work on hmm intro

_build/html/.buildinfo

@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: c5a2310bf13978b00c67ecd28add61e0
+config: 25d7af8a3b2666f61e7e34d94bfa560e
 tags: 645f666f9bcd5a90fca523b33c5a78b7

_build/html/README.html

@@ -99,7 +99,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="chapters/ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -389,11 +389,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2FREADME.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2FREADME.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/_sources/chapters/scratch.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "markdown",
-   "id": "6986d0f3",
+   "id": "be3342e1",
    "metadata": {},
    "source": [
     "(ch:intro)=\n",
@@ -28,7 +28,7 @@
   {
    "cell_type": "code",
    "execution_count": 1,
-   "id": "5d887c30",
+   "id": "a1ee3323",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -41,7 +41,7 @@
   {
    "cell_type": "code",
    "execution_count": 2,
-   "id": "57031b40",
+   "id": "0de511fb",
    "metadata": {},
    "outputs": [
     {
@@ -84,7 +84,7 @@
   {
    "cell_type": "code",
    "execution_count": 3,
-   "id": "5e9e11d3",
+   "id": "aa053ad3",
    "metadata": {},
    "outputs": [
     {
@@ -113,7 +113,7 @@
   },
   {
    "cell_type": "markdown",
-   "id": "264fb6e0",
+   "id": "55d95c95",
    "metadata": {},
    "source": [
     "## Images\n",

_build/html/chapters/adf/adf_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/adf/adf_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/adf/adf_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/blank.html

@@ -99,7 +99,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -389,11 +389,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/blank.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/blank.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -414,7 +414,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/blank.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/blank.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../_static/images/logo_binder.svg"
@@ -422,7 +422,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/blank.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/blank.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/bnp/bnp_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/bnp/bnp_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/bnp/bnp_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/changepoint/changepoint_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/changepoint/changepoint_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/changepoint/changepoint_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/control/control_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/control/control_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/control/control_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/ensemble/ensemble_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/ensemble/ensemble_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/ensemble/ensemble_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/extended/extended_filter.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_filter.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_filter.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/extended/extended_filter.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/extended/extended_filter.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/extended/extended_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/extended/extended_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/extended/extended_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/extended/extended_parallel.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_parallel.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_parallel.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/extended/extended_parallel.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/extended/extended_parallel.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/extended/extended_parallel.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/extended/extended_parallel.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/extended/extended_smoother.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_smoother.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/extended/extended_smoother.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/extended/extended_smoother.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/extended/extended_smoother.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/extended/extended_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/extended/extended_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/gp/gp_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/gp/gp_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/gp/gp_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/hmm/hmm.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 current active has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/hmm/hmm.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/hmm/hmm.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/hmm/hmm.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/hmm/hmm.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>
@@ -646,7 +646,7 @@ const thebe_selector_output = ".output, .cell_output"
 <p>We first create the “Ocassionally dishonest casino” model from <span id="id1">[<a class="reference internal" href="../../bib.html#id3" title="R. Durbin, S. Eddy, A. Krogh, and G. Mitchison. Biological Sequence Analysis: Probabilistic Models of Proteins and Nucleic Acids. Cambridge University Press, 1998.">DEKM98</a>]</span>.</p>
 <div class="figure align-default" id="casino-fig">
 <a class="reference internal image-reference" href="../../_images/casino.png"><img alt="../../_images/casino.png" src="../../_images/casino.png" style="width: 208.5px; height: 142.5px;" /></a>
-<p class="caption"><span class="caption-number">Fig. 5 </span><span class="caption-text">Illustration of the casino HMM.</span><a class="headerlink" href="#casino-fig" title="Permalink to this image">¶</a></p>
+<p class="caption"><span class="caption-number">Fig. 6 </span><span class="caption-text">Illustration of the casino HMM.</span><a class="headerlink" href="#casino-fig" title="Permalink to this image">¶</a></p>
 </div>
 <p>There are 2 hidden states, each of which emit 6 possible observations.</p>
 <div class="cell docutils container">

_build/html/chapters/hmm/hmm_filter.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 current active has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_filter.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_filter.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/hmm/hmm_filter.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/hmm/hmm_filter.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/hmm/hmm_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/hmm/hmm_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/hmm/hmm_index.html

@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/hmm/hmm_parallel.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 current active has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_parallel.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_parallel.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/hmm/hmm_parallel.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/hmm/hmm_parallel.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/hmm/hmm_parallel.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/hmm/hmm_parallel.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/hmm/hmm_sampling.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 current active has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_sampling.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_sampling.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/hmm/hmm_sampling.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/hmm/hmm_sampling.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/hmm/hmm_sampling.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/hmm/hmm_sampling.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/hmm/hmm_smoother.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 current active has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_smoother.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_smoother.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/hmm/hmm_smoother.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/hmm/hmm_smoother.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/hmm/hmm_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/hmm/hmm_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/hmm/hmm_viterbi.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 current active has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_viterbi.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/hmm/hmm_viterbi.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/hmm/hmm_viterbi.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/hmm/hmm_viterbi.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/hmm/hmm_viterbi.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/hmm/hmm_viterbi.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/learning/em.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/em.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/em.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/learning/em.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/learning/em.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/learning/em.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/learning/em.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/learning/learning_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/learning_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/learning_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/learning/mcmc.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/mcmc.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/mcmc.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/learning/mcmc.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/learning/mcmc.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/learning/mcmc.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/learning/mcmc.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/learning/sgd.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/sgd.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/sgd.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/learning/sgd.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/learning/sgd.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/learning/sgd.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/learning/sgd.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/learning/vb.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/vb.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/learning/vb.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/learning/vb.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/learning/vb.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/learning/vb.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/learning/vb.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/lgssm/kalman_filter.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_filter.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_filter.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_filter.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_filter.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/lgssm/kalman_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/lgssm/kalman_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/lgssm/kalman_parallel.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_parallel.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_parallel.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_parallel.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_parallel.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/lgssm/kalman_parallel.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/lgssm/kalman_parallel.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/lgssm/kalman_sampling.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_sampling.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_sampling.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_sampling.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_sampling.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/lgssm/kalman_sampling.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/lgssm/kalman_sampling.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/lgssm/kalman_smoother.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_smoother.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/kalman_smoother.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_smoother.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/lgssm/kalman_smoother.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/lgssm/kalman_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/lgssm/kalman_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/lgssm/lgssm_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/lgssm_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/lgssm/lgssm_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/ode/ode_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/ode/ode_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/ode/ode_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/pf/pf_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/pf/pf_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/pf/pf_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/postlin/postlin_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/postlin/postlin_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/postlin/postlin_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/quadrature/quadrature_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/quadrature/quadrature_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/quadrature/quadrature_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/scratch.html

@@ -55,7 +55,7 @@ const thebe_selector_output = ".output, .cell_output"
     <script defer="defer" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
-    <link rel="next" title="Boilerplate" href="ssm/ssm.html" />
+    <link rel="next" title="What are State Space Models?" href="ssm/ssm.html" />
     <link rel="prev" title="State Space Models: A Modern Approach" href="../root.html" />
     <meta name="viewport" content="width=device-width, initial-scale=1" />
     <meta name="docsearch:language" content="None">
@@ -103,7 +103,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -396,11 +396,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/scratch.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/scratch.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -421,7 +421,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/scratch.md"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/scratch.md"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../_static/images/logo_binder.svg"
@@ -645,7 +645,7 @@ In <a class="reference internal" href="#cat-dog2"><span class="std std-numref">F
     <a class='right-next' id="next-link" href="ssm/ssm.html" title="next page">
     <div class="prev-next-info">
         <p class="prev-next-subtitle">next</p>
-        <p class="prev-next-title">Boilerplate</p>
+        <p class="prev-next-title">What are State Space Models?</p>
     </div>
     <i class="fas fa-angle-right"></i>
     </a>

_build/html/chapters/smc/smc_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/smc/smc_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/smc/smc_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/timeseries/timeseries_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/timeseries/timeseries_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/timeseries/timeseries_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/tracking/tracking_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/tracking/tracking_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/tracking/tracking_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/unscented/unscented_filter.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/unscented/unscented_filter.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/unscented/unscented_filter.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/unscented/unscented_filter.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/unscented/unscented_filter.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/unscented/unscented_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/unscented/unscented_filter.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/unscented/unscented_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/unscented/unscented_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/unscented/unscented_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/chapters/unscented/unscented_smoother.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/unscented/unscented_smoother.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/unscented/unscented_smoother.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -416,7 +416,7 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Launch interactive content"><i class="fas fa-rocket"></i></button>
     <div class="dropdown-buttons">
         
-        <a class="binder-button" href="https://mybinder.org/v2/gh/ssm-jax/ssm-book/main?urlpath=tree/chapters/unscented/unscented_smoother.ipynb"><button type="button"
+        <a class="binder-button" href="https://mybinder.org/v2/gh/probml/ssm-book/main?urlpath=tree/chapters/unscented/unscented_smoother.ipynb"><button type="button"
                 class="btn btn-secondary topbarbtn" title="Launch Binder" data-toggle="tooltip"
                 data-placement="left"><img class="binder-button-logo"
                     src="../../_static/images/logo_binder.svg"
@@ -424,7 +424,7 @@ const thebe_selector_output = ".output, .cell_output"
         
         
         
-        <a class="colab-button" href="https://colab.research.google.com/github/ssm-jax/ssm-book/blob/main/chapters/unscented/unscented_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
+        <a class="colab-button" href="https://colab.research.google.com/github/probml/ssm-book/blob/main/chapters/unscented/unscented_smoother.ipynb"><button type="button" class="btn btn-secondary topbarbtn"
                 title="Launch Colab" data-toggle="tooltip" data-placement="left"><img class="colab-button-logo"
                     src="../../_static/images/logo_colab.png"
                     alt="Interact on Colab">Colab</button></a>

_build/html/chapters/vi/vi_index.html

@@ -101,7 +101,7 @@ const thebe_selector_output = ".output, .cell_output"
  </li>
  <li class="toctree-l1">
   <a class="reference internal" href="../ssm/ssm.html">
-   Boilerplate
+   What are State Space Models?
   </a>
  </li>
  <li class="toctree-l1 has-children">
@@ -391,11 +391,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/vi/vi_index.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fchapters/vi/vi_index.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/genindex.html

@@ -372,11 +372,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fgenindex.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fgenindex.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/html/root.html

@@ -390,11 +390,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Froot.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Froot.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         
@@ -447,6 +447,7 @@ in automatic differentiation and parallel computing.</p>
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="chapters/scratch.html">Scratchpad</a></li>
 <li class="toctree-l1"><a class="reference internal" href="chapters/ssm/ssm.html">What are State Space Models?</a></li>
+<li class="toctree-l1"><a class="reference internal" href="chapters/ssm/ssm.html#hidden-markov-models">Hidden Markov Models</a></li>
 <li class="toctree-l1"><a class="reference internal" href="chapters/hmm/hmm_index.html">Inference in discrete SSMs</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="chapters/hmm/hmm.html">Hidden Markov Models</a></li>
 <li class="toctree-l2"><a class="reference internal" href="chapters/hmm/hmm_filter.html">HMM filtering (forwards algorithm)</a></li>

_build/html/search.html

@@ -378,11 +378,11 @@ const thebe_selector_output = ".output, .cell_output"
         aria-label="Connect with source repository"><i class="fab fa-github"></i></button>
     <div class="dropdown-buttons sourcebuttons">
         <a class="repository-button"
-            href="https://github.com/ssm-jax/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
+            href="https://github.com/probml/ssm-book"><button type="button" class="btn btn-secondary topbarbtn"
                 data-toggle="tooltip" data-placement="left" title="Source repository"><i
                     class="fab fa-github"></i>repository</button></a>
         <a class="issues-button"
-            href="https://github.com/ssm-jax/ssm-book/issues/new?title=Issue%20on%20page%20%2Fsearch.html&body=Your%20issue%20content%20here."><button
+            href="https://github.com/probml/ssm-book/issues/new?title=Issue%20on%20page%20%2Fsearch.html&body=Your%20issue%20content%20here."><button
                 type="button" class="btn btn-secondary topbarbtn" data-toggle="tooltip" data-placement="left"
                 title="Open an issue"><i class="fas fa-lightbulb"></i>open issue</button></a>
         

_build/jupyter_execute/chapters/scratch.ipynb

@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "markdown",
-   "id": "6986d0f3",
+   "id": "be3342e1",
    "metadata": {},
    "source": [
     "(ch:intro)=\n",
@@ -28,7 +28,7 @@
   {
    "cell_type": "code",
    "execution_count": 1,
-   "id": "5d887c30",
+   "id": "a1ee3323",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -41,7 +41,7 @@
   {
    "cell_type": "code",
    "execution_count": 2,
-   "id": "57031b40",
+   "id": "0de511fb",
    "metadata": {},
    "outputs": [
     {
@@ -84,7 +84,7 @@
   {
    "cell_type": "code",
    "execution_count": 3,
-   "id": "5e9e11d3",
+   "id": "aa053ad3",
    "metadata": {},
    "outputs": [
     {
@@ -113,7 +113,7 @@
   },
   {
    "cell_type": "markdown",
-   "id": "264fb6e0",
+   "id": "55d95c95",
    "metadata": {},
    "source": [
     "## Images\n",

_build/jupyter_execute/chapters/ssm/ssm.py

@@ -4,12 +4,16 @@
 # In[1]:
 
 
+# meta-data does not work yet in VScode
+# https://github.com/microsoft/vscode-jupyter/issues/1121
+
 {
     "tags": [
         "hide-cell"
     ]
 }
 
+
 ### Install necessary libraries
 
 try:
@@ -66,6 +70,8 @@ from jax.random import PRNGKey, split
 
 import inspect
 import inspect as py_inspect
+import rich
+
 from rich import inspect as r_inspect
 from rich import print as r_print
 
@@ -73,17 +79,199 @@ def print_source(fname):
     r_print(py_inspect.getsource(fname))
 
 
+# ```{math}
+# 
+# \newcommand\floor[1]{\lfloor#1\rfloor}
+# 
+# \newcommand{\real}{\mathbb{R}}
+# 
+# % Numbers
+# \newcommand{\vzero}{\boldsymbol{0}}
+# \newcommand{\vone}{\boldsymbol{1}}
+# 
+# % Greek https://www.latex-tutorial.com/symbols/greek-alphabet/
+# \newcommand{\valpha}{\boldsymbol{\alpha}}
+# \newcommand{\vbeta}{\boldsymbol{\beta}}
+# \newcommand{\vchi}{\boldsymbol{\chi}}
+# \newcommand{\vdelta}{\boldsymbol{\delta}}
+# \newcommand{\vDelta}{\boldsymbol{\Delta}}
+# \newcommand{\vepsilon}{\boldsymbol{\epsilon}}
+# \newcommand{\vzeta}{\boldsymbol{\zeta}}
+# \newcommand{\vXi}{\boldsymbol{\Xi}}
+# \newcommand{\vell}{\boldsymbol{\ell}}
+# \newcommand{\veta}{\boldsymbol{\eta}}
+# %\newcommand{\vEta}{\boldsymbol{\Eta}}
+# \newcommand{\vgamma}{\boldsymbol{\gamma}}
+# \newcommand{\vGamma}{\boldsymbol{\Gamma}}
+# \newcommand{\vmu}{\boldsymbol{\mu}}
+# \newcommand{\vmut}{\boldsymbol{\tilde{\mu}}}
+# \newcommand{\vnu}{\boldsymbol{\nu}}
+# \newcommand{\vkappa}{\boldsymbol{\kappa}}
+# \newcommand{\vlambda}{\boldsymbol{\lambda}}
+# \newcommand{\vLambda}{\boldsymbol{\Lambda}}
+# \newcommand{\vLambdaBar}{\overline{\vLambda}}
+# %\newcommand{\vnu}{\boldsymbol{\nu}}
+# \newcommand{\vomega}{\boldsymbol{\omega}}
+# \newcommand{\vOmega}{\boldsymbol{\Omega}}
+# \newcommand{\vphi}{\boldsymbol{\phi}}
+# \newcommand{\vvarphi}{\boldsymbol{\varphi}}
+# \newcommand{\vPhi}{\boldsymbol{\Phi}}
+# \newcommand{\vpi}{\boldsymbol{\pi}}
+# \newcommand{\vPi}{\boldsymbol{\Pi}}
+# \newcommand{\vpsi}{\boldsymbol{\psi}}
+# \newcommand{\vPsi}{\boldsymbol{\Psi}}
+# \newcommand{\vrho}{\boldsymbol{\rho}}
+# \newcommand{\vtheta}{\boldsymbol{\theta}}
+# \newcommand{\vthetat}{\boldsymbol{\tilde{\theta}}}
+# \newcommand{\vTheta}{\boldsymbol{\Theta}}
+# \newcommand{\vsigma}{\boldsymbol{\sigma}}
+# \newcommand{\vSigma}{\boldsymbol{\Sigma}}
+# \newcommand{\vSigmat}{\boldsymbol{\tilde{\Sigma}}}
+# \newcommand{\vsigmoid}{\vsigma}
+# \newcommand{\vtau}{\boldsymbol{\tau}}
+# \newcommand{\vxi}{\boldsymbol{\xi}}
+# 
+# 
+# % Lower Roman (Vectors)
+# \newcommand{\va}{\mathbf{a}}
+# \newcommand{\vb}{\mathbf{b}}
+# \newcommand{\vBt}{\mathbf{\tilde{B}}}
+# \newcommand{\vc}{\mathbf{c}}
+# \newcommand{\vct}{\mathbf{\tilde{c}}}
+# \newcommand{\vd}{\mathbf{d}}
+# \newcommand{\ve}{\mathbf{e}}
+# \newcommand{\vf}{\mathbf{f}}
+# \newcommand{\vg}{\mathbf{g}}
+# \newcommand{\vh}{\mathbf{h}}
+# %\newcommand{\myvh}{\mathbf{h}}
+# \newcommand{\vi}{\mathbf{i}}
+# \newcommand{\vj}{\mathbf{j}}
+# \newcommand{\vk}{\mathbf{k}}
+# \newcommand{\vl}{\mathbf{l}}
+# \newcommand{\vm}{\mathbf{m}}
+# \newcommand{\vn}{\mathbf{n}}
+# \newcommand{\vo}{\mathbf{o}}
+# \newcommand{\vp}{\mathbf{p}}
+# \newcommand{\vq}{\mathbf{q}}
+# \newcommand{\vr}{\mathbf{r}}
+# \newcommand{\vs}{\mathbf{s}}
+# \newcommand{\vt}{\mathbf{t}}
+# \newcommand{\vu}{\mathbf{u}}
+# \newcommand{\vv}{\mathbf{v}}
+# \newcommand{\vw}{\mathbf{w}}
+# \newcommand{\vws}{\vw_s}
+# \newcommand{\vwt}{\mathbf{\tilde{w}}}
+# \newcommand{\vWt}{\mathbf{\tilde{W}}}
+# \newcommand{\vwh}{\hat{\vw}}
+# \newcommand{\vx}{\mathbf{x}}
+# %\newcommand{\vx}{\mathbf{x}}
+# \newcommand{\vxt}{\mathbf{\tilde{x}}}
+# \newcommand{\vy}{\mathbf{y}}
+# \newcommand{\vyt}{\mathbf{\tilde{y}}}
+# \newcommand{\vz}{\mathbf{z}}
+# %\newcommand{\vzt}{\mathbf{\tilde{z}}}
+# 
+# 
+# % Upper Roman (Matrices)
+# \newcommand{\vA}{\mathbf{A}}
+# \newcommand{\vB}{\mathbf{B}}
+# \newcommand{\vC}{\mathbf{C}}
+# \newcommand{\vD}{\mathbf{D}}
+# \newcommand{\vE}{\mathbf{E}}
+# \newcommand{\vF}{\mathbf{F}}
+# \newcommand{\vG}{\mathbf{G}}
+# \newcommand{\vH}{\mathbf{H}}
+# \newcommand{\vI}{\mathbf{I}}
+# \newcommand{\vJ}{\mathbf{J}}
+# \newcommand{\vK}{\mathbf{K}}
+# \newcommand{\vL}{\mathbf{L}}
+# \newcommand{\vM}{\mathbf{M}}
+# \newcommand{\vMt}{\mathbf{\tilde{M}}}
+# \newcommand{\vN}{\mathbf{N}}
+# \newcommand{\vO}{\mathbf{O}}
+# \newcommand{\vP}{\mathbf{P}}
+# \newcommand{\vQ}{\mathbf{Q}}
+# \newcommand{\vR}{\mathbf{R}}
+# \newcommand{\vS}{\mathbf{S}}
+# \newcommand{\vT}{\mathbf{T}}
+# \newcommand{\vU}{\mathbf{U}}
+# \newcommand{\vV}{\mathbf{V}}
+# \newcommand{\vW}{\mathbf{W}}
+# \newcommand{\vX}{\mathbf{X}}
+# %\newcommand{\vXs}{\vX_{\vs}}
+# \newcommand{\vXs}{\vX_{s}}
+# \newcommand{\vXt}{\mathbf{\tilde{X}}}
+# \newcommand{\vY}{\mathbf{Y}}
+# \newcommand{\vZ}{\mathbf{Z}}
+# \newcommand{\vZt}{\mathbf{\tilde{Z}}}
+# \newcommand{\vzt}{\mathbf{\tilde{z}}}
+# 
+# 
+# %%%%
+# \newcommand{\hidden}{\vz}
+# \newcommand{\obs}{\vy}
+# \newcommand{\inputs}{\vu}
+# \newcommand{\input}{\inputs}
+# 
+# \newcommand{\hmmTrans}{\vA}
+# \newcommand{\hmmObs}{\vB}
+# \newcommand{\hmmInit}{\vpi}
+# \newcommand{\hmmhid}{\hidden}
+# \newcommand{\hmmobs}{\obs}
+# 
+# \newcommand{\ldsDyn}{\vA}
+# \newcommand{\ldsObs}{\vC}
+# \newcommand{\ldsDynIn}{\vB}
+# \newcommand{\ldsObsIn}{\vD}
+# \newcommand{\ldsDynNoise}{\vQ}
+# \newcommand{\ldsObsNoise}{\vR}
+# 
+# \newcommand{\ssmDyn}{f}
+# \newcommand{\ssmObs}{h}
+# ```
+# 
+
 # (sec:ssm-intro)=
 # # What are State Space Models?
 # 
 # 
 # A state space model or SSM
 # is a partially observed Markov model,
-# in which the hidden state,  $z_t$,
-# evolves over time according to a Markov process.
+# in which the hidden state,  $\hidden_t$,
+# evolves over time according to a Markov process,
+# possibly conditional on external inputs or controls $\input_t$,
+# and each hidden state generates some
+# observations $\obs_t$ at each time step.
+# (In this book, we mostly focus on discrete time systems,
+# although  we consider the continuous-time case in  XXX.)
+# We get to see the observations, but not the hidden state.
+# Our main goal is to infer the hidden state given the observations.
+# However, we can also use the model to predict future observations,
+# by first predicting future hidden states, and then predicting
+# what observations they might generate.
+# By using  a hidden state $\hidden_t$
+# to represent the past observations, $\obs_{1:t-1}$,
+# the  model can have ``infinite'' memory,
+# unlike a standard Markov model.
+# 
+# Formally we can define an SSM 
+# as the following joint distribution:
+# ```{math}
+# :label: SSMfull
+# p(\hmmobs_{1:T},\hmmhid_{1:T}|\inputs_{1:T})
+#  = \left[ p(\hmmhid_1|\inputs_1) \prod_{t=2}^{T}
+#  p(\hmmhid_t|\hmmhid_{t-1},\inputs_t) \right]
+#  \left[ \prod_{t=1}^T p(\hmmobs_t|\hmmhid_t, \inputs_t, \hmmobs_{t-1}) \right]
+# ```
+# where $p(\hmmhid_t|\hmmhid_{t-1},\inputs_t)$ is the
+# transition model,
+# $p(\hmmobs_t|\hmmhid_t, \inputs_t, \hmmobs_{t-1})$ is the
+# observation model,
+# and $\inputs_{t}$ is an optional input or action.
+# See {numref}`Figure %s <ssm-ar>` 
+# for an illustration of the corresponding graphical model.
 # 
 # 
-
 # ```{figure} /figures/SSM-AR-inputs.png
 # :scale: 100%
 # :name: ssm-ar
@@ -91,21 +279,95 @@ def print_source(fname):
 # Illustration of an SSM as a graphical model.
 # ```
 # 
+# 
+# 
+# 
+
+# We often consider a simpler setting in which there
+# are no external inputs,
+# and the observations are conditionally independent of each other
+# (rather than having Markovian dependencies) given the hidden state.
+# In this case the joint simplifies to 
+# ```{math}
+# :label: SSMsimplified
+# p(\hmmobs_{1:T},\hmmhid_{1:T})
+#  = \left[ p(\hmmhid_1) \prod_{t=2}^{T}
+#  p(\hmmhid_t|\hmmhid_{t-1}) \right]
+#  \left[ \prod_{t=1}^T p(\hmmobs_t|\hmmhid_t \right]
+# ```
+# See {numref}`Figure %s <ssm-simplified>` 
+# for an illustration of the corresponding graphical model.
+# Compare {eq}`SSMfull` and {eq}`SSMsimplified`.
+# 
+# 
 # ```{figure} /figures/SSM-simplified.png
 # :scale: 100%
-# :name: ssm-simplifed
+# :name: ssm-simplified
 # 
 # Illustration of a simplified SSM.
 # ```
 
+# (sec:hmm-intro)=
+# # Hidden Markov Models
+# 
+# In this section, we discuss the
+# hidden Markov model or HMM,
+# which is a state space model in which the hidden states
+# are discrete, so $\hmmhid_t \in \{1,\ldots, K\}$.
+# The observations may be discrete,
+# $\hmmobs_t \in \{1,\ldots, C\}$,
+# or continuous,
+# $\hmmobs_t \in \real^D$,
+# or some combination,
+# as we illustrate below.
+# More details can be found in e.g., 
+# {cite}`Rabiner89,Fraser08,Cappe05`.
+# For an interactive introduction,
+# see https://nipunbatra.github.io/hmm/.
+
 # (sec:casino-ex)=
-# ## Example: Casino HMM
+# ### Example: Casino HMM
+# 
+# To illustrate HMMs with categorical observation model,
+# we consider the "Ocassionally dishonest casino" model from {cite}`Durbin98`.
+# There are 2 hidden states, representing whether the dice being used in the casino is fair or loaded.
+# Each state defines a distribution over the 6 possible observations.
+# 
+# The transition model is denoted by
+# ```{math}
+# p(z_t=j|z_{t-1}=i) = \hmmTrans_{ij}
+# ```
+# Here the $i$'th row of $\vA$ corresponds to the outgoing distribution from state $i$.
+# This is  a row stochastic matrix,
+# meaning each row sums to one.
+# We can visualize
+# the non-zero entries in the transition matrix by creating a state transition diagram,
+# as shown in {ref}`casino-fig`.
 # 
-# We first create the "Ocassionally dishonest casino" model from {cite}`Durbin98`.
+# ```{figure} /figures/casino.png
+# :scale: 50%
+# :name: casino-fig
 # 
+# Illustration of the casino HMM.
+# ```
+# 
+# The  observation model
+# $p(\obs_t|\hiddden_t=j)$ has the form
+# ```{math}
+# p(\obs_t=k|\hidden_t=j) = \hmmObs_{jk} 
+# ```
+# This is represented by the histograms associated with each
+# state in {ref}`casino-fig`.
 # 
+# Finally,
+# the initial state distribution is denoted by
+# ```{math}
+# p(z_1=j) = \hmmInit_j
+# ```
+# 
+# Collectively we denote all the parameters by $\vtheta=(\hmmTrans, \hmmObs, \hmmInit)$.
 # 
-# There are 2 hidden states, each of which emit 6 possible observations.
+# Now let us implement this model code.
 
 # In[3]:
 
@@ -122,15 +384,7 @@ B = np.array([
     [1/10, 1/10, 1/10, 1/10, 1/10, 5/10] # loaded die
 ])
 
-pi, _ = normalize(np.array([1, 1]))
-pi = np.array(pi)
-
+pi = np.array([0.5, 0.5])
 
 (nstates, nobs) = np.shape(B)
 
-
-# In[ ]:
-
-
-
-

_config.yml

@@ -1,9 +1,12 @@
 # Book settings
 # Learn more at https://jupyterbook.org/customize/config.html
 
+# Based on 
+# https://github.com/code-first-ml/book1/blob/main/_config.yml
+
 title: "State Space Models: A Modern Approach"
 author: Kevin Murphy, Scott Linderman, et al.
-logo: logo.png
+#logo: logo.png
 
 # Force re-execution of notebooks on each build.
 # See https://jupyterbook.org/content/execute.html
@@ -21,7 +24,7 @@ bibtex_bibfiles:
 
 # Information about where the book exists on the web
 repository:
-  url: https://github.com/ssm-jax/ssm-book
+  url: https://github.com/probml/ssm-book
   branch: main
 
 launch_buttons:
@@ -34,6 +37,15 @@ html:
   use_repository_button: true
 
 # https://jupyterbook.org/en/stable/content/math.html
-sphinx:
-  config:
-    mathjax_path: https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js
+#sphinx:
+#  config:
+#    mathjax_path: https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js
+
+
+parse:
+  myst_enable_extensions:
+    - amsmath
+    - colon_fence
+    - dollarmath
+    - linkify 
+    - substitution

_toc.yml

@@ -11,7 +11,6 @@ chapters:
 - file: chapters/hmm/hmm_index
   sections:
   - file: chapters/hmm/hmm
-  - file: chapters/hmm/hmm_discrete_numpy
   - file: chapters/hmm/hmm_filter
   - file: chapters/hmm/hmm_smoother
   - file: chapters/hmm/hmm_viterbi
@@ -24,27 +23,32 @@ chapters:
   - file: chapters/lgssm/kalman_smoother
   - file: chapters/lgssm/kalman_parallel
   - file: chapters/lgssm/kalman_sampling
+
 - file: chapters/extended/extended_index
   sections:
   - file: chapters/extended/extended_filter
   - file: chapters/extended/extended_smoother
   - file: chapters/extended/extended_parallel
+
 - file: chapters/unscented/unscented_index
   sections:
   - file: chapters/unscented/unscented_filter
   - file: chapters/unscented/unscented_smoother
+
 - file: chapters/quadrature/quadrature_index
 - file: chapters/postlin/postlin_index
 - file: chapters/adf/adf_index
 - file: chapters/vi/vi_index
 - file: chapters/pf/pf_index
 - file: chapters/smc/smc_index
+
 - file: chapters/learning/learning_index
   sections:
   - file: chapters/learning/em
   - file: chapters/learning/sgd
   - file: chapters/learning/vb
   - file: chapters/learning/mcmc
+
 - file: chapters/tracking/tracking_index  
 - file: chapters/ensemble/ensemble_index
 - file: chapters/bnp/bnp_index
@@ -53,4 +57,5 @@ chapters:
 - file: chapters/gp/gp_index
 - file: chapters/ode/ode_index
 - file: chapters/control/control_index
+
 - file: bib

references.bib

@@ -527,3 +527,30 @@ publisher = "Cambridge University Press",
   language  = "en"
 }
 
+
+@article{Rabiner89,
+  author = "L. R. Rabiner",
+  title = "A Tutorial on {H}idden {M}arkov {M}odels and Selected
+		  Applications in Speech Recognition",
+  journal = "Proc. of the IEEE",
+  year = 1989,
+  volume = 77,
+  number = 2,
+  pages = "257--286"
+}
+
+
+@book{Fraser08,
+ author = "A. Fraser",
+ title = {{Hidden Markov Models and Dynamical Systems}},
+ year  = 2008,
+ publisher = "SIAM Press"
+}
+
+
+@book{Cappe05,
+ author = "O. Cappe and E. Moulines and T. Ryden",
+ title = {{Inference in Hidden Markov Models}},
+ year = 2005,
+ publisher = "Springer"
+}