@article{YL-WW-KD-JL:2024,
  title={Differentiable Particle Filters with Smoothly Jittered Resampling,
  author={Li, Yichao and Wang, Wenshuo and Deng, Ke and Liu, Jun S},
  journal={Statistica Sinica},
  volume={34},
  pages={1241--1262},
  year={2024}
}