1. Particle filtering versus beam search

    I had a very interesting discussion at NIPS with Vikash Mansingka about beam search and particle filtering. Much of what is below is a result of this conversation and he deserves much credit. In a very real sense, particle filtering can be seen (for many models) as a sort of stochastic beam search. Just to set the stage, let's talk about generic beam search: The key variant in beam search algorithms is the score function that's used. The most naive is just path cost---how much did we have to pay
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