If you're looking for more in-depth material, I stumbled on Ren's original dissertation covering a lot of this material more in depth! https://people.eecs.berkeley.edu/~ren/thesis/renng-thesis.pdf
If you're looking for more in-depth material, I stumbled on Ren's original dissertation covering a lot of this material more in depth! https://people.eecs.berkeley.edu/~ren/thesis/renng-thesis.pdf