In a mixing bowl, stir together orange and lime juices, zests, garlic, cumin, oregano, kosher salt, pepper, and cilantro. Make a "panade" by adding torn bread pieces to the sauce. Stir to combine and let stand 5 minutes. Mash the soaked bread with the back of a spoon until the mixture is a paste-like consistency. Mix in ground beef until the panade is fully distributed (for tender burgers, don't over-mix).