To plot cost surfaces for Fig. , we analytically generated surfaces using Eqs. 17-23. We used a cost of $24 per edge for RBFE calculations run on the high-performance cluster, UCI-HPC3. We calculated the cost of edges using 60 hours of GPU time per edge. The UCI-HPC3 cluster costs $0.40 per hour. We created visualizations of continuous surfaces with a meshgrid. Our code to generate cost surfaces is cost_plot.py .