This is a good paper, that requires some minor tweaks to be camera ready. All 4 reviewers supported acceptance, two knowledgeable reviewers strongly supported acceptance. R3 was the strongest critic but agreed the author response addressed their major concerns. This is a good theory paper that is well written, precise & accurate, the results provide new insights and generalize to other problem settings. The reviewers had some concern over the framing of the contributions, in particular the novelty and utility of the proposed algorithm. Please carefully review the suggestions and edit the tone of the paper.