[jecel]

There are some common features, but also differences that makes them a bit hard to compare directly.

An academic project that takes yet another approach to this design space is:

http://cba.mit.edu/projects/rala/

[mikewarot]

Unfortunately, none of the links there go to anything, unless you have a username/password to sign in.

[jecel]

Here is a link to an "open access" copy of the 2010 RALA paper:

https://dspace.mit.edu/handle/1721.1/72349