Writing

Notes on probabilistic programming, inference, and robotics.

• lazy-monad.rs ↗
  May 30th 2026

  An exploration in code of functional type class hierarchies in Rust using GATs and lifetime parameters, with reverse-mode and forward-mode automatic differentiation.

• Importance Sampling over Discrete Structures
  March 13th 2020

  A short proof of the consistency of importance sampling when a model contains discrete choices over structures with different sets of parameters.