There inevitable drawbacks of both approaches. Nothing particularly wrong with the simulation, but it is really really slow and is not applicable in real-time o

There inevitable drawbacks of both approaches. Nothing particularly wrong with the simulation, but it is really really slow and is not applicable in real-time or close to real-time applications, where situation may change rapidly. Also it usually requires high-end CPUs, which are not available on edge devices like drones. RxInfer tries to be as efficient as possible in running inference, but it does indeed places limits on the form of the models it can run inference for. The team has long-term plans and solutions under research, which should expand the set of available models substantially. Message passing has a long history, it is not only belief propagation on simple models, but also nowadays the variational inference is possible with message passing on sophisticated hierarchical models.