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When in doubt, increase the covariance. Add some terms to the diagonal.

It remembers me a little of deep learning: just stack some layers. Except it's not just that easy.

In deep learning it's usually hard enough to get past the installation of the 2 billion dependencies that one needs to run anything before you realize you don't have enough vram anyhow.

But of course that’s not doing science.

Alchemy tricks to get these things working in real life aren't supposed to be science.

Agree, but be mindful to not confuse the two.

if you are not working on a space shuttle, 99% of controls and state estimation is tuning things until it works.

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