[Design] Should HomotopyBelief support heterogeneous kernel types (aka be a mixture)?

[dehann]

Considerations:

• This would effectively replace {Distributions/IncrementalInference}.Mixture.
• Type stability implications for large non-parametric beliefs will be hard, and can likely only be done via something similar to NamedTuple to capture all the types as generic parameters.

[Affie]

I had the same question today as storing the type for every point/node has a lot of overhead with serialization.

[Affie]

As an example: at the root of the tree, a concentrated Gaussian might not be very accurate, but lower down it can be the most efficient to use. I can't see a good reason for the leaves to not all be of the same type.

[dehann]

MOVED COMMENT TO:

• [Design] possible refactor manellic tree and leaf kernels to mixture or nonparametrics #327 (comment)