├── .DS_Store ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── _build ├── .doctrees │ ├── README.doctree │ ├── bib.doctree │ ├── chapters │ │ ├── adf │ │ │ └── adf_index.doctree │ │ ├── blank.doctree │ │ ├── bnp │ │ │ └── bnp_index.doctree │ │ ├── changepoint │ │ │ └── changepoint_index.doctree │ │ ├── control │ │ │ └── control_index.doctree │ │ ├── ensemble │ │ │ └── ensemble_index.doctree │ │ ├── extended │ │ │ ├── extended_filter.doctree │ │ │ ├── extended_index.doctree │ │ │ ├── extended_parallel.doctree │ │ │ └── extended_smoother.doctree │ │ ├── gp │ │ │ └── gp_index.doctree │ │ ├── hmm │ │ │ ├── hmm.doctree │ │ │ ├── hmm_filter.doctree │ │ │ ├── hmm_index.doctree │ │ │ ├── hmm_parallel.doctree │ │ │ ├── hmm_sampling.doctree │ │ │ ├── hmm_smoother.doctree │ │ │ └── hmm_viterbi.doctree │ │ ├── learning │ │ │ ├── em.doctree │ │ │ ├── learning_index.doctree │ │ │ ├── mcmc.doctree │ │ │ ├── sgd.doctree │ │ │ └── vb.doctree │ │ ├── lgssm │ │ │ ├── kalman_filter.doctree │ │ │ ├── kalman_parallel.doctree │ │ │ ├── kalman_sampling.doctree │ │ │ ├── kalman_smoother.doctree │ │ │ └── lgssm_index.doctree │ │ ├── ode │ │ │ └── ode_index.doctree │ │ ├── pf │ │ │ └── pf_index.doctree │ │ ├── postlin │ │ │ └── postlin_index.doctree │ │ ├── quadrature │ │ │ └── quadrature_index.doctree │ │ ├── scratch.doctree │ │ ├── scratchpad.doctree │ │ ├── smc │ │ │ └── smc_index.doctree │ │ ├── ssm │ │ │ ├── hmm.doctree │ │ │ ├── inference.doctree │ │ │ ├── lds.doctree │ │ │ ├── learning.doctree │ │ │ ├── nlds.doctree │ │ │ ├── ssm.doctree │ │ │ ├── ssm_index.doctree │ │ │ ├── ssm_intro.doctree │ │ │ └── ssm_old.doctree │ │ ├── timeseries │ │ │ └── timeseries_index.doctree │ │ ├── tracking │ │ │ └── tracking_index.doctree │ │ ├── unscented │ │ │ ├── unscented_filter.doctree │ │ │ ├── unscented_index.doctree │ │ │ └── unscented_smoother.doctree │ │ └── vi │ │ │ └── vi_index.doctree │ ├── environment.pickle │ ├── glue_cache.json │ ├── old │ │ ├── ssm.doctree │ │ └── ssm_old.doctree │ └── root.doctree ├── html │ ├── .buildinfo │ ├── README.html │ ├── _images │ │ ├── SSM-AR-inputs.png │ │ ├── SSM-simplified.png │ │ ├── casino.png │ │ ├── cat_dog.jpg │ │ ├── dbn-inference-problems.png │ │ ├── hmmDgmPlatesY.png │ │ ├── hmm_14_0.png │ │ ├── hmm_15_0.png │ │ ├── hmm_15_1.png │ │ ├── hmm_16_1.png │ │ ├── hmm_17_0.png │ │ ├── hmm_18_1.png │ │ ├── inference-problems-tikz.png │ │ ├── inference_10_1.png │ │ ├── inference_11_1.png │ │ ├── inference_14_1.png │ │ ├── inference_15_1.png │ │ ├── inference_16_1.png │ │ ├── inference_17_1.png │ │ ├── inference_7_1.png │ │ ├── inference_8_1.png │ │ ├── inference_9_1.png │ │ ├── lds_5_1.png │ │ ├── lds_6_1.png │ │ ├── lds_7_1.png │ │ ├── pendulum.png │ │ ├── scratch_2_0.png │ │ ├── ssm_15_0.png │ │ ├── ssm_16_1.png │ │ ├── ssm_18_1.png │ │ ├── ssm_19_1.png │ │ ├── ssm_20_1.png │ │ ├── ssm_21_1.png │ │ ├── ssm_24_1.png │ │ ├── ssm_25_1.png │ │ ├── ssm_29_1.png │ │ ├── ssm_30_1.png │ │ ├── ssm_31_1.png │ │ ├── ssm_old_15_0.png │ │ ├── ssm_old_16_1.png │ │ ├── ssm_old_21_1.png │ │ ├── ssm_old_30_1.png │ │ └── ssm_old_31_1.png │ ├── _panels_static │ │ ├── panels-main.c949a650a448cc0ae9fd3441c0e17fb0.css │ │ └── panels-variables.06eb56fa6e07937060861dad626602ad.css │ ├── _sources │ │ ├── README.md │ │ ├── bib.md │ │ ├── chapters │ │ │ ├── adf │ │ │ │ └── adf_index.md │ │ │ ├── blank.ipynb │ │ │ ├── bnp │ │ │ │ └── bnp_index.md │ │ │ ├── changepoint │ │ │ │ └── changepoint_index.md │ │ │ ├── control │ │ │ │ └── control_index.md │ │ │ ├── ensemble │ │ │ │ └── ensemble_index.md │ │ │ ├── extended │ │ │ │ ├── extended_filter.ipynb │ │ │ │ ├── extended_index.md │ │ │ │ ├── extended_parallel.ipynb │ │ │ │ └── extended_smoother.ipynb │ │ │ ├── gp │ │ │ │ └── gp_index.md │ │ │ ├── hmm │ │ │ │ ├── hmm.ipynb │ │ │ │ ├── hmm_filter.ipynb │ │ │ │ ├── hmm_index.md │ │ │ │ ├── hmm_parallel.ipynb │ │ │ │ ├── hmm_sampling.ipynb │ │ │ │ ├── hmm_smoother.ipynb │ │ │ │ └── hmm_viterbi.ipynb │ │ │ ├── learning │ │ │ │ ├── em.ipynb │ │ │ │ ├── learning_index.md │ │ │ │ ├── mcmc.ipynb │ │ │ │ ├── sgd.ipynb │ │ │ │ └── vb.ipynb │ │ │ ├── lgssm │ │ │ │ ├── kalman_filter.ipynb │ │ │ │ ├── kalman_parallel.ipynb │ │ │ │ ├── kalman_sampling.ipynb │ │ │ │ ├── kalman_smoother.ipynb │ │ │ │ └── lgssm_index.md │ │ │ ├── ode │ │ │ │ └── ode_index.md │ │ │ ├── pf │ │ │ │ └── pf_index.md │ │ │ ├── postlin │ │ │ │ └── postlin_index.md │ │ │ ├── quadrature │ │ │ │ └── quadrature_index.md │ │ │ ├── scratch.ipynb │ │ │ ├── scratch.md │ │ │ ├── scratchpad.ipynb │ │ │ ├── smc │ │ │ │ └── smc_index.md │ │ │ ├── ssm │ │ │ │ ├── hmm.ipynb │ │ │ │ ├── inference.ipynb │ │ │ │ ├── lds.ipynb │ │ │ │ ├── learning.ipynb │ │ │ │ ├── nlds.ipynb │ │ │ │ ├── ssm.ipynb │ │ │ │ ├── ssm_index.md │ │ │ │ ├── ssm_intro.ipynb │ │ │ │ └── ssm_old.ipynb │ │ │ ├── timeseries │ │ │ │ └── timeseries_index.md │ │ │ ├── tracking │ │ │ │ └── tracking_index.md │ │ │ ├── unscented │ │ │ │ ├── unscented_filter.ipynb │ │ │ │ ├── unscented_index.md │ │ │ │ └── unscented_smoother.ipynb │ │ │ └── vi │ │ │ │ └── vi_index.md │ │ ├── old │ │ │ ├── ssm.ipynb │ │ │ └── ssm_old.ipynb │ │ └── root.md │ ├── _static │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ └── __init__.cpython-38.pyc │ │ ├── basic.css │ │ ├── check-solid.svg │ │ ├── clipboard.min.js │ │ ├── copy-button.svg │ │ ├── copybutton.css │ │ ├── copybutton.js │ │ ├── copybutton_funcs.js │ │ ├── css │ │ │ ├── blank.css │ │ │ ├── index.ff1ffe594081f20da1ef19478df9384b.css │ │ │ └── theme.css │ │ ├── doctools.js │ │ ├── documentation_options.js │ │ ├── file.png │ │ ├── images │ │ │ ├── logo_binder.svg │ │ │ ├── logo_colab.png │ │ │ └── logo_jupyterhub.svg │ │ ├── jquery-3.5.1.js │ │ ├── jquery.js │ │ ├── js │ │ │ └── index.be7d3bbb2ef33a8344ce.js │ │ ├── language_data.js │ │ ├── minus.png │ │ ├── mystnb.css │ │ ├── panels-main.c949a650a448cc0ae9fd3441c0e17fb0.css │ │ ├── panels-variables.06eb56fa6e07937060861dad626602ad.css │ │ ├── plus.png │ │ ├── pygments.css │ │ ├── searchtools.js │ │ ├── sphinx-book-theme.css │ │ ├── sphinx-book-theme.d59cb220de22ca1c485ebbdc042f0030.js │ │ ├── sphinx-book-theme.e2363ea40746bee74734a24ffefccd78.css │ │ ├── sphinx-thebe.css │ │ ├── sphinx-thebe.js │ │ ├── togglebutton.css │ │ ├── togglebutton.js │ │ ├── underscore-1.13.1.js │ │ ├── underscore.js │ │ ├── vendor │ │ │ └── fontawesome │ │ │ │ └── 5.13.0 │ │ │ │ ├── LICENSE.txt │ │ │ │ ├── css │ │ │ │ └── all.min.css │ │ │ │ └── webfonts │ │ │ │ ├── fa-brands-400.eot │ │ │ │ ├── fa-brands-400.svg │ │ │ │ ├── fa-brands-400.ttf │ │ │ │ ├── fa-brands-400.woff │ │ │ │ ├── fa-brands-400.woff2 │ │ │ │ ├── fa-regular-400.eot │ │ │ │ ├── fa-regular-400.svg │ │ │ │ ├── fa-regular-400.ttf │ │ │ │ ├── fa-regular-400.woff │ │ │ │ ├── fa-regular-400.woff2 │ │ │ │ ├── fa-solid-900.eot │ │ │ │ ├── fa-solid-900.svg │ │ │ │ ├── fa-solid-900.ttf │ │ │ │ ├── fa-solid-900.woff │ │ │ │ └── fa-solid-900.woff2 │ │ └── webpack-macros.html │ ├── bib.html │ ├── chapters │ │ ├── adf │ │ │ └── adf_index.html │ │ ├── blank.html │ │ ├── bnp │ │ │ └── bnp_index.html │ │ ├── changepoint │ │ │ └── changepoint_index.html │ │ ├── control │ │ │ └── control_index.html │ │ ├── ensemble │ │ │ └── ensemble_index.html │ │ ├── extended │ │ │ ├── extended_filter.html │ │ │ ├── extended_index.html │ │ │ ├── extended_parallel.html │ │ │ └── extended_smoother.html │ │ ├── gp │ │ │ └── gp_index.html │ │ ├── hmm │ │ │ ├── hmm.html │ │ │ ├── hmm_filter.html │ │ │ ├── hmm_index.html │ │ │ ├── hmm_parallel.html │ │ │ ├── hmm_sampling.html │ │ │ ├── hmm_smoother.html │ │ │ └── hmm_viterbi.html │ │ ├── learning │ │ │ ├── em.html │ │ │ ├── learning_index.html │ │ │ ├── mcmc.html │ │ │ ├── sgd.html │ │ │ └── vb.html │ │ ├── lgssm │ │ │ ├── kalman_filter.html │ │ │ ├── kalman_parallel.html │ │ │ ├── kalman_sampling.html │ │ │ ├── kalman_smoother.html │ │ │ └── lgssm_index.html │ │ ├── ode │ │ │ └── ode_index.html │ │ ├── pf │ │ │ └── pf_index.html │ │ ├── postlin │ │ │ └── postlin_index.html │ │ ├── quadrature │ │ │ └── quadrature_index.html │ │ ├── scratch.html │ │ ├── scratchpad.html │ │ ├── smc │ │ │ └── smc_index.html │ │ ├── ssm │ │ │ ├── hmm.html │ │ │ ├── inference.html │ │ │ ├── lds.html │ │ │ ├── learning.html │ │ │ ├── nlds.html │ │ │ ├── ssm.html │ │ │ ├── ssm_index.html │ │ │ ├── ssm_intro.html │ │ │ └── ssm_old.html │ │ ├── timeseries │ │ │ └── timeseries_index.html │ │ ├── tracking │ │ │ └── tracking_index.html │ │ ├── unscented │ │ │ ├── unscented_filter.html │ │ │ ├── unscented_index.html │ │ │ └── unscented_smoother.html │ │ └── vi │ │ │ └── vi_index.html │ ├── genindex.html │ ├── index.html │ ├── objects.inv │ ├── old │ │ ├── ssm.html │ │ └── ssm_old.html │ ├── reports │ │ ├── hmm.log │ │ ├── hmm_filter.log │ │ ├── inference.log │ │ ├── lds.log │ │ ├── learning.log │ │ ├── nlds.log │ │ ├── scratchpad.log │ │ ├── ssm.log │ │ └── ssm_old.log │ ├── root.html │ ├── search.html │ └── searchindex.js └── jupyter_execute │ ├── chapters │ ├── blank.ipynb │ ├── blank.py │ ├── extended │ │ ├── extended_filter.ipynb │ │ ├── extended_filter.py │ │ ├── extended_parallel.ipynb │ │ ├── extended_parallel.py │ │ ├── extended_smoother.ipynb │ │ └── extended_smoother.py │ ├── hmm │ │ ├── hmm.ipynb │ │ ├── hmm.py │ │ ├── hmm_filter.ipynb │ │ ├── hmm_filter.py │ │ ├── hmm_parallel.ipynb │ │ ├── hmm_parallel.py │ │ ├── hmm_sampling.ipynb │ │ ├── hmm_sampling.py │ │ ├── hmm_smoother.ipynb │ │ ├── hmm_smoother.py │ │ ├── hmm_viterbi.ipynb │ │ └── hmm_viterbi.py │ ├── learning │ │ ├── em.ipynb │ │ ├── em.py │ │ ├── mcmc.ipynb │ │ ├── mcmc.py │ │ ├── sgd.ipynb │ │ ├── sgd.py │ │ ├── vb.ipynb │ │ └── vb.py │ ├── lgssm │ │ ├── kalman_filter.ipynb │ │ ├── kalman_filter.py │ │ ├── kalman_parallel.ipynb │ │ ├── kalman_parallel.py │ │ ├── kalman_sampling.ipynb │ │ ├── kalman_sampling.py │ │ ├── kalman_smoother.ipynb │ │ └── kalman_smoother.py │ ├── scratch.ipynb │ ├── scratch.py │ ├── scratch_2_0.png │ ├── scratchpad.ipynb │ ├── scratchpad.py │ ├── ssm │ │ ├── hmm.ipynb │ │ ├── hmm.py │ │ ├── hmm_14_0.png │ │ ├── hmm_15_0.png │ │ ├── hmm_15_1.png │ │ ├── hmm_16_1.png │ │ ├── hmm_17_0.png │ │ ├── hmm_18_1.png │ │ ├── inference.ipynb │ │ ├── inference.py │ │ ├── inference_10_1.png │ │ ├── inference_11_1.png │ │ ├── inference_14_1.png │ │ ├── inference_15_1.png │ │ ├── inference_16_1.png │ │ ├── inference_17_1.png │ │ ├── inference_7_1.png │ │ ├── inference_8_1.png │ │ ├── inference_9_1.png │ │ ├── lds.ipynb │ │ ├── lds.py │ │ ├── lds_5_1.png │ │ ├── lds_6_1.png │ │ ├── lds_7_1.png │ │ ├── learning.ipynb │ │ ├── learning.py │ │ ├── nlds.ipynb │ │ ├── nlds.py │ │ ├── ssm.ipynb │ │ ├── ssm.py │ │ ├── ssm_15_0.png │ │ ├── ssm_16_1.png │ │ ├── ssm_18_1.png │ │ ├── ssm_19_1.png │ │ ├── ssm_20_1.png │ │ ├── ssm_21_1.png │ │ ├── ssm_24_1.png │ │ ├── ssm_25_1.png │ │ ├── ssm_29_1.png │ │ ├── ssm_30_1.png │ │ ├── ssm_31_1.png │ │ ├── ssm_intro.ipynb │ │ ├── ssm_intro.py │ │ ├── ssm_old.ipynb │ │ ├── ssm_old.py │ │ ├── ssm_old_15_0.png │ │ ├── ssm_old_16_1.png │ │ ├── ssm_old_21_1.png │ │ ├── ssm_old_30_1.png │ │ └── ssm_old_31_1.png │ └── unscented │ │ ├── unscented_filter.ipynb │ │ ├── unscented_filter.py │ │ ├── unscented_smoother.ipynb │ │ └── unscented_smoother.py │ └── old │ ├── ssm.ipynb │ ├── ssm.py │ ├── ssm_15_0.png │ ├── ssm_16_1.png │ ├── ssm_21_1.png │ ├── ssm_30_1.png │ ├── ssm_31_1.png │ ├── ssm_old.ipynb │ ├── ssm_old.py │ ├── ssm_old_15_0.png │ ├── ssm_old_16_1.png │ ├── ssm_old_21_1.png │ ├── ssm_old_30_1.png │ └── ssm_old_31_1.png ├── _config.yml ├── _toc.yml ├── bib.md ├── chapters ├── adf │ └── adf_index.md ├── bnp │ └── bnp_index.md ├── changepoint │ └── changepoint_index.md ├── control │ └── control_index.md ├── ensemble │ └── ensemble_index.md ├── extended │ ├── extended_filter.ipynb │ ├── extended_index.md │ ├── extended_parallel.ipynb │ └── extended_smoother.ipynb ├── gp │ └── gp_index.md ├── hmm │ ├── .ipynb_checkpoints │ │ └── hmm_discrete_numpy-checkpoint.ipynb │ ├── hmm_filter.ipynb │ ├── hmm_index.md │ ├── hmm_parallel.ipynb │ ├── hmm_sampling.ipynb │ ├── hmm_smoother.ipynb │ └── hmm_viterbi.ipynb ├── intro.md~ ├── learning │ └── learning_index.md ├── lgssm │ ├── kalman_filter.ipynb │ ├── kalman_parallel.ipynb │ ├── kalman_sampling.ipynb │ ├── kalman_smoother.ipynb │ └── lgssm_index.md ├── ode │ └── ode_index.md ├── pf │ └── pf_index.md ├── postlin │ └── postlin_index.md ├── quadrature │ └── quadrature_index.md ├── scratch.md ├── scratchpad.ipynb ├── smc │ └── smc_index.md ├── ssm │ ├── hmm.ipynb │ ├── inference.ipynb │ ├── lds.ipynb │ ├── learning.ipynb │ ├── nlds.ipynb │ ├── ssm_index.md │ └── ssm_intro.ipynb ├── timeseries │ └── timeseries_index.md ├── tracking │ └── tracking_index.md ├── unscented │ ├── unscented_filter.ipynb │ ├── unscented_index.md │ └── unscented_smoother.ipynb └── vi │ └── vi_index.md ├── figures ├── .DS_Store ├── SSM-AR-inputs.png ├── SSM-simplified.png ├── casino.png ├── cat_dog.jpg ├── dbn-inference-problems.png ├── hmmDgmPlatesY.png ├── 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