During this period, Tom Banks, Willy Fischler, Stephen Shenker and Leonard Susskind formulated matrix theory, a full holographic description of M-theory using IIA D0 branes. This was the first definition of string theory that was fully non-perturbative and a concrete mathematical realization of the holographic principle. It is an example of a gauge-gravity duality and is now understood to be a special case of the AdS/CFT correspondence. Andrew Strominger and Cumrun Vafa calculated the entropy of certain configurations of D-branes and found agreement with the semi-classical answer for extreme charged black holes. Petr Hořava and Witten found the eleven-dimensional formulation of the heterotic string theories, showing that orbifolds solve the chirality problem. Witten noted that the effective description of the physics of D-branes at low energies is by a supersymmetric gauge theory, and found geometrical interpretations of mathematical structures in gauge theory that he and Nathan Seiberg had earlier discovered in terms of the location of the branes.