I mentioned this Sloven proverb:

"The past is more uncertain than the future, because it gets rewritten every 
day."

If you know anything about Kalman filtering, you know that it is about updating 
the future probability distribution as you get new information. Kalman 
smoothing is less know than Kalman filtering, although I don't understand why. 
Maybe because the smoothing things are too technical and smoothing is 
technically more complicated than filtering? Kalman smoothing is about updating 
not only the future, but also the past. As we learn more, not only we change 
our expectations about the future, but also we change our understanding of the 
past. How to incorporate this into the LTV?

Best,
Sabri
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