ÙSÕ,Øgåcà©Ö�Ø�ÓºÔcÙ¯Ü�â°ê¯×¿å7Ý�ìåqà�ßWÜ�ØOØ,ÖcÔ>Ü�Ø�ü �²ÜWÞZÓºÔ>ޯ׿ӺÔ>ÞSÕ�Õ�Þ¯ÓºØ�ä�å>Ó¿ÙhÕêSã�Ø�ÞZå é Ó¿Ù¯Ô�ÖWä¯ÛOåcÕ,åwÝ�åc×4Õ,ÞRÖsÕ�Öc׺׿å é Ø©ÖcÙ�å�(�ë�׺ӺÙZÜ®â¯å>ÚZê¯×ºÜGëHØ�ä�Ü�ÙZâ¯ÓºÙ¯Ô�Õ�Ü�ØOÕ�ü

�HÙ�åcÛ�â¯Ü�Û©Õ,å�Ü�Ù¯Öcê¯×ºÜgÖqÙ�å�(�ë�׺ӺÙZÜ®â¯å>ÚZê¯×ºÜGëHØ�ä�Ü�ÙZâ¯ÓºÙ¯Ô¾Õ�Ü�ØMÕKæÅÖ�Ý�ÛOÜ�â¯Ü�ÙhÕ�Ó­Öc×4ÓºØ(Ö�Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�åcÙ�Ö£Õ�Ú¯ä¯×¿Ü� �� ��� / ��� � �yæ$ÖcÙ¯â´ÓºÙÖ¼Ø�ä�Ü�Ù¯â¯Ó¿Ù¯Ô�ä¯ÛOåcÕ,åwÝ�å>× � ÓÂüúÜqü¿æ0Ý�Û�Ü�â¯Ü�ÙSÕ�Ó­Öc×�ØOÞ¯å é ÓºÙ¯Ô �®Ö¼Ú¯Ø�Ü�Û�Û�Üyç>Ü�Öc׺Ø�Õ�ޯܾçqÖc׺گÜ��W � �� Z � / ßWå7âduwæ0àÄå>Û·Ø�å>ßWܾä¯ÛOÓºßWÜ»Ùhگߣê0Ü�Û(u7æ$ÖcÙ¯â � � æ0àÄå>Û�ÖWçcÖq×ºÚ¯Ü ��� ���«Ý�Þ¯å>ØOÜ�Ù°êSãáÕ,ÞZÜç>Ü�Û�Ó³õRÜ�Û�ü�ý(ޯܾگØOÜ�Û�ß¾Ú¯ØMÕ®Õ�Þ¯Ü�Ù´ä¯ÛOå[ç>ܾÕ,Þ¯ÖqÕ�Õ,ÞZÜ»çqÖc׺ÚZÜ£Û�Üyç>Ü�Öc׺Ü�â±Ý�å>Û�ÛOÜ�ØOä0å>ÙZâ¯Ø®Õ,å¼Õ�ޯܾØOÓºÔ>Ù¯Ü�âê¯×¿å7Ý�ìåcà¶ß�Ü�Ø�Ø�ÖcÔ>Ü�Ø � � � ��� / ��� � �yüï·Ü�Û�Ücæ é ܾâ¯Ü�Ø�Ý�Û�Óºê�Ü�Ö¼ßWÜ�Ý�ÞRÖqÙ¯ÓºØOß Õ�ÞRÖqÕKæ0Ý�å>ߣê¯ÓºÙ¯Ü�â é Ó¿Õ�Þ´å>Ú¯Û·Ø�ÓºÔcÙRÖqÕ,ÚZÛ�Ü£ØOÝ�Þ¯Ü�ßWܾàÄå>Û·ê¯×ºåwÝ�ìhØ�åcàßWÜ�Ø�Ø�ÖcÔ>Ü�Ø�æ$ÖqÝ�Þ¯ÓºÜyç>Ü�Ø·Õ,Þ¯Ó¿Ø�ü-�þܻٯåcÕ�Ü»Õ,Þ¯ÖqÕ·Õ�Þ¯Ü�ØOÜ£ÕHãwä0Ü�Ø�åcà�Õ�Ü�Ý�Þ¯ÙZÓºÿhÚ¯Ü�Ø�ÖcÛ�Ü»Ø�ÓºßWӺ׺ÖcÛ�Õ�å�Õ,ÞZå>Ø�Ü»â¯Ú¯Ü»Õ�å%�Û�ÖcÙ¯â¯Ø»ð �sô:ü

�þÜ%ÖcØOØ�Ú¯ßWÜ�Õ,Þ¯ÖqÕ é Ü%ÖcÛOÜ�Ô>Ó¿çcÜ�Ù$æ¯ÖcØ(ä¯Ú¯ê¯×¿ÓºÝ�ä¯ÖcÛ,ÖcßWÜ�Õ�Ü�ÛOØ�æ¯ä¯ÚZê¯×ºÓ¿Ý®çqÖc׺گÜ�Ø � TvW ùyu Zñò � �! �� é Þ¯Ü�ÛOÜT²ÖcÙ¯â u�ÖcÛOÜ�ä¯Û�Ó¿ß�Ü�Ø�æÁÖcÙZâ �! �" £ÞRÖcØgå>Û�âZÜ�Û�uwü �þÜ�ÛOÜ�ÿhÚ¯Ó¿Û�Ü�Õ,ÞRÖsÕ u�+"ß�Ö&� � ù"!$# � ù"!$# � é ÞZÜ�Û�Ü ��% Ó¿ØÕ,ÞZܣ׺Ü�Ù¯ÔcÕ�Þáåcà�Õ�ޯܣÙZå>Ù¯Ý�Ü � / ü-�²Ü¾Öc׿Ø�å¼ÖqØ�Ø�ÚZß�Ü%Õ,ÞRÖqÕ é Ü�ÖcÛ�Ü%Ô>Ó³ç>Ü�ÙÖcÙ¯åcÕ�Þ¯Ü�Û·Ý�å>ßWß�Ó³Õ,ßWÜ�ÙSÕ«ä¯Ú¯êZ׺ӺÝìcÜyã>æ � r / � � / � � / �GæRØ,ÖcßWÜgÖcØ«ÓºÙ¼Õ�ޯܻÛOÜ�ØMÕ·åqà¶Õ�Þ¯ÓºØ ��ÞRÖqäZÕ,Ü�Û�ü

ò<ù

Page 13: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

�HÙíå>ÛOâ¯Ü�ÛgÕ,å�ä¯Û�å[ç>ÜWÕ,ÞRÖsÕ»Õ�Þ¯Ü�çqÖc׿گÜ�Ø � � ��� � �gÝ�å>Û�ÛOÜ�Ø�ä�å>Ù¯â²Õ,å½Õ,Þ¯Ü�Ø�ÓºÔcÙRÖqÕ,ÚZÛ�ÜWå>ÙþÞ¯Ó¿Ø»ØOÜ�Ý�Û�Ü�Õ£ìcÜyãÝ�åcß�ßWÓ¿ÕOÕ,Ü�â²Õ,å´ÓºÙÆÝ�å>ßWß�Ó³Õ,ßWÜ�ÙSÕ ����� Õ�Þ¯Ü�Ú¯ØOÜ�Û¾àÄå>ÛOß�ؾÝ�å>ßWß�Ó³Õ,ßWÜ�ÙSÕ,Ø£ÖcÙ¯â � / Õ,å � / ÖcÙZâ � � Õ�å� � üþï·Ü¼Õ�Þ¯Ü�ÙèØ�Þ¯å é Ø*Õ,ÞRÖsÕ�ޯܽÞRÖcØ*Ö´Ø�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü'å>ÙÆÕ,ޯܽê¯×¿å7Ý�ì±åcà�çcÖq׺گÜ�Ø�Ý�å>ßWß�Ó³Õ�Õ�Ü�âþÕ�å´êhãþÕ,Þ¯Ó¿Øê¯×¿å7Ý�ì�åcà4Ý�å>ßWßWÓ¿Õ,ßWÜ�ÙSÕ�Ø�æwÖcÙ¯âWÕ,ÞRÖqÕ}Õ,ÞZÜ�çqÖc׿گܷÝ�å>ßWß�Ó³Õ�Õ,Ü�â�Õ,å£Ó¿Ù � / ÓºØ}åcà$׿Ü�Ù¯ÔqÕ,ÞP��%«ü ï·Ü·Û�Üyç>ÜKÖq×ºØ � �ÖcÙ¯âáØ�Þ¯å é Ø�Õ,Þ¯ÖqÕ � � Ó¿Ø�Ö*çcÖq׺Ӻâ�Ý�å>ßWßWÓ¿Õ,ßWÜ�ÙSÕ(Õ�å � � ü®ï·Ü¾Öq׺Ø�å�ÝKÖcÛOÛ�Ó¿Ü�Ø®åcÚZÕ®Õ�ޯܣàÄå>׿׺å é ÓºÙ¯Ô*ä¯ÛOå7åqà åcàìhÙ¯å é ׺Ü�â¯Ô>Ügä¯Û�åqÕ,åwÝ�å>×�'

� #Ua � � ���T� L � � L � � ' � W � � � � � � � x������ W'� �/ � U��/ x�� / W ��/ � U��/ c H

�s-{LMLMC �p< W=<a=\ + �#� $�� $ ) $&* "+� )�� �8R�+(" �0R�$ Z + �� �� �#� $ $ V�$ V c&! $Ke *,+(" �+�$ V�� R�*,$ )]c $ V Z&� * � +� � �� ��� / � �� )]\ � \ ��� � �� ��� / ��� � � �� �� � ! +("K[ � !#" ����� �� � ) $&%�% � ��%�+�! �&� $ � �M[ � !#"�� W� �� Z � / ß�åwâ�uF^� � $ $ V_^ � ÷ ìcÜ�Õ�Ý�Þ ��ý(ޯܽÝ�å>ßWä¯×ºÜyÕ,Ü�Ù¯Ü�ØOØ*ÖcÙ¯â ��Ü�Û�åqë�ìwÙZå é ׿Ü�â¯ÔcÜ�äZÛ�å>ä�Ü�ÛMÕ,ÓºÜ�Ø£àÄå>׿׺å é ÓºÙíÕ�Þ¯Ü�Ú¯Ø�Ú¯Öc× é ÖKãcü�²Ü®ß¾Ú¯ØMÕ�ÙZå é Öqâ¯â¯Û�Ü�Ø�Ø�Õ�ޯܮÿhÚ¯Ü�ØOÕ�Óºå>Ù�åcà�Ü��wÕ�Û,ÖcÝyÕ,ÓºåcÙ$ü�ý(ޯܮà�ÖqÝ�Õ}Õ,ÞRÖqÕ é Ü®Ü��wÕ�Û,ÖcÝyÕ � �� ��� / ��� � �}ÖqÙ¯âÖØ�Ó¿Ô>ÙRÖqÕ�Ú¯Û�Ü�å>ÙíÕ,ÞZÜ�ß àÄåc׺׺å é Ø»Ø�ÓºßWӺ׺ÖcÛ�׳ã´ÖcØ»àÄå>Û£Õ,ÞZܼä¯Û�åqÕ,åwÝ�å>×�ÓºÙ�/&Ó¿Ô>Ú¯ÛOÜ�ù7ü´ý(Þ¯Ü�åcٯ׿ã±Õ,Þ¯Ó¿Ù¯Ô é Üé å>Û�ÛMãÖcê�å>ÚZÕ®ÓºØ�Õ,ÞRÖqÕ(��W � �� Z � / ßWåwâSuwü���Ø�ÓºÙZÔ�Ö'ìhÙ¯å é ׺Ü�â¯Ô>Ü¾Ü �7Õ�Û,ÖcÝyÕ,å>Û·àÄÛ�å>ß Õ,ÞZÜ£ä¯ÛOå7åcàÄØ·åcàìhÙ¯å é ׺Ü�â¯Ô>Ü'åqà«Ü�ÿhÚRÖc×}Û�Ü�ä¯Û�Ü�Ø�Ü�ÙSÕ,ÖqÕ,Ó¿å>Ù¯Ø�æ é Ü¼Ü �wÕ,Û,ÖqÝ�Õ£çqÖc׿گÜ�Ø � ÖqÙ¯â � åcà(׿Ü�Ù¯ÔqÕ,Þ¯Ø=��� ÖqÙ¯â ��% Ø�Ú¯Ý�ÞÕ,Þ¯ÖqÕ(׺åcÔ ��� � �

�sW � W � � Z � ßWåwâSuwæ � Ø�Ó¿Ù¯Ý�Ü®Õ�Þ¯Ü�å>ÛOâ¯Ü�Û(åcà �! gÓºØ�u ��ÖcÙZâ � ÓºØ}Õ,Þ¯Ü�çqÖc׿گÜ�Ý�åcß�ßWÓ¿ÕOÕ,Ü�âÕ,å½Ó¿Ù ����� é ÞZÓº×ºÜ � ӺطÕ,Þ¯Ü�çqÖc׺ÚZܾÝ�å>ßWßWÓ¿Õ�Õ�Ü�âÕ�å�Ó¿Ù � / ü���Ù¯â¯Ü�Û�Õ�Þ¯Ü*ØOÕ,ÛOå>Ù¯Ô�ö ÷ ø ÖcØ�ØOÚ¯ßWäZÕ,Ó¿å>Ù$æ�Ó¿ÕàÄå>׿׺å é Ø�Õ,Þ¯ÖqÕ � W � � ÖqÙ¯â � W � / æÅÖcÙ¯â½Ø�å ��W �� � Z � / ßWå7âdu�ÖcØ é Ü»ÛOÜ�ÿhÚ¯Ó¿Û�Ücü

� � N ��Ìs��Ê´Ðb�� �� � µs��\HDGlwTkDGFHD[���Sµ _ I[��DGlwTUF^LMNÅ�qA½µ��[Yy][D[�>I[lh� � µsÀEF^Qh�wTkj7µh�²�hJMI[L,\^T³L�I[ihI[lh���hJMYy�KIKXwik]�FHDGL�QSJ^DEL,Y<I[iUTU\^TkY<l>Ã

J^DGF^T³FH\^I[ls\ ª[JMY<QS�*F^Tkª<lhIK\^QhJ^D«F^LMNhDG��D[µ�?:l*A�µh@&DGiUiUIKJ^D[�SDG�wTk\HY[JG������������������� �"!$#�%�&�')(�*+(-,.%0/ !21436587:9;�<.<=< � �[Y<iUQh��D �Gb[bKd Y[¬?>@�-�A'CBD#-�FE8(.'����G�H�I!J(�K�&�B�'��L#0M��N�)�L�����,���7IKª[DGF �POPOyac�.Q�d µE�c�hJMTUlhª[D�JSR�D�JOiUIKªS��Kd[d[d µ

�TVU µ�@�IKJMT�WL�I[lw�«@�µ��YXw\HÇG�gI[lhlRµ _ Y<iUi³TUF^TkY<l>ÃĬºJ^D�D�I[L�L�Qh�®QhiUIK\HY[JMF0I[lh�«¬­I[TUi Ã�F^\HY[��F^Tkª<lhIK\^QhJ^DÁF^LMNhDG��DGF���Tk\^NSY<QS\\HJ^D�DGF�µ²?:l[Z�µ H Qh��][��DG�hTU\HY[JG�\�������������L�0�H�I!$#�%]&^')(�*_(],P%`/ acb2189�!21436587ed f�g����[Y<iUQw��D �G�[e[e Y[¬>h�]�A'CBD#-��E8(.'����?�H�[!J(�K�&�B�'��N#8M��A�i�N�������S�wIKª[DGFkj bKd�a j � jSµ��c�hJOTUlSª[D�JlR�D�JMiUIKªS� �G�[�.Q µ

eT A�µ¶@&DGiUiUIKJ^D'I[lh�nm�µ � Y<iU�hJ^DGTULMNŵom(l°�SDNXwlhT³lSª��hJ^YcY[¬ºF%Y[¬(jclhYy�}ikDG�hª[D[µÆ?:lqpEµ H µ&@¶JOTUL^j[DGiUiÄ�&DG�wTk\HY[JG����������������S�H�[!$#�%�&�')(�*+(-,P%r/ !21836587:9sd f ; �7�[Y<i³Qh��D Q j d Y[¬t>h�]�A'CBD#u�8E8(P'��L�8� �"!J(PKv&�BD'��N#4M��N�)�L�����,��wIKª[DGF e[�Kd�a j �Kd µÅ�>�hJMTUlSª[D�J^Ã)R�D�JMiUIKªS� �G�[�[� µ

j H µc@&Y<Qh�hY[\�µ@pYw»L�TkDGls\¶�hJ^YcY[¬ºF¶\^NhIK\�I·L,Y<�%�gTk\H\HDG�¾lqQw��X¯D�J¶i³TkDGF�TUl»I[l»T³ls\HD�J^�KI[i�µÅ?�l%@�µ>�ÁJ^DGlhD�DGi��qDG�wTk\HY[JG����������������x� �o!$#�%�&�')(P*_(-,.%y/zacb2189�!21436587 ;D<.<.< �4�[Y<iUQh��D �GbKd=Q Y[¬v>h�]�A'CBD#u�{E4(P'��L�c� �o!J(�K�&�B�'��L#M��A�i�N�������S�wIKª[DGFkj e>�Oa jPjPjSµ��c�hJOTUlSª[D�JlR�D�JMiUIKªS� �Kd[d[d µ

OT �Zµ�@¶JOI[lh�hF�µ�1v�N' |=� ��}T� �~,�5lB��L*��C�t�{�L%v���A��#����L'C#�B���'CB�#-�������v�8�+,P�C')��*6!Y�L#L'C� �t���P'����A/��kBD� *_�P�H�~,��H�c5l#��H���.�N%Kµ��Nw��\^NhDGF^TUF���p¶TUlh�hNSY��[DGl¾?:lwFH\^Tk\^QS\HD(Y[¬�À0DGLMNhlSY<iUY[ª[][��p�T³lh�hNSY��[DGlR�SÀENSD U D�\^NSD�JMiUI[lh�wF�� �G�[�[� µ

�� � µ¯@&JMI[F^F^IKJM�Å�Z�®µ _ NhI[Qh���ZI[lh� _ µ _ JDWD��¯DGI[QRµ�AWTUlwTU�·Qw�"�hTUF^L�iUY<F^QSJ^D(�hJMYqY[¬­F}Y[¬�j>lSY��}ikDG�Sª[D[µ4�D(�BD#�����*(���!J(PKv&�BD'��N#S����� M�%���'��LK�M��N�)�L��������� e.Q ¸ �<¹ � �AO � a7�Gb[� �$m©L,\�µ �G�[b[b µ

ò �

Page 14: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

Q� �Sµ _ I[��DGlwTUF^LMN®I[lh���·µ�V�]cFH]<I[lwFHj�Iy]<I>µ�pYw»L�TkDGls\$lSY<l>ÃÄ\HJOI[lhFH¬ºD�JMIKXwikD&I[lSY<ls]>��Y<QhF$�®Qhik\^T Ã�FMNSYy�áL,J^DG�SDGlq\^TUI[iFH]>FH\HDG�"��Tk\^N¾Y[�h\^TkY<lhI[i�I[lSY<ls]>�gTk\Â]¾J^D��[YcL�IK\^TUY<lRµ�?�l�@�µw�YXh\HÇG�%I[lhlR�hDG�hTU\HY[JG���v�P�����������8� �"!$#�%�&�')(�*+(-,.%/ acb2189�!21436587 ;�<.<�� �¶�[Y<iUQw��D �Kd j O Y[¬?>h�]�A'CBD#u��E8(.'����G�H� !J(�K�&�B�'��N#FM��N�)�L�����,���wIKª[DGF �[eya7�[�Gb µ�c�hJOTUlSª[D�JlR�D�JMiUIKªS� �Kd[dS� µ

bT �Sµ _ I[��DGlwTUF^LMN'I[lh�¼A½µÅA�TULMNhDGiUF�µ���J^Yy�>TUlSª£TUl�Ç�D�J^YKÃÄjclhYy�}ikDG�hª[D®\^NwIK\�I£lqQw��X¯D�J ! TUF�\^NSD®�hJ^Y>�hQhL,\}Y[¬\��&Y¼F^IK¬¿D»�hJMTU�gDGF�µ»?�l �hµ4�c\HD�JMlÅ�0DG�hTU\HY[JG�J�������������L�V� � !$#�%�&�')(�*+(-,P% / acb2189�!21436587 d f.f[�4�[Y<i³Qh��D�AO[�[� Y[¬ >@�-�A'CBD#-�?E8(.'������ � !J(�K�&�B�'��N#8M��A�i�N�������h�wIKª[DGF ��d=QGa7�G�[� µÅ�c�hJOTUlSª[D�J\R�D�JMiUIKªS� �G�[�[� µ

�T �Sµ _ I[��DGlhT³F^LMN»I[lh�»A�µcA�TULMNhDGiUF�µ0�cD��wIKJOIKXwTUiUTk\Â]·I[lh�»DNw%L�TkDGlwL,]®¬ºY[J&ª[DGlSD�JMTUL}ª[J^Y<QS�»FMTkª<lhIK\^QSJ^D�F^LMNSDG�gDGF�µ?�l¾A�µ�ZþTkDGlhD�JG�>DG�hTk\HY[JG���v�P�����������?� � !$#�%�&�')(P*_(-,.%G/ !2143^547:9 d f=fK�>�[Y<iUQh��D � �P�P� Y[¬$>h�]�A'CBD#-��E4(P'��L�� �"!J(PKv&�BD'��N#8M��A�i�N�������S�wIKª[DGFkj �Geya j eKd µ��c�wJMTUlSª[D�JlR�D�JMiUIKªS� �G�[�[� µ

��d� �Sµ _ I[�gDGlhTUF^LON®I[lw�gA½µs�c\^I[�hiUD�JGµ�pYw%L�TUDGls\$ª[J^Y<QS��F^TUª<lhIK\^QSJ^D F^LONSDG��DGF$¬ºY[JÁiUIKJ^ª[D�ª[J^Y<QS�wFGµS?:l�@�µ��«I[iUTUF^jcT��DG�hTk\HY[Jy�6�������P�����L�S� �`!$#�%�&�')(P*_(-,.% / !21836587:9ed f�g��R�[Y<iUQw��D �G�[� � Y[¬t>@�-�A'CBD#-�4E4(P'��L�4� �q!J(�K�&�B�'��L#M��A�i�N�������S�wIKª[DGFkj ��d�a j � jSµ��c�hJOTUlSª[D�JlR�D�JMiUIKªS� �G�[�.Q µ

�[�� �Sµ V�µ _ I[�gDGlhTUF^LONRµ��:#�(PB�& M��+,P���P'CBD#-� M��L|D�NKx�L� ����� 5k�P%�KV�N��'{M�%���'��NKS�F�����N�]�`(�� ' |D� �8�H�L�A#u�A'��>2(],=��#�� ' |~K 5l#u(=�L* �LK�µ���Nw�"\^NSDGF^T³F��Jp�À ` P&fQhJMTULMNÅ� �G�[�[b µ½�©TUF^FGµ@p�À ` U YSµ �G�PO[�Kd � ` IKJ^\^QwlSª � Y[J^J^DR�D�JMiUIKªS���(Y<lwFH\^I[lSÇ[µ

�G�T B«µ _ I[lSD�\H\^T���m�µ � Y<iU�SJ^DGT³LMNR�hI[lh�'�Zµ ` I[ikD��cTĵ�ÀENSD(JMI[lw�SY<� Y[JMI[L�ikD·��D�\^NSY>�SY<ikY[ª[][�hJ^D��>TUF^TU\HDG�Rµ�?:l 5l#u(A���~< ' | � ����B���*��{!� M�%�K�&D(����HBDK (��`7h|D�-(P#�%F(���!J(�K�&�B�'C� �~, �)M 7:9�!����h�wIKª[DGF �Kd<�yac�>�Gb � �G�[�[b µ

�GeT B«µ _ JMI[��D�J�I[lh�0R®µ¯�SNSY<QS�ŵ �>Tkª<lhIK\^QSJMD�F^LMNhDG��DGF}X7I[FHDG�*Y<l�\^NSD·F^\HJ^Y<lSª%B©�>�ñI[F^F^Qh�g�h\^TkY<lRµ¶?:l 5l#u(A���� ' | �{!� !J(P�A�N�N#u�N������(�� !J(�K�&�B�'��L#V����� !J(�KcKcBD���i�]�P'C�i(����xM��]�NBD#�� 'C%K�R�wIKª[DGF?j � a�O[� µ0� _ A �wJ^DGF^F��lSY�� �G�[�[� µ

� j ?�µ$�©I[��ª��IKJO�Rµ p w%L�TkDGlq\�L,Y<lhL�QSJ^J^DGlq\�Ç�D�J^YKÃÄj>lSYy�}iUDG�Sª[D*TUlá\^NSD�I[Q��STUiUTUIKJ^]½F^\HJMTUlSª¼��Y>�SDGi�µ½?�l@�µÁ��J^D,ÃlSD�DGi��>DG�hTU\HY[JG���v�������������?�H�"!$#�%]&^')(�*_(],P%0/ a{b6149�!21436587 ;�<.<=< �h�[Y<iUQh�gD �GbKd=Q Y[¬J>h�]�A'CBD#u�?E4(P'��L��� �!J(�K�&�B�'��L#4M��N�)�L�����,�S�7IKª[DGFkj e>�Oa jPjPjSµ��c�hJMT³lSª[D�JlR�D�JMiUIKªS� �Kd[d[d µ

�AOT ?�µ4�©I[��ª��IKJM�´I[lw� p}µ H Q��HT³F^IKjcTĵ'��lTUls\HD�ª[D�J�L,Y<�g�%Tk\^��DGlq\�FMLMNSDG��D¾XwI[F^DG��Y<láª[J^Y<Qh�wF���Tk\^N�NwTU�h�SDGlY[JM�SD�Jyµ x������������q���Su7vy���&zMvso>nKu&z�~su� ���!�"#"%$ � �Kd[dS� µ

� � Z6µZ�©T+wgD®I[lh�¼A½µ^pEµ ` DGiUi³�gI[lRµ U D��6�wTkJ^DGL,\^TkY<lhF�TUlWL,JM]q�h\HY[ª[JOIK�wNs][µ��ua ata 7�#u�����&�l(�� ���A�N(�#�K{�.'C�C(��7h|D�](�#�%K�7?:À�à �[� ¸i� ¹ � � jPj a � O jS� U Y��7µ �G�.Q � µ

��Q� �·µ H TUIK\0I[lw���·µK�>NhI[�%TkJGµ ` Y��\HY}�hJ^Y��[D¶][Y<QhJMFHDGik¬ � �ÁJMI[L,\^T³L�I[iqFHY<i³QS\^TkY<l(\HY�TU�SDGlq\^T+XwL�IK\^TkY<l·I[lh��F^TUª<lhIK\^QSJ^D�hJ^Y[X7ikDG�gF�µ$?�l*��µZA½µ�m©�wik]qÇ�j[YS�wDG�hTk\HY[JG���������P�����L���H�[!$#�%]&^')(�*_(],P% / !2143^547:9�d ' � �h�[Y<i³Qh��D � � e Y[¬>h�]�A'CBD#-��E8(.'����?�H�[!J(�K�&�B�'��N#8M��A�i�N�������S�wIKª[DGF �Gb � a7�G� jSµ��c�hJOTUlSª[D�JlR�D�JMiUIKªS� �G�[b.Q µ

�GbT pEµ H Q��HTUFMIKjcT>I[lh��À(µ.m�jKI[��Y[\HYSµZ�c\^IK\^TUF^\^TUL�I[i>Ç�D�J^Y©jclhYy�}ikDG�hª[D&�wJ^Y[\HYcL,Y<i³F$\HY��wJ^Yy�[DE��Y>�hQhi³IKJ0�¯Y<ik]>lSY<�gTUI[iJ^DGiUIK\^TUY<lhF�µ±?�l±@�µ(�«I[iUTUFHj>T��¶DG�hTk\HY[JG�v���������������0� � !$#�%�&�')(P*_(-,.%`/ !2143^547:9 d f�g�� �[Y<iUQh�gD �G�[� j�Y[¬>h�]�A'CBD#-��E8(.'����?�H�[!J(�K�&�B�'��N#8M��A�i�N�������S�wIKª[DGF � � aceKd µÅ�c�hJMT³lSª[D�JlR�D�JMiUIKªS� �G�[�.Q µ

�G�T pEµ H Q��^TUF^IKj>T�I[lh�½À(µ$m©j�I[��Y[\HYSµ£� �hJMI[L,\^TUL�I[iÁI[lw���hJ^Y���IKXwiU]'FHDGL�QhJ^DgF^LMNhDG��D%¬ºY[J«�wQSX7iUTUL�ik]��[D�JMT XwIKXwikDFHDGL,J^D�\©F^NhIKJOTUlSª%I[lh�'Tk\^F�IK�h�wiUT³L�IK\^TkY<lhF�µ ?�l)��µ U ]cX¯D�J^ªS�ZDG�hTk\HY[JG�2�v�P�����������S�H�`!$#�%�&�')(�*+(-,P% / acb2149+*!2143^547od f�'[�<�[Y<i³Qh��D � j d<e Y[¬6>@�-��'CB�#-�lE8(.'����\�H� !J(�K�&�B�'��L#vM��N�)�L�����,�[�wIKª[DGF e[�ya j � µc�c�hJMT³lSª[D�J@R�D�JOiUIKªS��G�[�[b µ

ò �

Page 15: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

�Kd� B«µ � DGlhlhIKJ^YS�Á�Zµ ` I[ikD��>T��0I[lw��À(µ�B�IKXwTUlRµ¾�cDGL�QSJ^D%NwI[F^N>Ã�I[lh�>Ã�FMTkª<l�F^Tkª<lhIK\^QhJ^DGF(�}Tk\^NhY<QS\(\^NSD%JOI[lh�SY<�Y[JMI[L�ikD[µþ?�l`�Sµ&�>\HD�JMlR�&DG�hTk\HY[JG�k�v�P����������� � �I!$#�%�&�')(�*+(-,.%[/ a{b6149�!21436587ed f.fK���[Y<iUQh�gD �AO[�[� Y[¬>h�]�A'CBD#-��E8(.'����?�H�[!J(�K�&�B�'��N#8M��A�i�N�������S�wIKª[DGF �G�[eya7�Ge[� µ��c�hJOTUlSª[D�JlR�D�JMiUIKªS� �G�[�[� µ

�>�� �Zµ � Y<iU�S��I[F^FHD�JG�}�Zµ¶A�TUL�I[iUTÄ�&I[lh� _ µ�B�I[L^j[Y��$µèÀENSD�j>lSYy��ikDG�Sª[D�L,Y<�g�wikD �STk\�]Y[¬(TUlq\HD�JMI[L,\^Tk�[DW�wJ^YqY[¬¿ÃFH]>FH\HDG�gF�µvM��u� ��(�BD#�����*@(���!J(PKv&�BD'C� �~,<� �Gb ¸ �y¹ � �Gb � ac�Kd<b � H D�X�µ �G�[b[� µ

�[�T �Zµ � Y<i³�S�&I[FMFHD�JG�0�Zµ�A�TUL�I[iUT��RI[lh��B�µÅB}Tk�[DGF^\�µ�� �hTkª<TU\^I[i4FMTkª<lhIK\^QSJ^D�F^LONSDG��DgFHDGL�QhJ^DgIKª<I[TUlhFH\«I[�wIK�h\^Tk�[DLMNhY<FHDGl>Ã���DGF^FMIKª[D®IK\H\^I[LMjcF�µ�M��u� ��(�BD#�����*$(P�"!J(PKv&�BD'C� �~,<� ��Q ¸ �<¹ � �[b>�OaceKd<b �����hJGµ �G�[b[b µ

�[eT �ZµwA�TUL�I[iUT�µ � µ b.Q�O � ?:lq\HJ^Y>�hQhL,\^TkY<l*\HY%L,J^]c�h\HY[ª[JMIK�wNq][µ¶AW?:À L,Y<QhJMFHD«\^I[QSª<Nq\}TUl H I[iUi �G�[�.Q µ � j � µwV�µ7A�TUiUikD�JGµ�B�TkDG�gI[lhl�� F}Ns]c�¯Y[\^NSDGF^TUF I[lh�*\HDGFH\^FE¬ºY[J}�hJOTU�gI[iUTk\Â][µl�D(�BD#�����* (���!J(�K�&�B�'��L#c����� M�%��L'��LK

M��A�i�N�����L�O� �Ge � eKd[d�ace>��Q � �G�.Q � µ �POT A�µ U IKY[J�I[lw�gA½µ���QhlhªSµ7��lhTk�[D�JMF^I[icY<lSD,ÃÄ��IG]�NhI[FMN�¬ºQhlwL,\^TkY<lhF$I[lh��\^NSDGTkJÁL,JM]q�h\HY[ª[JOIK�wNhTUL&IK�h�wiUT³L�IK\^TkY<lhF�µ

?�l 5l#u(A���]�-�P�H�~,P�c(��4' |D�07��t�L��'C%�*�� �H#���'Y������B���*��{!� M�%�K�&D(����HBDK (��`7h|D�](�#�%0(��G!J(�K�&�B�'C�H��,[�w�7IKª[DGFe[eya j e �Å�cDGIK\H\^ikD[��Z½I[F^NwTUlSª[\HY<lR� �AOya7��Q A�IG] �G�[b[� µZ� _ A½µ

� � A�µ~m®µ[B}IKXwTUlŵ>��J^Y[XwIKXwT³iUTUFH\^TUL�I[ikª[Y[JMTk\^Nh� ¬ºY[J�\HDGFH\^TUlhª��wJMTU�gI[iUTU\�][µ^�D(PB�#�����*�(��tE?BDKV�]�N#47h|D�-(P#�%K� �G� � �G�[bya�Ge[b � �G�[bKd µ

�.Q� B«µ¶VÁµÁB}TU�[DGFH\��&�·µ&�>NwI[�gTkJG��I[lw�°VÁµÁ���hikDG�gI[lŵ°� ��D�\^NhYc�´¬ºY[JgY[Xh\^I[T³lhTUlSª��hTkª<TU\^I[i F^Tkª<lhIK\^QSJMDGFgI[lh��wQSX7iUTUL�ÃÄj[D�]»L,JM]q�h\HY<F^]cFH\HDG�%F�µ4!J(�KcKcBD���C���P'C�i(����c(u�8' |D�?�{!��� �>� ¸ �<¹ � �G�Kd�a7�G� � � H D�Xŵ �G�.QKb µ

�[bT �SµÁB}Y<���¯DGi�µ[m©lSD,ÃÄ��IG]¬ºQwlhL,\^TkY<lhF�IKJ^D�lSDGL,DGF^F^IKJ^]I[lh�´F^Q�w%L�TkDGlq\�¬¿Y[J%F^DGL�QSJ^D*F^Tkª<lwIK\^QSJ^DGF�µ?�l`5l#u(A���;.; ���V������B���*6�{!� M�%�K�&D(���� BDK (��q7h|D�](�#�% (u� !J(�K�&�B�'C� �~, �)M 7:9�!����w�7IKª[DGF e[b.QGace[� jS�Å@�I[ik\^T³��Y[J^D[�A�IKJ^]ci³I[lh�R� �G�[�Kd µ7� _ A½µ

�[�T£_ µc�0µS�>LMNwlSY[J^JGµ^pYw%L�TUDGls\&F^Tkª<lhIK\^QSJMDEª[DGlSD�JMIK\^TkY<l»¬ºY[J¶F^�gIKJM\¶L�IKJM�hFGµ$��(�BD#�����*2(��S!$#�%�&�')(�*+(-,P%K��j ¸ e<¹ � �[e[�ya�PO[� � �G�[�>� µ

eKd� �·µZ�>NhI[�gTUJGµ m©l¾\^NSD«ª[DGlSD�JOIK\^TkY<l�Y[¬�L,J^]c�h\HY[ª[JMIK�wNhT³L�I[iUik]%FH\HJMY<lSªg�wFHDGQw�SY[JMI[lh�SY<� F^DqQSDGlwL,DGF�µÁ?�l �{!�7�#������L�.��'C�C(�� (��[!J(�K�&�B�'��L#8M�%T�L'��LKS�O�7�[Y<iUQh��D � �w�wIKª[DGF e[bya jPjS� �G�[b[e µ

� � Ê Ë2�� Í�Ë2�%Ë Ñ�ÍWÊ �£Ê´Î � ���±Ê´Ñ�Ë Ñ�ÍWÊX ��n ��Î

� ��� � � � ' �F" ��&��Ü�Õ�� ê0ÜWÖcÙ²Öc׿Ô>å>Û�Ó³Õ,Þ¯ß�ü%}ã�� ��� � é ÜWâ¯Ü�Ù¯åcÕ,Ü�Õ�ÞRÖqÕ�� ÞRÖcØgå>Ù¯Ü*ÓºÙZä¯ÚZÕ � ÛOÜ�Ø�ä4ü¿æ�êSã�� ��� �IHIHIHJ� � � é Üâ¯Ü�Ù¯åcÕ,ÜWÕ,ÞRÖsÕ�� ÞRÖcØ£ØOÜ�çcÜ�Û,ÖqשӺٯäZÚZÕ,Ø �yü %�ã�� �� � é Ü é Ó¿×º× â¯Ü�Ù¯åcÕ�Ü�Õ,Þ¯ÖqÕ�� ӺأÖcÙþÓ¿Ù¯â¯Ü��7Ü�âþà�ÖcßWӺ׿ãáåcàÖc׿Ô>å>Û�Ó³Õ,Þ¯ßWØ�ü

� h � � � �$â¯Ü�Ù¯åcÕ�Ü�Ø�Õ,ÞRÖsÕ � é ÖcØÁå>êZÕ,ÖcÓºÙ¯Ü�âgêhã®Û�Ú¯ÙZÙ¯ÓºÙ¯Ô!�Æå>Ù�Ó¿Ù¯ä¯ÚZÕ �Áü �HÙgÝKÖcØOÜ"�ÆÓºØ�â¯ÜyÕ,Ü�ÛOß�Ó¿Ù¯ÓºØMÕ,Ó¿ÝcæÕ,ÞZÜ�Ù´Õ,Þ¯Ó¿Ø � Ó¿Ø�Ú¯Ù¯Ó¿ÿhÚ¯Ü �ÁÓ¿à#� Ó¿Ø�ä¯ÛOå>êRÖcê¯Ó¿×ºÓ¿ØOÕ,Ó¿ÝcæÅÕ,Þ¯Ü�Ù � ÓºØ�Ö¼Û,ÖcÙ¯âZå>ß�çqÖcÛOÓ­Öcê¯×¿Ücü ��à�� Ó¿Ø�Ö¼Ø�ÜyÕKæ$Õ,ÞZÜ�Ù� h �èâ¯Ü�Ù¯åcÕ�Ü�Ø«Õ,ÞRÖqÕ � é ÖcØ�Ý�Þ¯å>ØOÜ�Ù�àÄÛ�å>ß ��Ú¯Ù¯Ó³àÄå>Û�ßW׿ã�ÖqÕ«Û�ÖcÙ¯â¯å>ß�ü

��Ü�Õ��CÖcÙ¯â%$�ê�Ü�Ó¿ÙSÕ,Ü�Û�ÖcÝ�Õ�Ó¿çcÜ'ý�Ú¯Û�Ó¿Ù¯Ô�ß�ÖcÝ�Þ¯Ó¿Ù¯Ü�Ø�ü %�ã � � h � ��� �'& $ ��� �)( ���yæ é Ü'âZÜ�Ù¯åcÕ�ÜÕ,Þ¯ÖqÕ � ÖcÙZâ���ÖqÛ�Ü�Û,ÖqÙ¯â¯å>ß çcÖqÛ�Ó­Öqê¯×ºÜ�Ø�Õ,ÞRÖsÕ«Ý�å>ÛOÛ�Ü�ØOä0åcÙ¯â�Õ�å�Õ,Þ¯Ügå>ÚZÕ�ä¯ÚZÕ�Ø�åqà*�"ÖcÙZâ+$ ÖcØ«Ö�Û�Ü�Ø�گ׳իåcàÕ,ÞZÜ�ÓºÛ �OåcÓºÙSÕ«Ý�å>ßWä¯ÚZÕ,ÖqÕ,Ó¿å>Ù$ü

ò��

Page 16: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

��Ü�Õb�·ê�ÜgÖ�ê0åwå>׿ÜKÖcÙ'àÄÚZÙ¯Ý�Õ�Óºå>Ù$ü ý(ÞZÜ�Ù¯åcÕ�ÖsÕ,ÓºåcÙ � � h � � � �-' � � � � ��â¯Ü�Ù¯åcÕ,Ü�Ø(Õ,Þ¯ÜgÜ�çcÜ�ÙSÕ«Õ,ÞRÖsÕb� � � �ӺةÕ�Û�Ú¯Ü%Öqà�Õ�Ü�Û � é ÖcØ�Ô>Ü�ÙZÜ�Û,ÖsÕ,Ü�â�êSã�Û�ÚZٯٯӺÙZÔ � å>Ù�ÓºÙZä¯ÚZÕ��Áü

/&ÓºÙ¯Öc׺׳ã>æhÕ,Þ¯ÜgØOÕ,ÖqÕ,Ü�ß�Ü�ÙSÕgEÛKð`aO��&Jh ��& � � &-� c / � & � ~ ' � � ��~ �Hô W �

ßWÜKÖcÙ¯Ø(Õ�ÞRÖqÕ«Õ,Þ¯Ü%ä¯ÛOå>êRÖcê¯Ó¿×ºÓ³ÕHã�Õ�ÞRÖqÕ�� � ��~ �©Ó¿Ø�ý«ö ���ñÖqà�Õ�Ü�Û(Õ,Þ¯ÜgçqÖc׺ÚZÜ"��~ é ÖcØ·å>êZÕ�ÖqÓºÙ¯Ü�â�êSã½ÛOگٯٯӿٯÔÖc׿Ô>å>Û�Ó³Õ,Þ¯ßWØ � / �IHIH'H.� ��~�åcÙ�Ó¿Ù¯ä¯ÚZÕ�Ø � / �IH'HIH.��� ~wæRÓ¿Ø � ü

� ý(Þ¯Ü}Öcê�å[ç>ÜEÙ¯åcÕ,ÖqÕ,Ó¿å>Ù�ÓºØ$àÄÛOå>ß Õ,Þ¯Ü ��ÛOãwäZÕ�å>Ô>Û�Öcä¯ÞSã�Ý�åcÚ¯Û�ØOÜ}Õ,ÖcÚ¯Ô>ÞSÕÁêSã ÷ ӿ׿çwÓºå .�ÓºÝKÖq׺ÓqÖqÕ .!�Hýñð ù � ôÂü �%�ã � � � ��� �yæ é Ü�âZÜ�Ù¯åcÕ�ÜgÖ£ý�Ú¯Û�Ó¿Ù¯Ô�ß'ÖqÝ�Þ¯ÓºÙ¯Ü�Õ,ÞRÖsÕ(ß'ÖqìcÜ�Ø�å>Û,ÖcÝ�׺Ü�ÿhÚ¯Ü�Û�Ó¿Ü�Ø�ü���ü Ücü³æZÕ�ޯӺةß�ÖcÝ�Þ¯Ó¿Ù¯Ü é ӿ׺×

ÞRÖKç>Ü�ÖcÙ¼ÖcâZâ¯Ó¿Õ�Óºå>ÙRÖq× � Û�Ü�Öcâ�������� �����������������������! �"#��$%�&�'��()�*�!(+�,-����.*.������/�0�� 12������� ����13���'4����5 ��6�87�&�����9�,-�*1�:��&���0��� �,/�*�);< =�������6�&$>��-�*��1���6/12 <1 "#�����? �.516�%@A48��.CB DFE)GIH2����J%/��� �5 K.#@��� K��1�$%�&�����9/()�1�%@A4#�&.9B/DAE+ K"�"8�� �� 10�&�L/(��M�������6�N/ �"8�K$# ��O�&� ���.��=�*1��*�QP&��R���:S K��:O�,/10 ���16�C���T �"�"#�� K� 1U���N/()��������6�V! �"#�= �:�� K�����Q0/�F/()�OB DFEW16�>@X48�&.YG�H2�

>[Z >]\��T^�\ �8� �Th �U^�\��8��2�V:������K/�+/()�+���&�Q ���Q/1W��_` (��+�������6�a! K"8�'�&����� �b/���@'���5 K ��1�$c����/(d���/ ���.*� =e ���:d����"��)A�fGH2�g\ih>j/k>�Ml>m�2�':)������ �F/(��W��P����QM/(5 KMh]�C �1< V�%�)����S��1 1����:n4Q���X$o ���:nkN�C �1=/(��� ���16�C���� ��������P&��:N_i��&@m�&� ���.��"='G

H2� �Mp �� � \ � �q$5�C�M:����)��/�< �ro����*��;�@] K�!(��*���s (5 K9@] �RK��1%���10�&�)�<�&� ���.��=�%�)�����G3tU�� �.*�&;��&��1 .,�&$4Q� ��u � � \ � ��$)�2�<:)������ �M Wro����*��;�@] K�!(��*���T (5 K�@' �R���13v=�&�/ K��.*�U�%�)��� ����1�G

H2���xw( $y�2�W:����)��/�F/(� KM �.*;��&� �,/(�@ �z(5 �1=4�.* ��!R&��4#��JS �������11M �{ �.*;��&� �,/(�@ $]$f�|G}��GX��s�� ���*�QP��&R��'$~����/(N ��L ��4��� �/ ��6�+�*�)"��)0 ���:L� ��1 �� $'��1�1/ K/�KG

���W1 ��O/(5 K<��\|���T�*1T {�)��;&.��*;&��4�.*�=_i������/�*����$���_�_i�&�= �.�.�"#�&.��%����@'�* �.*1��o\|�)��$�_i�&�= �.�.�1�)�����*���Q/.��.? K� ;&�=�#$#��\|���3�������o\|�)��G

����� �9�6�2�T�����T�5�z�0�#�T�o��� ���� 1�$)�2�M���� �= (��=:���¡����� �*�&�V��_� W1 ������� �M1 ��;&�5 K ��� �s1�!(���@���G¢V£Q¤¦¥o§i¨�§ª©#¥¬«®­ª¯�°q±�§i²#¥o³>¨µ´o¶µ£O·�¸K¹f£%º�£g»½¼�¼�¾À¿�­<Á2Â!Ã�Ä!ÅQÄ�ÆÈÇÉÆ*Ê�˪Æ|Ì�Í5Ã�ÇÉÎ�Ï�Ã�ÐFƪÅ�ÇÉÑ�ËYÆÈÐ]Ò-Å�Ç}Ó%Ã�Â�ÆÈËÈÔ%ÐXÊ2\ªÕ]\ � ��j!Ö5×µØ&Ù�Ú � Û \ÀÜÉ��jÝ�Þ&ßà Ô5Ò�Â/Ò<ÕáÆ*Ê�ËÈÔ5ÒFâQÒ�ÎVÓ%Ò�Ï�Ò�ÂÅ�˪Æ|Ã�ÏxÅ�Ç}Ó%Ã�ÂqÆÈËiÔ%ÐXã3Ö�×µØ&ÙäÆ*Ê�ËÈÔ5ÒFÊ�Æ,Ó�Ï#Å�ËYå%Â/Ò+Å�Ç}Ó%Ã�Â�ÆÈËÈÔ%ÐXãUÅ�Ï#æ'Ý)Þ&ß#×µç�è¬ËÈÔ5Òé Ò�ÂqÆ ê3Ì Å�ËYÆ|Ã�ÏnÅ�Ç}Ó%Ã�ÂqÆÈËÈÔ%ÐXã�Ì!Ã�Ï)Ê�ËYÆÈ˪å>Ë�ÒAÅ{æ�Æ,Ó�ÆÈËëÅ�Ç�Ê�Æ,Ó�Ï#Å�˪å>Â/Ò=Ê�Ì!Ô5Ò�Ð]Ò�ì�Ã�ÂFÒiíîÌ�Æ|Ò�Ï5˪ÇÉÎ�Ê�Å�ÐUÍ#Ç,ÅQÄ�Ç*ÒWïëÆÈÏnËÈÔ5ÒÇ*Ò�Ï%Ó�ËÈÔ®ÃÀì=ÆÈËiÊMÆÈÏ#æ%Òð�ñFÐ]Ò!Ê!Ê�Å�Ó%ÒUÊ�Í)Å%Ì!Ò0ò Ú,ó Û Æ ì�ì�Ã�ÂXÅ�ÇÈÇ)ôõlöò Ú,ó Û

÷ Ã�Â�Â/Ò!Ì�˪Ï�Ò!Ê!ÊLøÈì<ÅVÐ]Ò!Ê!Ê�Å�Ó%Ò0ô Æ*Ê<ÆÈÏSËiÔ5Ò<Ð]Ò!Ê!Ê�Å�Ó%ÒsÊ�Í)Å%Ì!Ò�ì�Ã�ÂXÅWÓ�Æ é Ò�ÏOÁ¦ùúã3Å�Ï#æ]û%ù Æ*Ê<ËiÔ5ÒWÌ!Ã�ÂqÂ/Ò!Ê�Í5Ã�Ï#æ�ÆÈÏ%ÓÊ�Ò!Ì�Â/Ò�ËTâQÒ�εãMËÈÔ5Ò�ÏäËÈÔ5Ò®Ã�å%ËüÍ#å%ËWÃÀìFÖ�×�Ø&Ù5ý/þT\iôL� à ÆÈÇÈÇ�Å�Ç à Å�Î�ÊLÄ�Ò{Å%Ì!Ì!Ò�Í#ËÀÒ æúÄ�ÎSËiÔ5Ò é Ò�ÂqÆ ê3Ì Å�˪Æ|Ã�ÏÅ�Ç}Ó%Ã�ÂqÆÈËÈÔ%ÐÿÝ)ÞQß�×µç�è�� þ � �nÃ�Â!Ò�ì�Ã�ÂqÐ�Å�ÇÈÇÉÎ�ã5ì�Ã�Â<Å�ÇÈÇ é Å�ÇÉå5Ò!Ê0ô���I���,\�Á�ùaj�û�ùn� Õ]\À�����q7� � Ö�×µØ&Ù ý/þ \ªôL���+ôõlOò � þ���� Ý)Þ&ß#×µç�è�� þ \ªôöj� ��ü���8Z��

û�Ò!Ì�å%ÂqÆÈËYÎ�� é Ò�ÏäÆ ìNÅ�Ï ÅQæ é Ò�Â/Ê�Å�ÂqήÔ)Å�ÊöÃ� Å%Ì�Ç*ÒLÅ%Ì!Ì!Ò!Ê!Ê{ËÀÃnËÈÔ5ÒVÊ�Æ,Ó�Ï5ÆÈÏ%ÓaÅ�Ç}Ó%Ã�ÂqÆÈËÈÔ%Ð à Ô%Æ|Ì!ÔöÍ#Â/à é ƪæ%Ò!Ê+Ê�Æ,Ó�ÑÏ#Å�˪å>Â/Ò!ÊnÃ�Ï Ð]Ò!Ê!Ê�Å�Ó%Ò!ÊSÃÀìNËiÔ5ÒöÅQæ é Ò�Â/Ê�Å�ÂqÎ�� ÊnÌ!Ô5Ã�Æ|Ì!Ò!ãWËÈÔ5ÒSÅQæ é Ò�Â/Ê�Å�ÂqÎ Ì Å�Ï5Ï�Ã�Ë'Ì�Â/Ò Å�Ë�ÒSÅ é Å�ÇÉƪæÊ�Æ,Ó�Ï#Å�˪å>Â/ÒMÃ�Ï®ÅWÐ]Ò!Ê!Ê�Å�Ó%Ò9Ï�Ã�ËCÒð�Í#ÇÉÆ|Ì�ÆÈËYÇÉÎ! �å5Ò�ÂqÆ|Ò æ � �nÃ�Â/Ò¦ì�Ã�ÂqÐ�Å�ÇÈÇÉεã)ì�Ã�ÂsÅ�ÇÈǵì�Å�ÐFÆÈÇÉÆ|Ò!Ê=ÃÀì2Í#Â/Ã�Ä!Å�ÑÄ�ÆÈÇÉÆ*Ê�˪Æ|ÌfÍ5Ã�ÇÉÎKÏ�Ã�ÐFƪÅ�ÇÉÑ�˪ÆÈÐ]Ò�Ã� Å%Ì�Ç*Ò#")å>ÂqÆÈÏ%ÓTÐ�Å%Ì!Ô%ÆÈÏ�Ò!Ê%$�& Ú,ó Û�(' ã�ËiÔ5Ò�Â/Ò0Òð&Æ*Ê�ËiÊ3ÅsÏ�Ò|Ó�ÇÉÆ,Ó�ƪÄ�Ç*Ò�ìqå>Ï�Ì�˪Æ|Ã�Ï��\Y���sÊ�å5Ì!ÔLËÈÔ)Å�Ë

�*)

Page 17: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

�I����\ëÁ¦ùaj�û%ùS� Õ'\6� � ��7µ\ � j��fj� f�% &������ ��� Ú,ó Û� \À� � � �Ý)Þ&ß�×µç%è � þs\iôöj� f�IZ � ��� \�� �����\ªôöj� f�Cl � ��� Z ��\|���

����� �ú�������������[��� �"!À�$#s�-��ú�W �.*1�V;&��P��W +:���¡5�)��/���&�ö��_2 &%���� �K�ëR%�)�µ��.���:�;��F4�.? ��!R&�ë48��Jö")� �%��_-��_-R%�)�µ��.���:�;���")� �� �>���&.|G('�����R�������.*��:�;&�L"�� �%��_i1W��_TR�������.���:�;&�L�C��� �N�*�Q/��>:��)����:g�*�):���"#����:)���Q/.,�x4�� HC� �1 1 �� :�$�)C(5 ���@L$3 K��:)C�+*��"8�� �� � ) �� ���:V4Q�&,=�&.�:)�C �1 1����$�-N�*�� �.*�Y$> K��:�.9 K�!R��0/ �21>� �Y$� K��:+_i��� (����`���¡5�)��:{4Q�VHC��.*.? K� �T K��:,s�&.*:�������!(��23 �YG

r`(��X:)��¡5���,/���&�N�2�X;&�,P&�M(�����X��194#��/(N1 � �&��;����9 ���:O1�*@�"�.*���`/(5 ��N1 �&@��M��/(�����$#@'��� �M;&�������/ �.:���¡5���� �*�&�)1�$�_i�&����J) �@�"�.*��/(��9�&���9:����9 �4,s�&.*:)� �����!(] K��:+HC��.*.* �� �KG65>�*�)���0�&���-@] ����';��Q �.�(�����U��12�����J>(���4��� �*��;F")� �� �>���&.*1�$>/()�*1`�*1`;��>�%:V��������;&({1 �������=�&���`")� �� �>���&.*131 K/��1_È�'/(���1`1/��&��;&����:���¡5�)��/���&��G7���"5 �� �*����.? ���$&�&����R�������.*��:�;&�0��J%/� ��� �*�&��"���&"8�����F��@'").*�*��1�P&����W16/� ����;<1�&����:)����11�$� K��:'1�<1�&@��"����/�%���&.�1C/(� K�/(��=.*�,/���/ K ��� �T���&��1�*:���� 1`/�W4#�s"�� �%��_i1���_cR%�)�µ��.���:�;��=�2�&��.�:{����048�s1�'�)��:������&�)�:���¡5���� �*�&��G

8���9�S4#�< ��O����"��)�$� ��):O.*���: 48�X '"#�&.��%���&@��? K.*.������&@'")�)! �4).*�M� ��.* K/���&��G3t;%���� �K�ëR�������.*��:);&�"���>��_���_IR�������.*��:�;&�<��_I W����/�)��1 1�< 1���!(O (5 K9:W\�fj <T�CZ~�X��19 �"�� ��45 �4���.*�*16/���T"8��.��%���&@��? �.ü�ë �*@��"����/�%���&.�4#����2�����{ M"����P&����= ���:+ =P&��� ��¡����?> 1 �)�!(+/(5 K-/()��� �0��J>��1/1C ��]�qJ>"8����/��:V"8��.��%���&@��? �.ü�/��@'�U1 �*@X��.? K �&��@g ���:N W"#�&.,�>�)�&@'�* �.,�|/��@'�`�qJ> �/ ���/�&�BAz1 �)�!(N/(� K���&G�)C�&@�"�.���/������11 �- 5�&�� �.�.

�I�*�C=]\À���Kj��fj <s�ED >]\À����j��8�6F G �HG`Z[� �8Z �

1>G0HC.* ��!R&��4#��JI%�����K��R�������.���:�;&� �W 5�&�M �.*.9\�fj�<s�AlJ:A$c_i�&�M �.�.-"#�&.,�>�)�&@'�* �.¦ K�>J>�*.*�* ���O�*��")�)/1Xk�$_i�&�= K.*.�")� �&45 K4��*.��*1 �*�<"8�&.,�%���&@��? �.ü�ë/��@'�T_ª K@'��.*�*��1U��_2ro��� ����;{@] ��!()�*����1!$K> � ' $f (�����W��J>�*16/1M ����;&.*��;&�*4).*��_i������ �*�&�{1���!(O/(� K

� �I�*�C='\6���µj��fj <T�ED > � \ªk5j��8�6F G �LG3Z � �NM�I���O@�\6� � j��8��wFP> � \Yk5j��8�EF G �LG`Z�� ����Z ��\Y���

3)G0HC.* ��!R&��4#��Jä�qJ> �/ ���/���&� �a 5�&�+ �.*.B�f$0_i�&�+ �.*. $Q= � ' $0_i�&�] �.*.U ��>J>�*.��? ��6�x�*��")�)/1{k5$0��_s_i�&�V K���_i���)��/���&�SR �I�*�C= � \ªk5j��8��D >]\6� � j��8�BF G �TGMZm� ��UVR�\|���q$�/(����n (�����F��J>�*16/1= +���&��1/ ��QW ���:d N����;&.��*;&��4�.*�A_i�)���� �*�&�a��\|���M1 ���!(a (5 K �I���2= � \Yk5j��8��wXA+\À� � j��8�YF < �Z:W\�fj <T�XZ� �[U\R�]�\|�)��M[��\Y����G^7�� �K/(����'�2�&� :�1�$9�,_T/()�®"�� ��P����V������P%��������1+/(��OP������¡5���+��_È/����$3/()��� (��+��J% �/ ���/�&�A���&@�"��)/��1< (��]���� ����11W �.*@��&16X K1A��_È/����G`_0��/�] (5 KX1 �*�)���] (��]���.? �/�*���T:��19"#�&.��%����@'�* �.,�|/�*@��0���&@�"��)/ �4�.*�K$5/(��M��J%/� ��� �&�U�� ��ö �.,�3 ��%16a�)10/��16U��(���/(����T�� 19���)/"��>1 K/��1¡5��1�\�fj <T�slT:AG(8����\�AX�9:����)��/�A (��F��J%/� ��� �&�U (5 Ks�����1bAb���,/(ö4�.* ��!R&��4#��Jö �������1 1 �H= � ���Q/��.c< �*1�����@'"��>/��:�G

¢V£Q¤¦¥o§i¨�§ª©#¥¬«®­�¼ °�d<¶µ©�©fe�©fe�g�¥o©+hLii£+jo²�£�¿µ­lk Í#Â!Ã�Ë�Ã�Ì!Ã�Ç5ËÈÔ)Å�ËcÊ�Å�ËYÆ*Êiê3Ò!Ê0ËÈÔ5ÒTÅQÄ�à é ÒUæ%Ò!Ê�Ì�ÂqÆ Í#ËYÆ|Ã�ÏTì�Ã�ÂÂ/Ò�Ç,Å�ËYÆ|Ã�Ïm: Æ*ÊFÌ Å�ÇÈÇ*Ò æ+ÅMÍ#Â/Ã�ÃÀìXÃÀìTâ�Ï�à à Ç*Ò æ�Ó%ÒCÍ#Â/Ã�Ë�Ã�Ì!Ã�Ç�ì�Ã�Â=Â!Ò�Ç,Å�˪Æ|Ã�Ï&: �

�on

Page 18: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

� ����� ������ ��������������� �������� ��� ��!���

¢V£Q¤¦¥o§i¨�§ª©#¥#"+­ª¯�°%$N±�« º�©cjc´$iY´o·�¿µ­bkJ1��8Ñ6Ä�ÆÈËfÏ5å>Ð�Ä�Ò�Â�&nÆ*ÊUÌ Å�ÇÈÇ*Ò æ<Å�Ï .95>t¬@'�%:���.���1`Æ ì�&NZx�5hQãà Ô5Ò�Â/ÒI�gÅ�Ï#æ<hOÅ�Â/ÒU�8Ñ6Ä�ÆÈË�Í#Â�ÆÈÐ]ÒsÏ5å>Ð�Ä�Ò�Â/Ê �¢V£Q¤¦¥o§i¨�§ª©#¥#"+­�¼ °%'s´$iª£�¶W¨�©5¨µ§ª£%¥8¨ eë´c¥o¸�¨µ§i©8¥¦¿µ­)(fÒ�Ë*&öÄ�ÒCÅ�ÏWÆÈÏ5ËÀÒ|Ó%Ò� � "�Ô5Ò�2å>Ç*Ò�Â�Ë�Ã�ËYÆ|Ò�Ï5Ë�ìqå>Ï�Ì�˪Æ|Ã�Ï+ \,&��=Ð]Ò Å�Ê�å>Â/Ò!Ê=ËÈÔ5ÒFÌ Å�Âæ�ÆÈÏ#Å�ÇÉÆÈËYÎ+ÃÀì=ËÈÔ5ÒUÓ�Â!Ã�å�Í.-0/1 �2�³5¸�¨�"+­ª¯�­MøÈì0&NZg�5hLÆ*Ê<Å�Ï430û k�Ð]Ã�æ�å%ÇÉåQÊ!ã�ËiÔ5Ò�Ï + \5&��IZ~\ü�[M �µ��\ªh9M ��� �6N©5¨�³>¨µ§ª©#¥!7 �ú�{1/ ��d/(5 �] K� .�5>t @��>:��).*��18&[Zm�5hO�*1W�!(��&1���¬�)����_i�&�@'.,�a �W�/ ���:)�&@ ���� (1 �����������®�O��_��ö ���:®h' �� �X�/ ���:)�&@e����4��,U")� �*@���1�G�8���:9)Ö<;>=@?BADC@EFC@GV:������� �X/(��A �.*;&��� �� (�@m (5 K�$�&�d����"��)V� � $��&�) "��) 1F ®�/ ��):��&@ .�5>t @��%:���.*�)1<���� (d1 �����������x�#G 8���89�ÖD;DHJI�\À� � �M:������K/�+/()� �.�;&�&� �,/(�@z (5 K�$)�&�V�*��")�)=� � $��!(��%�&1 ��1���2���/ ���:)�&@y���ë4���C"�� ��@'��1�$��N ��):Vh>$5 K��:{�&�)/")�)/1K&NZx�5h ���:] <� ���:��&@�LMl�- /1 1���!(] (5 K2;&��:o\5L&j + \,&�� �IZ[�&G65>�)�!({ <"5 ����9\5&�jMLµ����12 K.*1 �<�� �.�.*��:N30û kîÍ#å)Ä�ÇÉÆ|ÌâQÒ�Î�$���(�����= (��=���&�� ��1 "#�&��:�����;{Ê�Ò!Ì�Â/Ò�ËIâQÒ�Î]��13/(��sPK �.*�)�PO'l�-RQ Ú 1 Û 1 ���!(L/(5 K:LSOUTÿ�9@��>: + \5&���G«V·�·�´oºWVf¨µ§i©8¥X"+­ª¯d°%$N±�« «V·�·�´oºWVo¨�§ª©#¥¦¿µ­�"�Ô5Ò�30û k�Å�Ê!Ê�å%ÐUÍ#ËYÆ|Ã�ÏWÆ*Ê2ËiÔ)Å�Ë5Ó�Æ é Ò�Ï]Å�Ï�30û kdÍ#å)Ä�ÇÉÆ|ÌâQÒ�Î \5&cjYLµ�!ã{Å�Ï#æ¬Å ÂÅ�Ï#æ%Ã�Ð Ò�Ç*Ò�Ð]Ò�Ï5ËZyl[- /1 ã+ÆÈË�Æ*ÊOÔ)Å�Âæ Ë�ÃäÌ!Ã�ÐUÍ#å%ËÀÒSËÈÔ5Ò é Å�ÇÉå5Ò.\ Ê�å5Ì!ÔîËiÔ)Å�Ë\^]!T_Z+@��>:8& � �nÃ�Â!Òcì�Ã�ÂqÐ�Å�ÇÈÇÉεã à ÒTÅ�Ê!Ê�å%Ð]ÒUËÈÔ)Å�Ë)ì�Ã�ÂUÅ�ÇÈÇ&Í5Ã�ÇÉÎKÏ�Ã�ÐFƪÅ�ÇÉÑ�˪ÆÈÐ]ÒsÌ�ÆÈÂ/Ì�å>ÆÈË)ì�Å�ÐFÆÈÇÉÆ|Ò!Ê $F` � ' ãËÈÔ5Ò�Â!ÒFÒð&Æ*Ê�ËÈÊ<Å]Ï�Ò|Ó�ÇÉÆ,Ó�ƪÄ�Ç*Ò�ìqå>Ï�Ì�˪Æ|Ã�ÏL��\|�)�sÊ�å5Ì!ÔLËiÔ)Å�Ë

������\,&�jYLµ�%�9)Ö<;DHJIf\À������7MZ - /1 7a\ b` � \,&�jYL&jMZ8���N\ ] T_Z'@'�%:c& �8Z���\Y���r`(���1 � �&��; .�5>tî �11 ��@�")/���&�F�3 K1-���Q/� �%:�������:W4Q�WH3 ��� *�` K��: �I¡) %�@' ������21 �� ��):' 5�Qa��1/ �R��5 K��:

d R� �@'�K/� �É�Se �YG«V·�·�´oºWVf¨µ§i©8¥X"+­�¼ä°q±8¨�¶µ©8¥f²W$L±�« «V·�·�´oºWVf¨µ§i©8¥¦¿µ­�"�Ô5Ò0Ê�˪Â!Ã�Ï%ÓU30û kzÅ�Ê!Ê�å>ÐUÍ#˪Æ|Ã�Ï{Æ*ÊsËÈÔ)Å�ËIÆÈ˦Æ*ÊÔ)Å�Âæ�ãXÃ�ÏgÆÈÏ�Í#å>ËsÅ�Ïf30û keÐ]Ã�æ�å%ÇÉåQÊ�&�Å�Ï#æSÅ�Ï Ò�Ç*Ò�Ð]Ò�Ï5ËgZîlh- /1 ã=Ë�ÃúÌ!Ã�ÐUÍ#å%ËÀÒ é Å�ÇÉå5Ò!Ê8L�i �úÅ�Ï#æ\dÊ�å�Ì!ÔnËÈÔ)Å�ËR\ ] TjZ'@�k%:c& � �úÃ�Â/Ò0ì�Ã�ÂqÐ�Å�ÇÈÇÉεã à Ò]Å�Ê!Ê�å>Ð]Ò'ËÈÔ)Å�Ëcì�Ã�Â]Å�ÇÈÇ�Í5Ã�ÇÉÎKÏ�Ã�ÐFƪÅ�ÇÉÑ�˪ÆÈÐ]ÒVÌ�ÆÈÂ/Ì�å>ÆÈËì�Å�ÐFÆÈÇÉÆ|Ò!Ê $F` � ' ã�ËÈÔ5Ò�Â!ÒFÒð&Æ*Ê�ËÈÊXÅ'Ï�Ò|Ó�ÇÉÆ,Ó�ƪÄ�Ç*ÒIìqå%Ï�Ì�˪Æ|Ã�Ï{��\|�ml=Ê�å�Ì!ÔVËiÔ)Å�Ë

��n��o&� 9)ÖD;>=@?>ADCpEFC@G�\6� � l�7aZ - /1 7µ\,\#jMLFl ` � \5&�jaZ�l �^L)i�� � \ ] T_Z'@�k%:c& �8Z���\|�qlr`(qr�sMt)"�.ura\5&�jaZ�lW;DrwvmrwnMxysMr�:zxK1Nx�4@kµP>r>{}|*1�~�x�.�.ur�:#xdÓ%Ò�Ï�Ò�ÂÅ�Ç�ÆÈÏ)Ê�ËëÅ�Ï�Ì!Ò4k�_Ps/(qr��0Òð&ƪÄ�Ç*Ò .95%t

� n%k&4�.ur�@NG6N©5¨�³>¨µ§ª©#¥!7¦H��N��3 1c� - /1�� r � |u�u��:qrwvqkBsMr�sM�qr!�%r�s�k�_*�Jtqx�:qnMxysM|u~�n%rw�%|*:qtqr��c@ k%:qtq�uk0&�{F||G�r�G�{Br��ur�@ rwv<sa�k]l�- /1 �%tq~Y��sa��xBs�� GTl�- /1 �atm~Y��sM�qxBsBGY�0T�kX@ k>:8&cG

7ë_`\,&�jMZ�l�|��KxF;Drwvqr�nMx>��|uvq��sYx>vq~�rk�_�sM�qr���rqJ*|*4q��rl.95>t � nak&4q��r�@�{qx>v):�ZNl���3 1 {*sM�qr�va\,&�jMZ�l�|��0x �å)ÅQæ� Å�˪Æ|Ì|�vq�%sMx>vq~�r�kK_�sa�qr��r�J*|*4m�url.�5>t � nak&4m�ur�@LG_:k>sarUsM�qxBs��%|uvq~�r�kDvqr��^t�xBn%sMr�n�k�_�x>����sM�qr�r��ur�@�r�v^sa��k�_!-0/1 xBnarU�^t�xK:qnMxBsa|u~�n%rw�%|*:qtqr��w{�sa�qr���sMnak>v�;.�5>t�xB�a�at)@ � sa|ukDvX|*@ � �u|�rw�Usa��xBs�|�s�|u�c��x>n:XsakW�ak>��PDr��^t�x�:qnaxBsM|�~�|�vq�%sMx>vq~wr���k�_:sM�qr���r�J*|�4q�ur .95%t

� n%k&4q�ur�@NG$7�vUsa�qrg�%rw�^tqrw��{&4<�)x>v+ÆÈÏ)Ê�Ë|Å�Ï�Ì!ÒgkK_qsM�qr���r�J*|�4q�ur .95>t � n%k&4q�ur�@�{ � r � |u���%@ r�xBv�x �å)ÅQæ�ÂÅ�ËYÆ|Ì {nMxysM�qr�nKsa��x>v{;Dr�vqrwnax>��|uvq��sYx>vm~wr�G¡ ©�¶�© i iª³)¶F¢£"+­ª¯5­¥¤fÏ#æ%Ò�®ËiÔ5ÒOÊ�ËYÂ/Ã�Ï%Óf30û k Å�Ê!Ê�å%ÐUÍ#ËYÆ|Ã�Ï)ã'ÆÈËWÆ*Ê®Ô)Å�Âæ�ã{Ã�Ï ÆÈÏ�Í#å%Ë]Å.�0Òð&ƪÄ�Ç*Ò�39û kÆÈÏ)Ê�Ë|Å�Ï�Ì!Ò<\5&cjMZ�l!ã�Ë�ÃVÌ!Ã�ÐUÍ#å>Ë�ÒMÆÈÏ5Ë�Ò|Ó%Ò�Â!ÊKL)i��+Å�Ï#æU\OÊ�å�Ì!ÔLËÈÔ)Å�Ë�\^]!T¦Z'@�k%:8& �

�Se

Page 19: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

¢V£Q¤¦¥o§i¨�§ª©#¥#"+­�� °q±�³ eë£�Vo¶K§ªº�£%·�¿µ­bk[Í#ÂqÆÈÐ]ÒMÏ5å>Ð�Ä�Ò�Â-�xÆ*Ê�Ì Å�ÇÈÇ*Ò æ��axK_,rVÆ ì��NZ;1q� ��� �Kã�Ê�å�Ì!ÔOËiÔ)Å�Ë� � Æ*ÊVÅ�Ç Ê�îÅ+Í#ÂqÆÈÐ]Ò'Ï5å>Ð�Ä�Ò� � ï "�Ô5Ò{Ì!Ã�ÂqÂ/Ò!Ê�Í5Ã�Ï#æ�ÆÈÏ%ÓOÏ5å>Ð�Ä�Ò�Â0� � Æ*ÊWâ�Ï�à à ϬÅ�ÊVÅT5*k � �q|urm,Pr�n @�x>|uvÍ#ÂqÆÈÐ]Ò � ñ¢V£Q¤¦¥o§i¨�§ª©#¥#"+­��ä°q± VI£%¸Q§i³�ig$N±�« º�© jo´ iª´o·�¿µ­ kUÏ 30û k Ð]Ã�æ�å%ÇÉå�Ê &bZá�5h Æ*Ê�� � rw~�| x>�FÆ ìA�ÿZ1�� � � �{Å�Ï#æ<hMZZ1Kh � � �{Å�Â/ÒTÊ�Åì�Ò`Í#ÂqÆÈÐ]Ò!Ê �6N©5¨�³>¨µ§ª©#¥!7 �WrK�Mx��8sa��xBs�x� � rw~�| x>��.�5>tî@ k>:qtm�utq��&NZg��h � xB��~Y�mkD�ar�v xBs!nax>v�:qk&@ � |�sM�c�%rw~wtmna|�s���N|�_���x>v�:Lhcx>narnax>v�:qk&@y����4q|�s0�Mx�_,r � na|*@ rw��G� ¹f£�©�¶�£%º "+­�¼¬° ¡ ¹o§Y¥f£%·�£4$]£>ºú³5§Y¥$jf£%¶ � ¹f£�©#¶µ£%ºg¿µ­søiì�&eZ �5hQãOÅ�Ï#æ�;D~�:o\É��j/h>ldZ �KãLËÈÔ5Ò�Ï � - 1 F -��� £-�� ã�s\ ��lNZ \�V@ k>:T��j��+@ k>:Wh>lLÆ*Ê®Å�Ï Òií Ì�Æ|Ò�Ï5ËYÇÉÎxÌ!Ã�ÐUÍ#å>Ë|ÅQÄ�Ç*ÒOÅ�Ï#æ�ÆÈÏ5Ñé Ò�ÂqËYƪÄ�Ç*ÒsÂ�ÆÈÏ%Ó]Æ*Ê�Ã�Ð]Ã�ÂëÍ5Ô%Æ*Ê�Ð ���£>º�º�³ "+­���­MøÈì�& Zb�5h�ã-� Z 1�� � � �Kã0húZ 1Kh � � �úÆ*ÊLÅSÊ�Í5Ò!Ì�ƪÅ�Ç�30û k Ð]Ã�æ�å>ÇÉåQÊ!ã<ËiÔ5Ò�Ï_��3 1Æ*Ê�ÅOÌ�ÎQÌ�ÇÉÆ|ÌMÓ�Â/Ã�åµÍ�å%Ï#æ%Ò�ÂAÐFå>ÇÉ軮 Í#ÇÉÆ|Ì Å�˪Æ|Ã�Ï)ãUÃÀì=Ê�Æ���ÒC� � h � ã à Ô5Ò�Â/ÒWÅ�ÇÈǦÄ�å>Ë�� � � h � ÃÀì<ËÈÔ5Ò]Ò�Ç*Ò�Ð]Ò�Ï5ËÈÊWÅ�Â/ÒÓ%Ò�Ï�Ò�ÂÅ�ËÀÃ�Â/Ê �¡ ©�¶�© i iª³)¶F¢£"+­��f­MøiìU\,&�jMZ�l0Æ*ÊsÅ�Ï{ÆÈÏ)Ê�ËëÅ�Ï�Ì!ÒsÃÀì9ËÈÔ5Ò���Òð&ƪÄ�Ç*ÒK30û kîÍ#Â/Ã�Ä�Ç*Ò�ÐXãIÅ�Ï#æ�&dÆ*ÊTÅ<Ê�Í5Ò!Ì�ƪÅ�Çq39û kÐ]Ã�æ�å%ÇÉå�Ê!ã à ÒMÐ�Å�Î]Å�Ê!Ê�å%Ð]Ò=ËiÔ)Å�Ë�ZxÆ*Ê<ÅFÓ%Ò�Ï�Ò�ÂÅ�ËÀÃ�ÂXÃÀì ��3 1 �

r0�qrs_,kD�u��k � |uv�;)�ur�@�@�x)kDn%|*;D|�v�xBsMr��2_,n%k&@ sa�qrPx>v�xB���J�a|��Rk�_ sM�qr � na|*@�x>��|�s���sarw�%s�:mtqrsMk[-�|��u�ur�n �21�� �x>v�: .}x��q|uv��21 ) �YG��£>º�º�³ "+­���­U(fÒ�ËIÅ'Ì!Ã�ÐUÍ5Ã�Ê�ÆÈË�Ò0ÆÈÏ5ËÀÒ|Ó%Ò�Â�&xÄ�Ò3Ó�Æ é Ò�Ï ��� Æ é Ò�ÏOÅ�Ï5Î é Å�ÇÉå�Ò��öÊ�å5Ì!Ô]ËÈÔ)Å�Ë + \5&�l�� ��ã2Ã�Ï�ÒÌ Å�ÏXê�Ï#æVÅ'Ï�Ã�Ï5Ñ�˪ÂqÆ é ƪÅ�Çfæ�Æ é Æ*Ê�Ã�ÂXÃÀìK&¬ÆÈÏ]Í#Â/Ã�Ä!ÅQÄ�ÆÈÇÉÆ*Ê�˪Æ|ÌCÍ5Ã�ÇÉÎ�Ï�Ã�ÐFƪÅ�Ç�˪ÆÈÐ]Ò �¡ ©�¶�© i iª³)¶F¢£"+­���­U(fÒ�Ë�&îÄ�ÒFÅ�ÏSÆÈÏ5ËÀÒ|Ó%Ò� � (fÒ�Ë�L+Ê�å�Ì!ÔOËÈÔ)Å�Ë�;D~�:o\�L&j + \5&�l%lCZz�LÄ�Ò=Ó�Æ é Ò�Ï ��� Æ é Ò�Ï�Å�Ï5Îé Å�ÇÉå5Ò��aÊ�å�Ì!ÔLËÈÔ)Å�Ë + \5& l��Q��ã`Ã�Ï�ÒXÌ Å�ÏúÒií Ì�Æ|Ò�Ï5ËYÇÉÎVÌ!Ã�ÐUÍ#å>Ë�Ò}\OÊ�å5Ì!ÔLËiÔ)Å�Ë�\^]!T¦Z]@ k>:8& �

 �kDn�� � rw~�| x>��.�5>tî@ k>:qtm�u| {y|�s!|���x>���aksMn%tqrRsM��xys2;>|�PDr�v4��i��P�atm~Y� sa��xBs6� � + \5&�l {<kDvqrK~�xBvW_5xB~�sMk>n&�G�r0�qrs_,kD���uk � |uv);��ur�@'@�x�x>v�: � n%k*k�_�x>n%r�%sMnax>|*;>�^s_,kDn � x>n: ���£>º�º�³ "+­! 8­U(fÒ�Ë�&öZä��höÄ�ÒAÅ'Ê�Í5Ò!Ì�ƪÅ�Ç�39û k�Ð]Ã�æ�å>ÇÉåQÊ!ãCÆ � Ò � ã��NZ;1q� ��� �LÅ�Ï#æXhAZ 1Kh ��� �Kã`Å�Ï#æ� � Å�Ï#æFh � Å�Â/Ò0Í#ÂqÆÈÐ]Ò!Ê � û�åµÍQÍ5Ã�Ê�ÒAÅ é Å�ÇÉå�Ò��Wi"�SÆ*ÊsÓ�Æ é Ò�ÏöÊ�å5Ì!ÔOËÈÔ)Å�Ë � � + \,&�l`Z#��� � h � � "�Ô5Ò�ÏSÆÈË3Æ*ÊÍ5Ã�Ê!Ê�ƪÄ�Ç*Ò=Ë�ÃVÒií Ì�Æ|Ò�Ï5ËYÇÉÎ`ì�Å%Ì�Ë�Ã�Â}& �Á2Â/Ã�ÃÀì � 5*t �m� kD�%r?�{Z^1�$Y� � {�_,kDn&%+l $ �)j���j 1 ' Gor0�qrwvF_5x>~ sMkDn%|uv�;�&N|���|*@�@ r('q|uxBsMrKGor0�mr*)�kDn%r�'q|,��~�tq��s~�xB�arP|u�?�{ZZ1 $ � � h � G-r0�m|u�0|�)+) r('q|uxBsMr����+,D|�P>rw�Ktq� + \,&�lqG�H�� 8�r()+)�xFHUG.-*{ � r)x>nar/'qk>vqr�G¡ ©�¶�© i iª³)¶F¢£"+­�0�­ � Æ é Ò�ÏNÅAÊ�Í5Ò!Ì�ƪÅ�Çm30û k Ð]Ã�æ�å%ÇÉåQÊR&fã�Å�Ï#æ�Å�Ï{ÆÈÏ5ËÀÒ|Ó%Ò�Â6�úÊ�å5Ì!Ô'ËiÔ)Å�Ë1,>~('o\ + \5& l�j���lgi�>ã`Ã�Ï�ÒAÌ Å�ÏnÒiíîÌ�Æ|Ò�Ï5˪ÇÉÎ�ì�Å%Ì�ËÀÃ�Â0& �

r0�qr=_,kD�u��k � |�v2,���r()+)�xU|��*'qtqrsMkL5*��x�)�|�n �23 � � ���£>º�º�³ "+­�3�­U(fÒ�Ë�Å�Ï{ÆÈÏ5Ë�Ò|Ó%Ò�Â�&gÄ�Ò`Ó�Æ é Ò�Ï � û�å�ÍQÍ5Ã�Ê�Ò0ËiÔ)Å�Ë à Ò=Å�Â/Ò3Ó�Æ é Ò�Ï{ËiÔ5Ò é Å�ÇÉå�Ò!Ê�ZfjM\�l�- /1 Å�Ï#æ�fj54xl -9ã6,D~('f\ �fj54ml<Z �OÊ�å�Ì!ÔúËÈÔ)Å�ËR\�7�T Z98*) k:'8& � "�Ô5Ò�ÏxËiÔ5Ò�Â/Ò]Æ*Ê+Å�ÏîÒií Ì�Æ|Ò�Ï5Ë-Í#Â/Ã�Ì!Ò æ�å%Â/Ò]Ë�ÃÌ!Ã�ÐUÍ#å%ËÀÒMËÈÔ5Ò é Å�ÇÉå5Ò<;NÊ�å�Ì!Ô{ËÈÔ)Å�Ë�;=7sZzZ�)�k:'8& �

�?>

Page 20: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

r0�qrX_,kD���uk � |uv , ��r()+)�xc|u�:x ,Dr�vqrwnax>�u| %�xBsa|ukDv.k�_�8�r )�)�x'H9G.>m{�|uv�sM��xBs � r8x>nar)vqk>s�narw��sMn%|u~�sar('4saksM�mr~�x>�%r � �qrwn%r/,D~('o\ �fj54ql�Z �&G��:k � r�P>rwnw{pvqkBsMr�sa��xBsRsa�q|u��,>rwvqr�nMx>��| %�xysM|uk>v x �q� �u|ur��gkDvm����_,kDnR� � rw~�| x>�.�5>t )�k:'qtq��||G��£>º�º�³ "+­Y¯���­U(fÒ�ËfÅUÊ�Í5Ò!Ì�ƪÅ�Ç<30û k Ð]Ã�æ�å%ÇÉåQÊ�&NZg�5hQã&�]Z^1q� � � �Kã)hMZ 1Kh � � �KãfÄ�Ò¦Ó�Æ é Ò�Ï � û�å�ÍQÍ5Ã�Ê�Òà Ò'Å�Â/Ò<Ó�Æ é Ò�ÏúËiÔ5Ò é Å�ÇÉå5Ò!ÊPZfjM\Sl ��3 1 Å�Ï#æ[�fj 4úl��=ã ,D~ 'f\�fj54mlM� �¬Ê�å5Ì!ÔSËÈÔ)Å�Ë�\�7 T�Z98 )�k:'c& ��5Å�ÇÉå5Ò!Ê<;%ã$< i���Ê�å5Ì!ÔLËÈÔ)Å�Ë&;��T_Z )�k:'8& Ì Å�ÏnÄ�ÒAÌ!Ã�ÐUÍ#å%Ë�Ò æLÒiíîÌ�Æ|Ò�Ï5˪ÇÉÎ �Á2Â/Ã�ÃÀì � 8�r�s W Z",D~ 'f\�fj54ml�G 7ë_9,>~('f\ � W j + \5& lalgi��m{ysa�qrwv��^� )gkDn%kD�u�ux>n%�THUG em{ � r-_5xB~�sMk>n�&cG d sM�mrwn � |��arB{|�s )�tm�%s<��rPsM�qr)~�x>�%r�sa��xBs<,D~('o\ W jY� � h � l2Zÿ�&G`r0�qrwn%r�_,kDn%r>{psM�qr�nar)r�J*|u��sM��xWPBx>�utqr�OVl¥-0/�� �� �atm~Y�4sM��xysW O�T~� )�k:'s� � h � G

H���sa�qrr�JJsarwv2'qr '`, )� x>��,>kDna|�sM�2)�{Q¡�v2'.|uv<sMr ,Drwn%��k�xBv2' G:�atm~Y�.sa��xBs0k � � G 4WZ W G6_:k>sar�sM��xys\ 7���] Tz\5\ 7 l��0Tz\,Z 8 l��0T_Z 8���] ) k 'c&

r0�qr�v {1�<� 8 r )�)�x]H9G.>m{ � rX¡�v2'¥x>v4rw�ur )�r�v<s ; �%tq~Y��sM��xys/;�7���]CZ Z x>v ' � rUk �msYxB|uv�LMZ �8� W xBv2';)G

1 �

Page 21: Research | MIT CSAIL · Û,ÖqÙ¯â¯å>ß àÄÚ¯Ù¯ÝyÕ,ÓºåcÙ¯Ø Ý ÖcٯٯåcÕ©ê0Ü Ó¿ßäZ×ºÜ ßWÜ ÙSÕÜ â'Ó¿Ù'Õ,ÞZÜ ä¯×ÖqÓºÙ'ßWåwâ¯Ü

��������������� �������������������! �"$#&%('�)+*�)-,�)+.0/21�354+6�"87+��9;:=<>4+��?+"@7+�A6�"0BC"EDF�G4+6CH�<>?-<�BC"$4I"$?-7�JLKNMOJ0P$MJ ] ���=�������8 �"$#Q%SR�)-T�/U1�3 <V�W1;BXBX�G4+BC"0:Y4@7+�A6�"0BC"�BX1[Z=���G1�'

\ 1;BXBX��4+BC"0:O4UH����������F �"$#Q%('�]!)^R�]_)-T�]2/AM��W1;BXBX�G4+BC"0:Y4E` 7a �0b[cYde�f��� ���O�2g@6�"ih><�����"07N%(jk)Il 7 /!7+�=�A6m4+6=<>4E` 7Nn R 7] T�oqp] BC1rZC' ]<�:�Zsjt��7u1�3��G"0:=9�4+6fJLKv<�:=Zml 7 ��7u1�3��G"0:�9�4+6mJ 1�wx <�����"07N%zyO)-{�)I|�/AM�<Ch><�����Zm7-�G9;:=<>4+��?+"}1;:&BC"07+7+<>9�"~j w

���X��� \ 6�1Y1;7+"�M8�=:=��3S1�?-BV�G#�<>4f?A<�:=Z�1;BmM8h�<����="07���MFl�P0MFl ] M8l � MFl���<�:=Z�l�1�3��G"0:�9�4+6�J 1�w\ 1;BCH���4I"s4+6�"m3S1;���G1�DF��:�9t�[�=<�:Y4+�G4+�G"07$��`uP n R P T oq� BC1rZ�'�Mu` ] n R ] T oq� BX1[ZC'�Mu`_� n|;R � BC1rZ�'�M�` � n R � T o�� M=� n {$�NM�` � n R� T oq� w ` n %�` � / ] T o BX1[Z�' w

� 4@��7@��BCH�1�?+4+<�:Y4u4I1V:�1�4I"~4+6�<>4E` n %�` � / ] T o n | ] R � ] T o n %* 7 , P .0/�R � T o BC1rZ�' w� "0:=Z�4+6="Ch�<����="07X%�` P )A` ] )A` � )A` � )A` � )A`�/84I1�4+6�"Ch�"$?-�G��"$?~<�:=ZQ�$<>?+?+#t1;��4i4+6�"C3(1;���G1�DF��:�9� "$?+1> � r:�1�D8�G"0Z�9�"~H=?-1Y1�37U1�3¡ [:�1�DF�G"0Z�9�"��

¢ w � 6�1�D£4+6=<>4N`¤��7E<��W1;BXBV�G4+BC"0:Y4E��:���<�7I"07C%�` � )-T�/U4I1s4+6�"�h�<����="��W1;BXBX��4I4I"0Z&4I1s��:4+6�"N�W1;BXBV�G4+BC"0:Y4E` ] �

¥_¦i§ %z¨0)I©�)I© ] /_�r` n `~ª� T=«­¬®` ] n RYª^T�« ��¯° w � 6�1�D�4+6�<>4@`}±�.E��7u<���7I1�<��W1;BXBX�G4+BC"0:Y4U��:���<�7I"07i%I%*�)-,�)^Rr/A)-T�/AM�4I1�4+6�"Eh><�����"07u�W1;B� BX�G4I4I"0Z�4I1i�[#��W1;BXBV�G4+BC"0:Y4+7�` 7 M²` P M²` � M;<�:=Z³4+6=<>4�4+6�"uH�1�D!"$?�1�3�TC6="$?+"U��7¡4+6�"U7+<�BC"<�7F��:�`C�

¥�¦N§ %(´r)+µ�)-¶�)-¨0)I© 7 )I©[P�)I©Y�>)I©�/·�¸`}±�. n *Y¹W,Lº;RY»0T�«�¬¼` 7 n RO¹0T�« p ¬`uP n R º T «-� ¬®`!� n R » T «-� ¬®` n %�`_��/ ª T «�¯

½ w � 6�1�D¾4+6=<>48`!�}��7u<C�W1;BXBX�G4+BC"0:Y4u4I1C4+6�"}H=?+1rZ=�=�W4!1�3k4+6="Eh><�����"07U�W1;BVBX�G4I4I"0Zs4I1C�[#` � <�:=Zt` ] �

¥�¦N§ %z¶=)I¿U)-¨$)I©Y�;)I© � )I© ] )I© � /À�Á`!� n R » T « � ¬®` � n R;Â�T « � ¬` ] n R ª T «-� ¬®`!� n %�` � / ª T «

¯

à w � 6�1�D�4+6=<>4�` 7 ��7 <}�W1;BXBX��4+BC"0:O4�4I1i<�:C��:Y4I"$9�"$?�1�3���"0:�9�4+6³JLKNM[`uP ��7 <}�W1;BXBX�G4+BC"0:Y44I1~<�:C��:Y4I"$9�"$?�1�3��G"0:=9�4+6NJ P M;<�:�ZC` ] ��7 <i�W1;BXBX�G4+BC"0:Y4 4I1~<�:C��:Y4I"$9�"$?2��:³4+6�"U��:O4I"$?-h�<��% ° u �LÄ5Å ) ° u � / w �|�,Dtqnar 1 �%�!n%k*kYÆ�k[Æ!Çvqk � �ur '2,DrPk[Æ�xH5J|�,Dv�xysMtqn%r

1>�