Recent Posts

Hop Lists

Hop Lists are a novel retroactive set data-structure that allow for a branching timeline.

Graph SLAM

Tracking a robot’s motion with maximum likelihood estimation.

Finite Particle Approximations

Say you have a discrete distribution $\pi$ that you want to approximate with a small number of weighted particles. Intuitively, it seems like the the best ch...

Testing With Julia

The standard way of writing tests Julia is to write a test/runtests.jl file. Running Pkg.test() will when start a new Julia process that loads your package a...

Finite Basis Gaussian Processes

If your GP kernel corresponds to an inner product in a low enough dimensional space, you can speed up inference by taking a weight space view.