Reviews were quite borderline, but ultimately slightly on the positive side. Given the borderline scores, a discussion was initiated. The reviewers raised some issues about novelty/comparisons (R1,R3), motivation (R2), missing work (R2,R3), and experimental analysis (R4). Mostly though the reviewers did not consider these to be critical issues. The discussion eventually resulted in some positive movement of the scores/comments and reached a consensus around recommending acceptance.