Writing

Notes on probabilistic programming, inference, and robotics.

• semiring-ad.rs ↗
  October 14th 2026

  An exploration in code of forward- and reverse-mode automatic differentiation over semirings in Rust.

• 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.