diff --git a/Cargo.lock b/Cargo.lock
index 10589e7..552ae2d 100644
--- a/Cargo.lock
+++ b/Cargo.lock
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+ "derive_more",
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+ "matrixcompare",
+ "matrixcompare-core",
+ "nalgebra",
+ "num-dual",
+ "paste",
+ "pretty_env_logger",
+ "rerun",
+ "serde",
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+ "futures-core",
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 [[package]]
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+ "wasm-bindgen",
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+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
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@@ -3850,31 +2033,6 @@ dependencies = [
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@@ -3957,16 +2109,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
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+ "toml_edit",
 ]
 
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@@ -3978,26 +2121,6 @@ dependencies = [
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@@ -4038,17 +2161,6 @@ dependencies = [
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@@ -4067,15 +2179,6 @@ version = "1.2.3"
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@@ -4163,32 +2260,10 @@ dependencies = [
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 [[package]]
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@@ -4241,51 +2316,7 @@ dependencies = [
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@@ -4626,7 +2568,6 @@ dependencies = [
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@@ -4648,193 +2589,6 @@ dependencies = [
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-
 [[package]]
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@@ -4849,27 +2603,6 @@ dependencies = [
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 ]
 
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- "serde",
- "vec1",
-]
-
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@@ -4880,323 +2613,115 @@ dependencies = [
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  "rfd",
-]
-
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- "re_ui",
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+checksum = "09721604df68887a3c118130a93fa260719d4587f8a27e217d9cfef5e5a6bdb6"
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- "time",
- "wasm-bindgen",
- "wasm-bindgen-futures",
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 ]
 
 [[package]]
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 dependencies = [
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- "arboard",
- "bit-vec",
+ "array-init",
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- "egui",
- "egui-wgpu",
- "egui_tiles",
- "glam",
+ "document-features",
+ "emath",
  "half",
- "indexmap",
+ "infer",
  "itertools",
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+ "linked-hash-map",
+ "mime_guess2",
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  "nohash-hasher",
  "once_cell",
- "parking_lot",
- "re_data_source",
- "re_data_store",
- "re_entity_db",
+ "ply-rs",
+ "rayon",
+ "re_arrow2",
+ "re_build_tools",
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- "re_smart_channel",
- "re_string_interner",
  "re_tracing",
- "re_types",
- "re_ui",
- "serde",
- "slotmap",
+ "re_types_builder",
+ "re_types_core",
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  "uuid",
- "wgpu",
 ]
 
 [[package]]
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 dependencies = [
- "ahash",
- "egui",
- "egui_tiles",
- "glam",
- "image 0.24.9",
- "itertools",
- "nohash-hasher",
+ "array-init",
+ "bytemuck",
  "once_cell",
- "rayon",
- "re_data_store",
- "re_data_ui",
- "re_entity_db",
- "re_log",
- "re_log_types",
- "re_renderer",
- "re_smart_channel",
- "re_space_view",
+ "re_arrow2",
  "re_tracing",
  "re_types",
- "re_types_blueprint",
  "re_types_core",
- "re_ui",
- "re_viewer_context",
- "smallvec",
- "static_assertions",
 ]
 
 [[package]]
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+name = "re_types_builder"
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+checksum = "5a4c95c59cf4b95b99e2e7bc9598f1e86982ec4041cc8824c3d8a2dd74ffc6db"
 dependencies = [
- "document-features",
- "re_analytics",
+ "anyhow",
+ "camino",
+ "clang-format",
+ "convert_case 0.6.0",
+ "flatbuffers",
+ "indent",
+ "itertools",
+ "prettyplease",
+ "proc-macro2",
+ "quote",
+ "rayon",
+ "re_arrow2",
+ "re_build_tools",
+ "re_error",
  "re_log",
- "thiserror",
- "tiny_http",
+ "re_tracing",
+ "rust-format",
+ "syn 2.0.68",
+ "tempfile",
+ "unindent",
+ "xshell",
 ]
 
 [[package]]
-name = "re_ws_comms"
+name = "re_types_core"
 version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b66f7be4ac70f837b87437a232ee012f46de3ff3c0be60ec7ee865187f3b91e"
+checksum = "98791f9ed8b7268592430c228b809d4a724e8be95146f364a1c1aab128d92a5e"
 dependencies = [
  "anyhow",
- "bincode",
+ "backtrace",
  "document-features",
- "ewebsock",
- "re_format",
- "re_log",
- "re_log_types",
- "re_memory",
+ "itertools",
+ "once_cell",
+ "re_arrow2",
+ "re_error",
+ "re_string_interner",
  "re_tracing",
+ "re_tuid",
+ "serde",
+ "smallvec",
  "thiserror",
 ]
 
@@ -5206,24 +2731,6 @@ version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "03251193000f4bd3b042892be858ee50e8b3719f2b08e5833ac4353724632430"
 
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
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-]
-
-[[package]]
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-dependencies = [
- "bitflags 1.3.2",
-]
-
 [[package]]
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 version = "0.5.2"
@@ -5233,17 +2740,6 @@ dependencies = [
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 ]
 
-[[package]]
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-version = "0.4.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
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- "libredox 0.1.3",
- "thiserror",
-]
-
 [[package]]
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@@ -5279,12 +2775,6 @@ version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
 
-[[package]]
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-
 [[package]]
 name = "rerun"
 version = "0.16.1"
@@ -5293,12 +2783,9 @@ checksum = "591ea8198d8485f834c4c8f1f65928ea0f364fd6326139f946dd37ad35e61cf0"
 dependencies = [
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- "log",
  "puffin",
  "rayon",
- "re_analytics",
  "re_build_info",
  "re_build_tools",
  "re_crash_handler",
@@ -5308,12 +2795,9 @@ dependencies = [
  "re_log_types",
  "re_memory",
  "re_sdk",
- "re_sdk_comms",
  "re_smart_channel",
  "re_tracing",
  "re_types",
- "re_viewer",
- "re_web_viewer_server",
 ]
 
 [[package]]
@@ -5333,7 +2817,7 @@ dependencies = [
  "objc-foundation",
  "objc_id",
  "pollster",
- "raw-window-handle 0.5.2",
+ "raw-window-handle",
  "urlencoding",
  "wasm-bindgen",
  "wasm-bindgen-futures",
@@ -5341,21 +2825,6 @@ dependencies = [
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 ]
 
-[[package]]
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-version = "0.17.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
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- "getrandom",
- "libc",
- "spin",
- "untrusted",
- "windows-sys 0.52.0",
-]
-
 [[package]]
 name = "rmp"
 version = "0.8.14"
@@ -5378,18 +2847,6 @@ dependencies = [
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 ]
 
-[[package]]
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- "serde",
- "serde_derive",
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-
 [[package]]
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@@ -5402,12 +2859,6 @@ version = "0.1.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
 
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-
 [[package]]
 name = "rustc_version"
 version = "0.4.0"
@@ -5444,37 +2895,6 @@ dependencies = [
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 ]
 
-[[package]]
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-dependencies = [
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- "ring",
- "rustls-pki-types",
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- "subtle",
- "zeroize",
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-
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-
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-dependencies = [
- "ring",
- "rustls-pki-types",
- "untrusted",
-]
-
 [[package]]
 name = "rustversion"
 version = "1.0.17"
@@ -5505,33 +2925,6 @@ dependencies = [
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 ]
 
-[[package]]
-name = "samrs"
-version = "0.1.0"
-dependencies = [
- "ahash",
- "derive_more",
- "downcast-rs",
- "faer",
- "faer-ext",
- "log",
- "matrixcompare",
- "matrixcompare-core",
- "nalgebra",
- "num-dual",
- "paste",
- "plotters",
- "pretty_env_logger",
- "rerun",
- "serde",
-]
-
-[[package]]
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-version = "1.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294"
-
 [[package]]
 name = "scopeguard"
 version = "1.2.0"
@@ -5648,12 +3041,6 @@ dependencies = [
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 ]
 
-[[package]]
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-
 [[package]]
 name = "simdutf8"
 version = "0.1.4"
@@ -5690,7 +3077,7 @@ dependencies = [
  "cargo_metadata 0.14.2",
  "error-chain",
  "glob",
- "pulldown-cmark 0.9.6",
+ "pulldown-cmark",
  "tempfile",
  "walkdir",
 ]
@@ -5699,98 +3086,25 @@ dependencies = [
 name = "slab"
 version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
-dependencies = [
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-]
-
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-dependencies = [
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- "version_check",
-]
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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-dependencies = [
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-]
-
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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- "rustix 0.38.34",
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- "wayland-client",
- "wayland-csd-frame",
- "wayland-cursor",
- "wayland-protocols",
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-
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 dependencies = [
- "libc",
- "winapi",
+ "autocfg",
 ]
 
 [[package]]
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 dependencies = [
- "bitflags 2.5.0",
+ "libc",
+ "winapi",
 ]
 
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 [[package]]
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@@ -5840,18 +3132,6 @@ dependencies = [
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-
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@@ -5899,7 +3179,7 @@ dependencies = [
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  "ntapi",
  "once_cell",
- "windows 0.52.0",
+ "windows",
 ]
 
 [[package]]
@@ -5943,17 +3223,6 @@ dependencies = [
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-[[package]]
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@@ -5988,27 +3257,6 @@ dependencies = [
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@@ -6050,17 +3289,6 @@ dependencies = [
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@@ -6093,37 +3321,6 @@ dependencies = [
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@@ -6135,13 +3332,10 @@ dependencies = [
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 [[package]]
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-dependencies = [
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-]
+checksum = "059d83cc991e7a42fc37bd50941885db0888e34209f8cfd9aab07ddec03bc9cf"
 
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+[[package]]
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+checksum = "661d18414ec032a49ece2d56eee03636e43c4e8d577047ab334c0ba892e29aaf"
+dependencies = [
+ "erased-serde",
+ "inventory",
+ "once_cell",
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+ "typetag-impl",
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+
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+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.68",
+]
+
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@@ -6202,41 +3420,12 @@ version = "0.1.13"
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@@ -6272,12 +3455,6 @@ dependencies = [
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 dependencies = [
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- "arrayvec",
- "cfg-if",
- "cfg_aliases 0.1.1",
- "js-sys",
- "log",
- "naga",
- "parking_lot",
- "profiling",
- "raw-window-handle 0.6.2",
- "smallvec",
- "static_assertions",
- "wasm-bindgen",
- "wasm-bindgen-futures",
- "web-sys",
- "wgpu-core",
- "wgpu-hal",
- "wgpu-types",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.68",
+ "wasm-bindgen-backend",
+ "wasm-bindgen-shared",
 ]
 
 [[package]]
-name = "wgpu-core"
-version = "0.19.4"
+name = "wasm-bindgen-shared"
+version = "0.2.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "28b94525fc99ba9e5c9a9e24764f2bc29bad0911a7446c12f446a8277369bf3a"
-dependencies = [
- "arrayvec",
- "bit-vec",
- "bitflags 2.5.0",
- "cfg_aliases 0.1.1",
- "codespan-reporting",
- "indexmap",
- "log",
- "naga",
- "once_cell",
- "parking_lot",
- "profiling",
- "raw-window-handle 0.6.2",
- "rustc-hash",
- "smallvec",
- "thiserror",
- "web-sys",
- "wgpu-hal",
- "wgpu-types",
-]
+checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96"
 
 [[package]]
-name = "wgpu-hal"
-version = "0.19.4"
+name = "web-sys"
+version = "0.3.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc1a4924366df7ab41a5d8546d6534f1f33231aa5b3f72b9930e300f254e39c3"
+checksum = "77afa9a11836342370f4817622a2f0f418b134426d91a82dfb48f532d2ec13ef"
 dependencies = [
- "android_system_properties",
- "arrayvec",
- "ash",
- "bitflags 2.5.0",
- "block",
- "cfg_aliases 0.1.1",
- "core-graphics-types",
- "glow",
- "glutin_wgl_sys",
- "gpu-alloc",
- "gpu-allocator",
- "gpu-descriptor",
- "hassle-rs",
  "js-sys",
- "khronos-egl",
- "libc",
- "libloading 0.8.4",
- "log",
- "metal",
- "naga",
- "ndk-sys",
- "objc",
- "once_cell",
- "parking_lot",
- "profiling",
- "raw-window-handle 0.6.2",
- "renderdoc-sys",
- "rustc-hash",
- "smallvec",
- "thiserror",
  "wasm-bindgen",
- "web-sys",
- "wgpu-types",
- "winapi",
 ]
 
 [[package]]
-name = "wgpu-types"
-version = "0.19.2"
+name = "web-time"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b671ff9fb03f78b46ff176494ee1ebe7d603393f42664be55b64dc8d53969805"
+checksum = "aa30049b1c872b72c89866d458eae9f20380ab280ffd1b1e18df2d3e2d98cfe0"
 dependencies = [
- "bitflags 2.5.0",
  "js-sys",
- "web-sys",
+ "wasm-bindgen",
 ]
 
 [[package]]
@@ -6660,12 +3579,6 @@ dependencies = [
  "safe_arch",
 ]
 
-[[package]]
-name = "widestring"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7219d36b6eac893fa81e84ebe06485e7dcbb616177469b142df14f1f4deb1311"
-
 [[package]]
 name = "winapi"
 version = "0.3.9"
@@ -6697,17 +3610,6 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
-[[package]]
-name = "windows"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e686886bc078bc1b0b600cac0147aadb815089b6e4da64016cbd754b6342700f"
-dependencies = [
- "windows-implement",
- "windows-interface",
- "windows-targets 0.48.5",
-]
-
 [[package]]
 name = "windows"
 version = "0.52.0"
@@ -6727,37 +3629,6 @@ dependencies = [
  "windows-targets 0.52.5",
 ]
 
-[[package]]
-name = "windows-implement"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e2ee588991b9e7e6c8338edf3333fbe4da35dc72092643958ebb43f0ab2c49c"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 1.0.109",
-]
-
-[[package]]
-name = "windows-interface"
-version = "0.48.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6fb8df20c9bcaa8ad6ab513f7b40104840c8867d5751126e4df3b08388d0cc7"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 1.0.109",
-]
-
-[[package]]
-name = "windows-sys"
-version = "0.45.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75283be5efb2831d37ea142365f009c02ec203cd29a3ebecbc093d52315b66d0"
-dependencies = [
- "windows-targets 0.42.2",
-]
-
 [[package]]
 name = "windows-sys"
 version = "0.48.0"
@@ -6776,21 +3647,6 @@ dependencies = [
  "windows-targets 0.52.5",
 ]
 
-[[package]]
-name = "windows-targets"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e5180c00cd44c9b1c88adb3693291f1cd93605ded80c250a75d472756b4d071"
-dependencies = [
- "windows_aarch64_gnullvm 0.42.2",
- "windows_aarch64_msvc 0.42.2",
- "windows_i686_gnu 0.42.2",
- "windows_i686_msvc 0.42.2",
- "windows_x86_64_gnu 0.42.2",
- "windows_x86_64_gnullvm 0.42.2",
- "windows_x86_64_msvc 0.42.2",
-]
-
 [[package]]
 name = "windows-targets"
 version = "0.48.5"
@@ -6822,12 +3678,6 @@ dependencies = [
  "windows_x86_64_msvc 0.52.5",
 ]
 
-[[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "597a5118570b68bc08d8d59125332c54f1ba9d9adeedeef5b99b02ba2b0698f8"
-
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.48.5"
@@ -6840,12 +3690,6 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7088eed71e8b8dda258ecc8bac5fb1153c5cffaf2578fc8ff5d61e23578d3263"
 
-[[package]]
-name = "windows_aarch64_msvc"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e08e8864a60f06ef0d0ff4ba04124db8b0fb3be5776a5cd47641e942e58c4d43"
-
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.48.5"
@@ -6858,12 +3702,6 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9985fd1504e250c615ca5f281c3f7a6da76213ebd5ccc9561496568a2752afb6"
 
-[[package]]
-name = "windows_i686_gnu"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c61d927d8da41da96a81f029489353e68739737d3beca43145c8afec9a31a84f"
-
 [[package]]
 name = "windows_i686_gnu"
 version = "0.48.5"
@@ -6882,12 +3720,6 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "87f4261229030a858f36b459e748ae97545d6f1ec60e5e0d6a3d32e0dc232ee9"
 
-[[package]]
-name = "windows_i686_msvc"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "44d840b6ec649f480a41c8d80f9c65108b92d89345dd94027bfe06ac444d1060"
-
 [[package]]
 name = "windows_i686_msvc"
 version = "0.48.5"
@@ -6900,12 +3732,6 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "db3c2bf3d13d5b658be73463284eaf12830ac9a26a90c717b7f771dfe97487bf"
 
-[[package]]
-name = "windows_x86_64_gnu"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8de912b8b8feb55c064867cf047dda097f92d51efad5b491dfb98f6bbb70cb36"
-
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.48.5"
@@ -6918,12 +3744,6 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4e4246f76bdeff09eb48875a0fd3e2af6aada79d409d33011886d3e1581517d9"
 
-[[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26d41b46a36d453748aedef1486d5c7a85db22e56aff34643984ea85514e94a3"
-
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.48.5"
@@ -6936,12 +3756,6 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "852298e482cd67c356ddd9570386e2862b5673c85bd5f88df9ab6802b334c596"
 
-[[package]]
-name = "windows_x86_64_msvc"
-version = "0.42.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9aec5da331524158c6d1a4ac0ab1541149c0b9505fde06423b02f5ef0106b9f0"
-
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.48.5"
@@ -6954,53 +3768,6 @@ version = "0.52.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bec47e5bfd1bff0eeaf6d8b485cc1074891a197ab4225d504cb7a1ab88b02bf0"
 
-[[package]]
-name = "winit"
-version = "0.29.15"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d59ad965a635657faf09c8f062badd885748428933dad8e8bdd64064d92e5ca"
-dependencies = [
- "ahash",
- "android-activity",
- "atomic-waker",
- "bitflags 2.5.0",
- "bytemuck",
- "calloop",
- "cfg_aliases 0.1.1",
- "core-foundation",
- "core-graphics",
- "cursor-icon",
- "icrate",
- "js-sys",
- "libc",
- "log",
- "memmap2",
- "ndk",
- "ndk-sys",
- "objc2 0.4.1",
- "once_cell",
- "orbclient",
- "percent-encoding",
- "raw-window-handle 0.6.2",
- "redox_syscall 0.3.5",
- "rustix 0.38.34",
- "smithay-client-toolkit",
- "smol_str",
- "unicode-segmentation",
- "wasm-bindgen",
- "wasm-bindgen-futures",
- "wayland-backend",
- "wayland-client",
- "wayland-protocols",
- "wayland-protocols-plasma",
- "web-sys",
- "web-time",
- "windows-sys 0.48.0",
- "x11-dl",
- "x11rb",
- "xkbcommon-dl",
-]
-
 [[package]]
 name = "winnow"
 version = "0.5.40"
@@ -7010,53 +3777,6 @@ dependencies = [
  "memchr",
 ]
 
-[[package]]
-name = "wio"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d129932f4644ac2396cb456385cbf9e63b5b30c6e8dc4820bdca4eb082037a5"
-dependencies = [
- "winapi",
-]
-
-[[package]]
-name = "x11-dl"
-version = "2.21.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38735924fedd5314a6e548792904ed8c6de6636285cb9fec04d5b1db85c1516f"
-dependencies = [
- "libc",
- "once_cell",
- "pkg-config",
-]
-
-[[package]]
-name = "x11rb"
-version = "0.13.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d91ffca73ee7f68ce055750bf9f6eca0780b8c85eff9bc046a3b0da41755e12"
-dependencies = [
- "as-raw-xcb-connection",
- "gethostname",
- "libc",
- "libloading 0.8.4",
- "once_cell",
- "rustix 0.38.34",
- "x11rb-protocol",
-]
-
-[[package]]
-name = "x11rb-protocol"
-version = "0.13.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ec107c4503ea0b4a98ef47356329af139c0a4f7750e621cf2973cd3385ebcb3d"
-
-[[package]]
-name = "xcursor"
-version = "0.3.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a0ccd7b4a5345edfcd0c3535718a4e9ff7798ffc536bb5b5a0e26ff84732911"
-
 [[package]]
 name = "xdg-home"
 version = "1.2.0"
@@ -7067,31 +3787,6 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
-[[package]]
-name = "xkbcommon-dl"
-version = "0.4.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d039de8032a9a8856a6be89cea3e5d12fdd82306ab7c94d74e6deab2460651c5"
-dependencies = [
- "bitflags 2.5.0",
- "dlib",
- "log",
- "once_cell",
- "xkeysym",
-]
-
-[[package]]
-name = "xkeysym"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9cc00251562a284751c9973bace760d86c0276c471b4be569fe6b068ee97a56"
-
-[[package]]
-name = "xml-rs"
-version = "0.8.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "791978798f0597cfc70478424c2b4fdc2b7a8024aaff78497ef00f24ef674193"
-
 [[package]]
 name = "xshell"
 version = "0.2.6"
@@ -7107,18 +3802,6 @@ version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9d422e8e38ec76e2f06ee439ccc765e9c6a9638b9e7c9f2e8255e4d41e8bd852"
 
-[[package]]
-name = "yeslogic-fontconfig-sys"
-version = "5.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ffb6b23999a8b1a997bf47c7bb4d19ad4029c3327bb3386ebe0a5ff584b33c7a"
-dependencies = [
- "cstr",
- "dlib",
- "once_cell",
- "pkg-config",
-]
-
 [[package]]
 name = "zbus"
 version = "3.15.2"
@@ -7166,7 +3849,7 @@ version = "3.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7131497b0f887e8061b430c530240063d33bf9455fa34438f388a245da69e0a5"
 dependencies = [
- "proc-macro-crate 1.3.1",
+ "proc-macro-crate",
  "proc-macro2",
  "quote",
  "regex",
@@ -7205,27 +3888,6 @@ dependencies = [
  "syn 2.0.68",
 ]
 
-[[package]]
-name = "zeroize"
-version = "1.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ced3678a2879b30306d323f4542626697a464a97c0a07c9aebf7ebca65cd4dde"
-
-[[package]]
-name = "zune-core"
-version = "0.4.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f423a2c17029964870cfaabb1f13dfab7d092a62a29a89264f4d36990ca414a"
-
-[[package]]
-name = "zune-jpeg"
-version = "0.4.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ec866b44a2a1fd6133d363f073ca1b179f438f99e7e5bfb1e33f7181facfe448"
-dependencies = [
- "zune-core",
-]
-
 [[package]]
 name = "zvariant"
 version = "3.15.2"
@@ -7247,7 +3909,7 @@ version = "3.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37c24dc0bed72f5f90d1f8bb5b07228cbf63b3c6e9f82d82559d4bae666e7ed9"
 dependencies = [
- "proc-macro-crate 1.3.1",
+ "proc-macro-crate",
  "proc-macro2",
  "quote",
  "syn 1.0.109",
diff --git a/Cargo.toml b/Cargo.toml
index 6b5d73d..34e3f6d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,39 +1,78 @@
 [package]
-name = "samrs"
+name = "factrs"
 version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+# base
 ahash = "0.8.11"
 derive_more = "0.99.17"
 paste = "1.0.15"
 downcast-rs = "1.2.1"
+log = "0.4.21"
 
-faer = { version = "0.19.0", default-features = false, features = ["perf-warn", "std"] }
+# numerical 
+faer = { version = "0.19.0", default-features = false, features = [
+    "perf-warn",
+    "std",
+] }
 faer-ext = { version = "0.2.0", features = ["nalgebra"] }
 nalgebra = { version = "0.32.5" }
 num-dual = "0.9.1"
 matrixcompare-core = { version = "0.1", optional = true }
-serde = {version = "1.0.203", optional = true }
-log = "0.4.21"
-rerun = { version = "0.16.1", optional = true}
 
-[[example]]
-name = "g2o-rerun"
-required-features = ["rerun"]
+# serialization
+serde = { version = "1.0.203", optional = true }
+typetag = { version = "0.2.16", optional = true }
+serde_json = { version = "1.0.120", optional = true }
 
+# rerun support
+rerun = { version = "0.16.1", optional = true, default-features = false, features = [
+    "sdk",
+] }
 
 [features]
+# Run everything with f32 instead of the defaul f64
 f32 = []
+
+# Use left instead of right for lie group updates
 left = []
+
+# use SO(n) x R instead of SE(n) for exponential map
 fake_exp = []
+
+# Necessary dependencies for matrix comparing
 compare = ["dep:matrixcompare-core", "nalgebra/compare", "faer/matrixcompare"]
-serde = ["dep:serde", "nalgebra/serde", "faer/serde", "ahash/serde"]
-multithread = ["faer/rayon"]
+
+# Add multithreaded support (may run slower on smaller problems)
+rayon = ["faer/rayon"]
+
+# Add support for serialization
+serde = [
+    "dep:serde",
+    "dep:typetag",
+    "nalgebra/serde-serialize",
+    "faer/serde",
+    "ahash/serde",
+]
+# just used for examples
+serde_json = ["dep:serde_json"]
+
+# Support for conversion to rerun variable types
 rerun = ["dep:rerun"]
 
 [dev-dependencies]
 matrixcompare = "0.3.0"
-plotters = "0.3.6"
 pretty_env_logger = "0.4"
 nalgebra = { version = "0.32.5", features = ["compare"] }
+
+[[example]]
+name = "g2o"
+
+[[example]]
+name = "g2o-rerun"
+required-features = ["rerun"]
+
+[[example]]
+name = "serde"
+required-features = ["serde", "serde_json"]
diff --git a/examples/g2o-rerun.rs b/examples/g2o-rerun.rs
index e524cee..bb7edc5 100644
--- a/examples/g2o-rerun.rs
+++ b/examples/g2o-rerun.rs
@@ -4,13 +4,13 @@ use std::{
     time::Instant,
 };
 
-use rerun::{Arrows2D, Arrows3D, Points2D, Points3D};
-use samrs::{
-    optimizers::{GaussNewton, Optimizer},
-    rerun::RerunSender,
+use factrs::{
+    optimizers::{GaussNewton, GraphOptimizer, Optimizer},
+    rerun::RerunObserver,
     utils::load_g20,
     variables::*,
 };
+use rerun::{Arrows2D, Arrows3D, Points2D, Points3D};
 
 fn main() -> Result<(), Box<dyn std::error::Error>> {
     // ------------------------- Parse Arguments & Load data ------------------------- //
@@ -46,20 +46,20 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
     let topic = "base/solution";
     match (dim, obj) {
         ("se2", "points") => {
-            let callback = RerunSender::<SE2, Points2D>::new(rec, topic);
-            optimizer.params.add_callback(callback)
+            let callback = RerunObserver::<SE2, Points2D>::new(rec, topic);
+            optimizer.observers.add(callback)
         }
         ("se2", "arrows") => {
-            let callback = RerunSender::<SE2, Arrows2D>::new(rec, topic);
-            optimizer.params.add_callback(callback)
+            let callback = RerunObserver::<SE2, Arrows2D>::new(rec, topic);
+            optimizer.observers.add(callback)
         }
         ("se3", "points") => {
-            let callback = RerunSender::<SE3, Points3D>::new(rec, topic);
-            optimizer.params.add_callback(callback)
+            let callback = RerunObserver::<SE3, Points3D>::new(rec, topic);
+            optimizer.observers.add(callback)
         }
         ("se3", "arrows") => {
-            let callback = RerunSender::<SE3, Arrows3D>::new(rec, topic);
-            optimizer.params.add_callback(callback)
+            let callback = RerunObserver::<SE3, Arrows3D>::new(rec, topic);
+            optimizer.observers.add(callback)
         }
         _ => panic!("Invalid arguments"),
     };
diff --git a/examples/g2o.rs b/examples/g2o.rs
index 52c9d63..6ba81b2 100644
--- a/examples/g2o.rs
+++ b/examples/g2o.rs
@@ -1,7 +1,7 @@
 use std::{env, time::Instant};
 
-use samrs::{
-    optimizers::{GaussNewton, Optimizer},
+use factrs::{
+    optimizers::{GaussNewton, GraphOptimizer, Optimizer},
     utils::load_g20,
 };
 fn main() {
diff --git a/examples/serde.rs b/examples/serde.rs
new file mode 100644
index 0000000..eda9b15
--- /dev/null
+++ b/examples/serde.rs
@@ -0,0 +1,45 @@
+use factrs::{
+    containers::{Graph, Values, X},
+    factors::Factor,
+    noise::GaussianNoise,
+    residuals::{BetweenResidual, PriorResidual},
+    robust::{GemanMcClure, L2},
+    variables::{SE2, SO2},
+};
+
+fn main() {
+    // ------------------------- Try with values ------------------------- //
+    let x = SO2::from_theta(0.6);
+    let y = SE2::new(1.0, 2.0, 0.3);
+    let mut values = Values::new();
+    values.insert(X(0), x.clone());
+    values.insert(X(1), y.clone());
+
+    let serialized = serde_json::to_string_pretty(&values).unwrap();
+    println!("serialized = {}", serialized);
+
+    // Convert the JSON string back to a Point.
+    let deserialized: Values = serde_json::from_str(&serialized).unwrap();
+    println!("deserialized = {}", deserialized);
+
+    // ------------------------- Try with graph ------------------------- //
+    let prior = PriorResidual::new(x);
+    let bet = BetweenResidual::new(y);
+
+    let prior = Factor::new_full(
+        &[X(0)],
+        prior,
+        GaussianNoise::from_scalar_cov(0.1),
+        GemanMcClure::default(),
+    );
+    let bet = Factor::new_full(&[X(0), X(1)], bet, GaussianNoise::from_scalar_cov(10.0), L2);
+    let mut graph = Graph::new();
+    graph.add_factor(prior);
+    graph.add_factor(bet);
+
+    let serialized = serde_json::to_string_pretty(&graph).unwrap();
+    println!("serialized = {}", serialized);
+
+    let deserialized: Graph = serde_json::from_str(&serialized).unwrap();
+    println!("deserialized = {:?}", deserialized);
+}
diff --git a/src/containers/graph.rs b/src/containers/graph.rs
index 220ef2a..869d8b2 100644
--- a/src/containers/graph.rs
+++ b/src/containers/graph.rs
@@ -3,7 +3,8 @@ use faer::sparse::SymbolicSparseColMat;
 use super::{Idx, Values, ValuesOrder};
 use crate::{dtype, factors::Factor, linear::LinearGraph};
 
-#[derive(Default)]
+#[derive(Default, Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Graph {
     factors: Vec<Factor>,
 }
diff --git a/src/containers/symbol.rs b/src/containers/symbol.rs
index 60ec1e2..d82fda1 100644
--- a/src/containers/symbol.rs
+++ b/src/containers/symbol.rs
@@ -10,9 +10,14 @@ const CHR_MASK: u64 = (char::MAX as u64) << IDX_BITS;
 const IDX_MASK: u64 = !CHR_MASK;
 
 #[derive(Clone, Eq, Hash, PartialEq)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Symbol(u64);
 
 impl Symbol {
+    pub fn new_raw(key: u64) -> Self {
+        Symbol(key)
+    }
+
     pub fn chr(&self) -> char {
         ((self.0 & CHR_MASK) >> IDX_BITS) as u8 as char
     }
diff --git a/src/containers/values.rs b/src/containers/values.rs
index ae4d12c..e024492 100644
--- a/src/containers/values.rs
+++ b/src/containers/values.rs
@@ -9,6 +9,7 @@ use crate::{linear::LinearValues, variables::VariableSafe};
 // we can just use dtype rather than using generics with Numeric
 
 #[derive(Clone)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Values {
     values: AHashMap<Symbol, Box<dyn VariableSafe>>,
 }
@@ -35,8 +36,7 @@ impl Values {
         key: Symbol,
         value: impl VariableSafe,
     ) -> Option<Box<dyn VariableSafe>> {
-        // TODO: Avoid cloning here?
-        self.values.insert(key, value.clone_box())
+        self.values.insert(key, Box::new(value))
     }
 
     pub fn get(&self, key: &Symbol) -> Option<&Box<dyn VariableSafe>> {
@@ -62,6 +62,13 @@ impl Values {
         self.values.get_mut(key)
     }
 
+    // TODO: This should be some kind of error
+    pub fn get_mut_cast<T: VariableSafe>(&mut self, key: &Symbol) -> Option<&mut T> {
+        self.values
+            .get_mut(key)
+            .and_then(|value| value.downcast_mut::<T>())
+    }
+
     pub fn remove(&mut self, key: &Symbol) -> Option<Box<dyn VariableSafe>> {
         self.values.remove(key)
     }
diff --git a/src/factors/factor.rs b/src/factors/factor.rs
index e9e5b6a..4ad67f1 100644
--- a/src/factors/factor.rs
+++ b/src/factors/factor.rs
@@ -3,11 +3,13 @@ use crate::{
     dtype,
     linalg::{AllocatorBuffer, Const, DefaultAllocator, DiffResult, DualAllocator, MatrixBlock},
     linear::LinearFactor,
-    noise::{GaussianNoise, NoiseModel, NoiseModelSafe},
+    noise::{NoiseModel, NoiseModelSafe, UnitNoise},
     residuals::{Residual, ResidualSafe},
-    robust::{RobustCost, RobustCostSafe, L2},
+    robust::{RobustCostSafe, L2},
 };
 
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Factor {
     pub keys: Vec<Symbol>,
     residual: Box<dyn ResidualSafe>,
@@ -21,14 +23,15 @@ impl Factor {
         residual: R,
     ) -> Self
     where
-        R: 'static + Residual<NumVars = Const<NUM_VARS>, DimOut = Const<DIM_OUT>>,
+        R: 'static + Residual<NumVars = Const<NUM_VARS>, DimOut = Const<DIM_OUT>> + ResidualSafe,
         AllocatorBuffer<R::DimIn>: Sync + Send,
         DefaultAllocator: DualAllocator<R::DimIn>,
+        UnitNoise<DIM_OUT>: NoiseModelSafe,
     {
         Self {
             keys: keys.to_vec(),
             residual: Box::new(residual),
-            noise: Box::new(GaussianNoise::<DIM_OUT>::identity()),
+            noise: Box::new(UnitNoise::<DIM_OUT>),
             robust: Box::new(L2),
         }
     }
@@ -39,8 +42,8 @@ impl Factor {
         noise: N,
     ) -> Self
     where
-        R: 'static + Residual<NumVars = Const<NUM_VARS>, DimOut = Const<DIM_OUT>>,
-        N: 'static + NoiseModel<Dim = Const<DIM_OUT>>,
+        R: 'static + Residual<NumVars = Const<NUM_VARS>, DimOut = Const<DIM_OUT>> + ResidualSafe,
+        N: 'static + NoiseModel<Dim = Const<DIM_OUT>> + NoiseModelSafe,
         AllocatorBuffer<R::DimIn>: Sync + Send,
         DefaultAllocator: DualAllocator<R::DimIn>,
     {
@@ -59,11 +62,11 @@ impl Factor {
         robust: C,
     ) -> Self
     where
-        R: 'static + Residual<NumVars = Const<NUM_VARS>, DimOut = Const<DIM_OUT>>,
+        R: 'static + Residual<NumVars = Const<NUM_VARS>, DimOut = Const<DIM_OUT>> + ResidualSafe,
         AllocatorBuffer<R::DimIn>: Sync + Send,
         DefaultAllocator: DualAllocator<R::DimIn>,
-        N: 'static + NoiseModel<Dim = Const<DIM_OUT>>,
-        C: 'static + RobustCost,
+        N: 'static + NoiseModel<Dim = Const<DIM_OUT>> + NoiseModelSafe,
+        C: 'static + RobustCostSafe,
     {
         Self {
             keys: keys.to_vec(),
@@ -75,7 +78,7 @@ impl Factor {
 
     pub fn error(&self, values: &Values) -> dtype {
         let r = self.residual.residual(values, &self.keys);
-        let r = self.noise.whiten_vec(r.as_view());
+        let r = self.noise.whiten_vec(r);
         let norm2 = r.norm_squared();
         self.robust.loss(norm2)
     }
@@ -89,8 +92,8 @@ impl Factor {
         let DiffResult { value: r, diff: a } = self.residual.residual_jacobian(values, &self.keys);
 
         // Whiten residual and jacobian
-        let r = self.noise.whiten_vec(r.as_view());
-        let a = self.noise.whiten_mat(a.as_view());
+        let r = self.noise.whiten_vec(r);
+        let a = self.noise.whiten_mat(a);
 
         // Weight according to robust cost
         let norm2 = r.norm_squared();
diff --git a/src/lib.rs b/src/lib.rs
index e21fb76..4e2fed1 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -19,3 +19,41 @@ pub mod variables;
 
 #[cfg(feature = "rerun")]
 pub mod rerun;
+
+#[cfg(feature = "serde")]
+pub mod serde {
+    pub trait Tagged: serde::Serialize {
+        const TAG: &'static str;
+    }
+
+    #[macro_export]
+    macro_rules! register_typetag {
+        ($trait:path, $ty:ty) => {
+            // TODO: It'd be great if this was a blanket implementation, but
+            // I had problems getting it to run over const generics
+            impl $crate::serde::Tagged for $ty {
+                const TAG: &'static str = stringify!($ty);
+            }
+
+            typetag::__private::inventory::submit! {
+                <dyn $trait>::typetag_register(
+                    <$ty as $crate::serde::Tagged>::TAG, // Tag of the type
+                    (|deserializer| typetag::__private::Result::Ok(
+                        typetag::__private::Box::new(
+                            typetag::__private::erased_serde::deserialize::<$ty>(deserializer)?
+                        ),
+                    )) as typetag::__private::DeserializeFn<<dyn $trait as typetag::__private::Strictest>::Object>
+                )
+            }
+        };
+    }
+}
+
+// Dummy implementation so things don't break when the serde feature is disabled
+#[cfg(not(feature = "serde"))]
+pub mod serde {
+    #[macro_export]
+    macro_rules! register_typetag {
+        ($trait:path, $ty:ty) => {};
+    }
+}
diff --git a/src/linalg/forward_prop.rs b/src/linalg/forward_prop.rs
index 0874f19..f88b388 100644
--- a/src/linalg/forward_prop.rs
+++ b/src/linalg/forward_prop.rs
@@ -7,6 +7,7 @@ use super::{
     MatrixDim,
 };
 use crate::{
+    dtype,
     linalg::{Const, DefaultAllocator, DiffResult, DimName, Dyn, MatrixX, VectorDim, VectorX},
     variables::Variable,
 };
@@ -19,7 +20,7 @@ macro_rules! forward_maker {
     ($num:expr, $( ($name:ident: $var:ident) ),*) => {
         paste! {
             #[allow(unused_assignments)]
-            fn [<jacobian_ $num>]<$( $var: Variable<Alias<f64> = $var>, )* F: Fn($($var::Alias<Self::D>,)*) -> VectorX<Self::D>>
+            fn [<jacobian_ $num>]<$( $var: Variable<Alias<dtype> = $var>, )* F: Fn($($var::Alias<Self::D>,)*) -> VectorX<Self::D>>
                     (f: F, $($name: &$var,)*) -> DiffResult<VectorX, MatrixX>{
                 // Prepare variables
                 let mut curr_dim = 0;
diff --git a/src/linear/values.rs b/src/linear/values.rs
index 28d0caa..a7092ae 100644
--- a/src/linear/values.rs
+++ b/src/linear/values.rs
@@ -16,18 +16,27 @@ impl LinearValues {
         Self { values, order }
     }
 
-    pub fn from_order_and_values(order: ValuesOrder, values: VectorX) -> Self {
+    pub fn zero_from_values(values: &Values) -> Self {
+        let order = ValuesOrder::from_values(values);
+        let values = VectorX::zeros(order.dim());
+        Self { values, order }
+    }
+
+    pub fn from_order_and_vector(order: ValuesOrder, values: VectorX) -> Self {
         assert!(
             values.len() == order.dim(),
-            "Values and order must have the same dimension when creating LinearValues"
+            "Vector and order must have the same dimension when creating LinearValues"
         );
         Self { values, order }
     }
 
-    pub fn zero_from_values(values: &Values) -> Self {
+    pub fn from_values_and_vector(values: &Values, vector: VectorX) -> Self {
         let order = ValuesOrder::from_values(values);
-        let values = VectorX::zeros(order.dim());
-        Self { values, order }
+        assert!(
+            vector.len() == order.dim(),
+            "Vector and values must have the same dimension when creating LinearValues"
+        );
+        Self::from_order_and_vector(order, vector)
     }
 
     pub fn len(&self) -> usize {
@@ -96,11 +105,11 @@ mod test {
     }
 
     #[test]
-    fn from_order_and_values() {
+    fn from_order_and_vector() {
         let (order, vector) = make_order_vector();
 
         // Create LinearValues
-        let linear_values = LinearValues::from_order_and_values(order, vector);
+        let linear_values = LinearValues::from_order_and_vector(order, vector);
         assert!(linear_values.len() == 3);
         assert!(linear_values.dim() == 11);
         assert!(linear_values.get(&X(0)).unwrap().len() == 2);
@@ -114,6 +123,6 @@ mod test {
     fn mismatched_size() {
         let (order, vector) = make_order_vector();
         let vector = vector.push(0.0);
-        LinearValues::from_order_and_values(order, vector);
+        LinearValues::from_order_and_vector(order, vector);
     }
 }
diff --git a/src/noise/gaussian.rs b/src/noise/gaussian.rs
index 5a412f0..1c3faee 100644
--- a/src/noise/gaussian.rs
+++ b/src/noise/gaussian.rs
@@ -1,22 +1,29 @@
 use std::fmt;
 
-use super::NoiseModel;
+use super::{NoiseModel, UnitNoise};
 use crate::{
     dtype,
-    linalg::{
-        Const,
-        Matrix,
-        MatrixView,
-        MatrixViewX,
-        MatrixX,
-        Vector,
-        VectorView,
-        VectorViewX,
-        VectorX,
-    },
+    linalg::{Const, Matrix, MatrixView, MatrixX, Vector, VectorView, VectorX},
+    tag_noise,
 };
 
+tag_noise!(
+    GaussianNoise<1>,
+    GaussianNoise<2>,
+    GaussianNoise<3>,
+    GaussianNoise<4>,
+    GaussianNoise<5>,
+    GaussianNoise<6>,
+    GaussianNoise<7>,
+    GaussianNoise<8>,
+    GaussianNoise<9>,
+    GaussianNoise<10>,
+    GaussianNoise<11>,
+    GaussianNoise<12>,
+);
+
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct GaussianNoise<const N: usize> {
     sqrt_inf: Matrix<N, N>,
 }
@@ -24,13 +31,13 @@ pub struct GaussianNoise<const N: usize> {
 impl<const N: usize> NoiseModel for GaussianNoise<N> {
     type Dim = Const<N>;
 
-    fn whiten_vec(&self, v: VectorViewX) -> VectorX {
+    fn whiten_vec(&self, v: VectorX) -> VectorX {
         let mut out = VectorX::zeros(v.len());
         self.sqrt_inf.mul_to(&v, &mut out);
         out
     }
 
-    fn whiten_mat(&self, m: MatrixViewX) -> MatrixX {
+    fn whiten_mat(&self, m: MatrixX) -> MatrixX {
         let mut out = MatrixX::zeros(m.nrows(), m.ncols());
         self.sqrt_inf.mul_to(&m, &mut out);
         out
@@ -38,9 +45,8 @@ impl<const N: usize> NoiseModel for GaussianNoise<N> {
 }
 
 impl<const N: usize> GaussianNoise<N> {
-    pub fn identity() -> Self {
-        let sqrt_inf = Matrix::<N, N>::identity();
-        Self { sqrt_inf }
+    pub fn identity() -> UnitNoise<N> {
+        UnitNoise
     }
 
     pub fn from_scalar_sigma(sigma: dtype) -> Self {
@@ -107,16 +113,7 @@ macro_rules! make_gaussian_vector {
 
 make_gaussian_vector!(1, [s0]);
 make_gaussian_vector!(2, [s0, s1]);
-impl GaussianNoise<3> {
-    pub fn from_diag_sigmas(s0: dtype, s1: dtype, s2: dtype) -> Self {
-        let sigmas = Vector::<3>::new(s0, s1, s2);
-        Self::from_vec_sigma(sigmas.as_view())
-    }
-    pub fn from_diag_covs(s0: dtype, s1: dtype, s2: dtype) -> Self {
-        let sigmas = Vector::<3>::new(s0, s1, s2);
-        Self::from_vec_cov(sigmas.as_view())
-    }
-}
+make_gaussian_vector!(3, [s0, s1, s2]);
 make_gaussian_vector!(4, [s0, s1, s2, s3]);
 make_gaussian_vector!(5, [s0, s1, s2, s3, s4]);
 make_gaussian_vector!(6, [s0, s1, s2, s3, s4, s5]);
diff --git a/src/noise/mod.rs b/src/noise/mod.rs
index d81b8f4..e72384b 100644
--- a/src/noise/mod.rs
+++ b/src/noise/mod.rs
@@ -1,37 +1,65 @@
-use crate::linalg::{DimName, MatrixViewX, MatrixX, VectorViewX, VectorX};
-pub trait NoiseModel: Sized {
+use std::fmt::{Debug, Display};
+
+use crate::linalg::{DimName, MatrixX, VectorX};
+
+pub trait NoiseModel: Debug + Display {
     type Dim: DimName;
 
     fn dim(&self) -> usize {
         Self::Dim::USIZE
     }
 
-    fn whiten_vec(&self, v: VectorViewX) -> VectorX;
+    fn whiten_vec(&self, v: VectorX) -> VectorX;
 
-    fn whiten_mat(&self, m: MatrixViewX) -> MatrixX;
+    fn whiten_mat(&self, m: MatrixX) -> MatrixX;
 }
 
-pub trait NoiseModelSafe {
+#[cfg_attr(feature = "serde", typetag::serde(tag = "tag"))]
+pub trait NoiseModelSafe: Debug + Display {
     fn dim(&self) -> usize;
 
-    fn whiten_vec(&self, v: VectorViewX) -> VectorX;
+    fn whiten_vec(&self, v: VectorX) -> VectorX;
 
-    fn whiten_mat(&self, m: MatrixViewX) -> MatrixX;
+    fn whiten_mat(&self, m: MatrixX) -> MatrixX;
 }
 
-impl<T: NoiseModel> NoiseModelSafe for T {
+impl<
+        #[cfg(not(feature = "serde"))] T: NoiseModel,
+        #[cfg(feature = "serde")] T: NoiseModel + crate::serde::Tagged,
+    > NoiseModelSafe for T
+{
     fn dim(&self) -> usize {
-        self.dim()
+        NoiseModel::dim(self)
+    }
+
+    fn whiten_vec(&self, v: VectorX) -> VectorX {
+        NoiseModel::whiten_vec(self, v)
     }
 
-    fn whiten_vec(&self, v: VectorViewX) -> VectorX {
-        self.whiten_vec(v)
+    fn whiten_mat(&self, m: MatrixX) -> MatrixX {
+        NoiseModel::whiten_mat(self, m)
     }
 
-    fn whiten_mat(&self, m: MatrixViewX) -> MatrixX {
-        self.whiten_mat(m)
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_name(&self) -> &'static str {
+        Self::TAG
     }
+
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_deserialize(&self) {}
+}
+
+#[macro_export]
+macro_rules! tag_noise {
+    ($($ty:ty),* $(,)?) => {$(
+        $crate::register_typetag!($crate::noise::NoiseModelSafe, $ty);
+    )*};
 }
 
 mod gaussian;
 pub use gaussian::GaussianNoise;
+
+mod unit;
+pub use unit::UnitNoise;
diff --git a/src/noise/unit.rs b/src/noise/unit.rs
new file mode 100644
index 0000000..fac6d22
--- /dev/null
+++ b/src/noise/unit.rs
@@ -0,0 +1,36 @@
+use super::NoiseModel;
+use crate::{
+    linalg::{Const, MatrixX, VectorX},
+    tag_noise,
+};
+
+tag_noise!(
+    UnitNoise<1>,
+    UnitNoise<2>,
+    UnitNoise<3>,
+    UnitNoise<4>,
+    UnitNoise<5>,
+    UnitNoise<6>,
+    UnitNoise<7>,
+    UnitNoise<8>,
+    UnitNoise<9>,
+    UnitNoise<10>,
+    UnitNoise<11>,
+    UnitNoise<12>,
+);
+
+#[derive(Clone, Debug, derive_more::Display)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+pub struct UnitNoise<const N: usize>;
+
+impl<const N: usize> NoiseModel for UnitNoise<N> {
+    type Dim = Const<N>;
+
+    fn whiten_vec(&self, v: VectorX) -> VectorX {
+        v
+    }
+
+    fn whiten_mat(&self, m: MatrixX) -> MatrixX {
+        m
+    }
+}
diff --git a/src/optimizers/gauss_newton.rs b/src/optimizers/gauss_newton.rs
index f397fc1..d7e23de 100644
--- a/src/optimizers/gauss_newton.rs
+++ b/src/optimizers/gauss_newton.rs
@@ -1,6 +1,6 @@
 use faer_ext::IntoNalgebra;
 
-use super::{OptResult, Optimizer, OptimizerParams};
+use super::{GraphOptimizer, OptObserverVec, OptParams, OptResult, Optimizer};
 use crate::{
     containers::{Graph, GraphOrder, Values, ValuesOrder},
     linalg::DiffResult,
@@ -11,17 +11,19 @@ use crate::{
 pub struct GaussNewton<S: LinearSolver = CholeskySolver> {
     graph: Graph,
     solver: S,
-    pub params: OptimizerParams,
+    pub params: OptParams,
+    pub observers: OptObserverVec<Values>,
     // For caching computation between steps
     graph_order: Option<GraphOrder>,
 }
 
-impl<S: LinearSolver> Optimizer for GaussNewton<S> {
+impl<S: LinearSolver> GraphOptimizer for GaussNewton<S> {
     fn new(graph: Graph) -> Self {
         Self {
             graph,
             solver: S::default(),
-            params: OptimizerParams::default(),
+            observers: OptObserverVec::default(),
+            params: OptParams::default(),
             graph_order: None,
         }
     }
@@ -29,8 +31,20 @@ impl<S: LinearSolver> Optimizer for GaussNewton<S> {
     fn graph(&self) -> &Graph {
         &self.graph
     }
+}
+
+impl<S: LinearSolver> Optimizer for GaussNewton<S> {
+    type Input = Values;
+
+    fn observers(&self) -> &OptObserverVec<Values> {
+        &self.observers
+    }
+
+    fn error(&self, values: &Values) -> crate::dtype {
+        self.graph.error(values)
+    }
 
-    fn params(&self) -> &OptimizerParams {
+    fn params(&self) -> &OptParams {
         &self.params
     }
 
@@ -43,7 +57,7 @@ impl<S: LinearSolver> Optimizer for GaussNewton<S> {
         );
     }
 
-    fn step(&mut self, mut values: Values) -> OptResult {
+    fn step(&mut self, mut values: Values) -> OptResult<Values> {
         // Solve the linear system
         let linear_graph = self.graph.linearize(&values);
         let DiffResult { value: r, diff: j } =
@@ -59,7 +73,7 @@ impl<S: LinearSolver> Optimizer for GaussNewton<S> {
             .clone_owned();
 
         // Update the values
-        let dx = LinearValues::from_order_and_values(
+        let dx = LinearValues::from_order_and_vector(
             self.graph_order.as_ref().unwrap().order.clone(),
             delta,
         );
diff --git a/src/optimizers/levenberg_marquardt.rs b/src/optimizers/levenberg_marquardt.rs
index 31df401..c3a2189 100644
--- a/src/optimizers/levenberg_marquardt.rs
+++ b/src/optimizers/levenberg_marquardt.rs
@@ -3,7 +3,7 @@ use std::ops::Mul;
 use faer::{scale, sparse::SparseColMat};
 use faer_ext::IntoNalgebra;
 
-use super::{OptError, OptResult, Optimizer, OptimizerParams};
+use super::{GraphOptimizer, OptError, OptObserverVec, OptParams, OptResult, Optimizer};
 use crate::{
     containers::{Graph, GraphOrder, Values, ValuesOrder},
     dtype,
@@ -32,20 +32,22 @@ impl Default for LevenParams {
 pub struct LevenMarquardt<S: LinearSolver = CholeskySolver> {
     graph: Graph,
     solver: S,
-    pub params_base: OptimizerParams,
+    pub params_base: OptParams,
     pub params_leven: LevenParams,
+    observers: OptObserverVec<Values>,
     lambda: dtype,
     // For caching computation between steps
     graph_order: Option<GraphOrder>,
 }
 
-impl<S: LinearSolver> Optimizer for LevenMarquardt<S> {
+impl<S: LinearSolver> GraphOptimizer for LevenMarquardt<S> {
     fn new(graph: Graph) -> Self {
         Self {
             graph,
             solver: S::default(),
-            params_base: OptimizerParams::default(),
+            params_base: OptParams::default(),
             params_leven: LevenParams::default(),
+            observers: OptObserverVec::default(),
             lambda: 1e-5,
             graph_order: None,
         }
@@ -54,11 +56,23 @@ impl<S: LinearSolver> Optimizer for LevenMarquardt<S> {
     fn graph(&self) -> &Graph {
         &self.graph
     }
+}
+
+impl<S: LinearSolver> Optimizer for LevenMarquardt<S> {
+    type Input = Values;
+
+    fn observers(&self) -> &OptObserverVec<Self::Input> {
+        &self.observers
+    }
 
-    fn params(&self) -> &OptimizerParams {
+    fn params(&self) -> &OptParams {
         &self.params_base
     }
 
+    fn error(&self, values: &Values) -> crate::dtype {
+        self.graph.error(values)
+    }
+
     fn init(&mut self, _values: &Values) {
         // TODO: Some way to manual specify how to computer ValuesOrder
         // Precompute the sparsity pattern
@@ -70,7 +84,7 @@ impl<S: LinearSolver> Optimizer for LevenMarquardt<S> {
 
     // TODO: Some form of logging of the lambda value
     // TODO: More sophisticated stopping criteria based on magnitude of the gradient
-    fn step(&mut self, mut values: Values) -> OptResult {
+    fn step(&mut self, mut values: Values) -> OptResult<Values> {
         // Make an ordering
         let order = ValuesOrder::from_values(&values);
 
@@ -122,7 +136,7 @@ impl<S: LinearSolver> Optimizer for LevenMarquardt<S> {
                 .into_nalgebra()
                 .column(0)
                 .clone_owned();
-            dx = LinearValues::from_order_and_values(
+            dx = LinearValues::from_order_and_vector(
                 self.graph_order.as_ref().unwrap().order.clone(),
                 delta,
             );
diff --git a/src/optimizers/macros.rs b/src/optimizers/macros.rs
index db76963..f136c6a 100644
--- a/src/optimizers/macros.rs
+++ b/src/optimizers/macros.rs
@@ -16,14 +16,19 @@ macro_rules! test_optimizer {
             $crate::optimizers::test::optimize_prior::<$optimizer$(< $($gen),* >)?, $crate::variables::SE3, 6>();
         }
 
-        // #[test]
-        // fn betweenvector3() {
-        //     $crate::optimizers::test::optimize_between::<$optimizer$(< $($gen),* >)?, $crate::variables::Vector3, 3>();
-        // }
+        #[test]
+        fn betweenvector3() {
+            $crate::optimizers::test::optimize_between::<$optimizer$(< $($gen),* >)?, $crate::variables::VectorVar3, 3, 6>();
+        }
 
-        // #[test]
-        // fn betweenso3() {
-        //     $crate::optimizers::test::optimize_between::<$optimizer$(< $($gen),* >)?, $crate::variables::SO3, 3>();
-        // }
+        #[test]
+        fn betweenso3() {
+            $crate::optimizers::test::optimize_between::<$optimizer$(< $($gen),* >)?, $crate::variables::SO3, 3, 6>();
+        }
+
+        #[test]
+        fn betweense3() {
+            $crate::optimizers::test::optimize_between::<$optimizer$(< $($gen),* >)?, $crate::variables::SE3, 6, 12>();
+        }
     };
 }
diff --git a/src/optimizers/mod.rs b/src/optimizers/mod.rs
index ffb8ee2..6cd4462 100644
--- a/src/optimizers/mod.rs
+++ b/src/optimizers/mod.rs
@@ -1,5 +1,13 @@
 mod traits;
-pub use traits::{OptError, OptResult, Optimizer, OptimizerCallback, OptimizerParams};
+pub use traits::{
+    GraphOptimizer,
+    OptError,
+    OptObserver,
+    OptObserverVec,
+    OptParams,
+    OptResult,
+    Optimizer,
+};
 
 mod macros;
 
@@ -13,22 +21,24 @@ pub use levenberg_marquardt::LevenMarquardt;
 #[cfg(test)]
 pub mod test {
     use faer::assert_matrix_eq;
-    use nalgebra::{allocator::Allocator, DefaultAllocator, DimNameAdd, DimNameSum};
 
     use super::*;
     use crate::{
         containers::{Graph, Values, X},
         dtype,
         factors::Factor,
-        linalg::{AllocatorBuffer, Const, DualAllocator, DualVector, VectorX},
-        residuals::{BetweenResidual, PriorResidual},
-        variables::Variable,
+        linalg::{Const, VectorX},
+        noise::{NoiseModelSafe, UnitNoise},
+        residuals::{BetweenResidual, PriorResidual, Residual, ResidualSafe},
+        variables::VariableUmbrella,
     };
 
     pub fn optimize_prior<O, T, const DIM: usize>()
     where
-        T: 'static + Variable<Dim = nalgebra::Const<DIM>, Alias<dtype> = T>,
-        O: Optimizer,
+        T: 'static + VariableUmbrella<Dim = Const<DIM>>,
+        UnitNoise<DIM>: NoiseModelSafe,
+        PriorResidual<T>: ResidualSafe,
+        O: Optimizer<Input = Values> + GraphOptimizer,
     {
         let t = VectorX::from_fn(T::DIM, |_, i| ((i + 1) as dtype) / 10.0);
         let p = T::exp(t.as_view());
@@ -53,50 +63,53 @@ pub mod test {
         );
     }
 
-    // pub fn optimize_between<O, T, const DIM: usize>()
-    // where
-    //     T: 'static + Variable<Dim = nalgebra::Const<DIM>, Alias<dtype> = T>,
-    //     O: Optimizer,
-    //     Const<DIM>: DimNameAdd<Const<DIM>>,
-    //     DualVector<DimNameSum<Const<DIM>, Const<DIM>>>: Copy,
-    // {
-    //     let t = VectorX::from_fn(T::DIM, |_, i| ((i as dtype) - (T::DIM as dtype)) / 10.0);
-    //     let p1 = T::exp(t.as_view());
-
-    //     let t = VectorX::from_fn(T::DIM, |_, i| ((i + 1) as dtype) / 10.0);
-    //     let p2 = T::exp(t.as_view());
-
-    //     let mut values = Values::new();
-    //     values.insert(X(0), T::identity());
-    //     values.insert(X(1), T::identity());
-
-    //     let mut graph = Graph::new();
-    //     let res = PriorResidual::new(p1.clone());
-    //     let factor = Factor::new_base(&[X(0)], res);
-    //     graph.add_factor(factor);
-
-    //     let diff = p2.minus(&p1);
-    //     let res = BetweenResidual::new(diff);
-    //     let factor = Factor::new_base(&[X(0), X(1)], res);
-    //     graph.add_factor(factor);
-
-    //     let mut opt = O::new(graph);
-    //     values = opt.optimize(values).unwrap();
-
-    //     let out1: &T = values.get_cast(&X(0)).unwrap();
-    //     assert_matrix_eq!(
-    //         out1.ominus(&p1),
-    //         VectorX::zeros(T::DIM),
-    //         comp = abs,
-    //         tol = 1e-6
-    //     );
-
-    //     let out2: &T = values.get_cast(&X(1)).unwrap();
-    //     assert_matrix_eq!(
-    //         out2.ominus(&p2),
-    //         VectorX::zeros(T::DIM),
-    //         comp = abs,
-    //         tol = 1e-6
-    //     );
-    // }
+    pub fn optimize_between<O, T, const DIM: usize, const DIM_DOUBLE: usize>()
+    where
+        T: 'static + VariableUmbrella<Dim = nalgebra::Const<DIM>>,
+        UnitNoise<DIM>: NoiseModelSafe,
+        PriorResidual<T>:
+            ResidualSafe + Residual<DimIn = Const<DIM>, DimOut = Const<DIM>, NumVars = Const<1>>,
+        BetweenResidual<T>: ResidualSafe
+            + Residual<DimIn = Const<DIM_DOUBLE>, DimOut = Const<DIM>, NumVars = Const<2>>,
+        O: Optimizer<Input = Values> + GraphOptimizer,
+    {
+        let t = VectorX::from_fn(T::DIM, |_, i| ((i as dtype) - (T::DIM as dtype)) / 10.0);
+        let p1 = T::exp(t.as_view());
+
+        let t = VectorX::from_fn(T::DIM, |_, i| ((i + 1) as dtype) / 10.0);
+        let p2 = T::exp(t.as_view());
+
+        let mut values = Values::new();
+        values.insert(X(0), T::identity());
+        values.insert(X(1), T::identity());
+
+        let mut graph = Graph::new();
+        let res = PriorResidual::new(p1.clone());
+        let factor = Factor::new_base(&[X(0)], res);
+        graph.add_factor(factor);
+
+        let diff = p2.minus(&p1);
+        let res = BetweenResidual::new(diff);
+        let factor = Factor::new_base(&[X(0), X(1)], res);
+        graph.add_factor(factor);
+
+        let mut opt = O::new(graph);
+        values = opt.optimize(values).unwrap();
+
+        let out1: &T = values.get_cast(&X(0)).unwrap();
+        assert_matrix_eq!(
+            out1.ominus(&p1),
+            VectorX::zeros(T::DIM),
+            comp = abs,
+            tol = 1e-6
+        );
+
+        let out2: &T = values.get_cast(&X(1)).unwrap();
+        assert_matrix_eq!(
+            out2.ominus(&p2),
+            VectorX::zeros(T::DIM),
+            comp = abs,
+            tol = 1e-6
+        );
+    }
 }
diff --git a/src/optimizers/traits.rs b/src/optimizers/traits.rs
index c380657..78a4a62 100644
--- a/src/optimizers/traits.rs
+++ b/src/optimizers/traits.rs
@@ -1,71 +1,82 @@
-use crate::{
-    containers::{Graph, Values},
-    dtype,
-};
+use crate::{containers::Graph, dtype};
 
 #[derive(Debug)]
 pub enum OptError {
-    MaxIterations(Values),
+    MaxIterations,
     InvalidSystem,
     FailedToStep,
 }
 
-pub type OptResult = Result<Values, OptError>;
+pub type OptResult<Input> = Result<Input, OptError>;
 
-pub struct OptimizerParams {
+// ------------------------- Optimizer Params ------------------------- //
+pub struct OptParams {
     pub max_iterations: usize,
     pub error_tol_relative: dtype,
     pub error_tol_absolute: dtype,
     pub error_tol: dtype,
-    pub callbacks: Vec<Box<dyn OptimizerCallback>>,
 }
 
-pub trait OptimizerCallback {
-    fn on_step(&self, values: &Values, time: f64);
-}
-
-impl Default for OptimizerParams {
+impl Default for OptParams {
     fn default() -> Self {
         Self {
             max_iterations: 100,
             error_tol_relative: 1e-6,
             error_tol_absolute: 1e-6,
             error_tol: 0.0,
-            callbacks: Vec::new(),
         }
     }
 }
 
-impl OptimizerParams {
-    pub fn add_callback(&mut self, callback: impl OptimizerCallback + 'static) {
+// ------------------------- Optimizer Observers ------------------------- //
+pub trait OptObserver {
+    type Input;
+    fn on_step(&self, values: &Self::Input, time: f64);
+}
+
+pub struct OptObserverVec<I> {
+    observers: Vec<Box<dyn OptObserver<Input = I>>>,
+}
+
+impl<I> OptObserverVec<I> {
+    pub fn add(&mut self, callback: impl OptObserver<Input = I> + 'static) {
         let boxed = Box::new(callback);
-        self.callbacks.push(boxed);
+        self.observers.push(boxed);
     }
 
-    pub fn notify_callbacks(&self, values: &Values, idx: usize) {
-        for callback in &self.callbacks {
+    pub fn notify(&self, values: &I, idx: usize) {
+        for callback in &self.observers {
             callback.on_step(values, idx as f64);
         }
     }
 }
 
+impl<I> Default for OptObserverVec<I> {
+    fn default() -> Self {
+        Self {
+            observers: Vec::new(),
+        }
+    }
+}
+
+// ------------------------- Actual Trait Impl ------------------------- //
 pub trait Optimizer {
-    fn new(graph: Graph) -> Self;
+    type Input;
 
-    fn graph(&self) -> &Graph;
+    // Wrappers for setup
+    fn observers(&self) -> &OptObserverVec<Self::Input>;
 
-    fn params(&self) -> &OptimizerParams;
+    fn params(&self) -> &OptParams;
 
-    fn step(&mut self, values: Values) -> OptResult;
+    // Core optimization functions
+    fn step(&mut self, values: Self::Input) -> OptResult<Self::Input>;
 
-    fn error(&self, values: &Values) -> dtype {
-        self.graph().error(values)
-    }
+    fn error(&self, values: &Self::Input) -> dtype;
 
-    fn init(&mut self, _values: &Values) {}
+    fn init(&mut self, _values: &Self::Input) {}
 
     // TODO: Custom logging based on optimizer
-    fn optimize(&mut self, mut values: Values) -> OptResult {
+    fn optimize(&mut self, mut values: Self::Input) -> OptResult<Self::Input> {
         // Setup up everything from our values
         self.init(&values);
 
@@ -118,8 +129,8 @@ pub trait Optimizer {
                 error_decrease_rel
             );
 
-            // Notify callbacks
-            self.params().notify_callbacks(&values, i);
+            // Notify observers
+            self.observers().notify(&values, i);
 
             // Check if we need to stop
             if error_new <= self.params().error_tol {
@@ -136,6 +147,12 @@ pub trait Optimizer {
             }
         }
 
-        Err(OptError::MaxIterations(values))
+        Err(OptError::MaxIterations)
     }
 }
+
+pub trait GraphOptimizer: Optimizer {
+    fn new(graph: Graph) -> Self;
+
+    fn graph(&self) -> &Graph;
+}
diff --git a/src/rerun.rs b/src/rerun.rs
index 70e8ee7..4e099fc 100644
--- a/src/rerun.rs
+++ b/src/rerun.rs
@@ -13,8 +13,8 @@ use rerun::{
 
 use crate::{
     containers::Values,
-    optimizers::OptimizerCallback,
-    variables::{MatrixLieGroup, Variable, VectorVar2, VectorVar3, SE2, SE3, SO2, SO3},
+    optimizers::OptObserver,
+    variables::{MatrixLieGroup, VariableUmbrella, VectorVar2, VectorVar3, SE2, SE3, SO2, SO3},
 };
 /*
 Each of our fact.rs types can be turned into a handful of rerun types. These include,
@@ -351,9 +351,9 @@ impl<'a> FromIterator<&'a SE3> for Points3D {
 }
 
 // ------------------------- Streamer ------------------------- //
-pub struct RerunSender<V, R>
+pub struct RerunObserver<V, R>
 where
-    V: Variable + 'static,
+    V: VariableUmbrella + 'static,
     R: AsComponents,
     for<'a> R: FromIterator<&'a V>,
 {
@@ -363,9 +363,9 @@ where
     v_phantom: std::marker::PhantomData<V>,
 }
 
-impl<V, R> RerunSender<V, R>
+impl<V, R> RerunObserver<V, R>
 where
-    V: Variable + 'static,
+    V: VariableUmbrella + 'static,
     R: AsComponents,
     for<'a> R: FromIterator<&'a V>,
 {
@@ -379,12 +379,14 @@ where
     }
 }
 
-impl<V, R> OptimizerCallback for RerunSender<V, R>
+impl<V, R> OptObserver for RerunObserver<V, R>
 where
-    V: Variable + 'static,
+    V: VariableUmbrella + 'static,
     R: AsComponents,
     for<'a> R: FromIterator<&'a V>,
 {
+    type Input = Values;
+
     fn on_step(&self, values: &Values, idx: f64) {
         self.rec.set_time_seconds("stable_time", idx);
         let sol: R = values.filter::<V>().collect();
diff --git a/src/residuals/between.rs b/src/residuals/between.rs
index 47020f9..d94ba97 100644
--- a/src/residuals/between.rs
+++ b/src/residuals/between.rs
@@ -1,9 +1,9 @@
 use nalgebra::{DimNameAdd, DimNameSum};
 
 use super::{Residual, Residual2};
+#[allow(unused_imports)]
 use crate::{
     containers::{Symbol, Values},
-    dtype,
     linalg::{
         AllocatorBuffer,
         Const,
@@ -16,11 +16,39 @@ use crate::{
         Numeric,
         VectorX,
     },
-    variables::Variable,
+    tag_residual,
+    variables::{
+        Variable,
+        VariableUmbrella,
+        VectorVar1,
+        VectorVar2,
+        VectorVar3,
+        VectorVar4,
+        VectorVar5,
+        VectorVar6,
+        SE2,
+        SE3,
+        SO2,
+        SO3,
+    },
 };
 
+tag_residual!(
+    BetweenResidual<VectorVar1>,
+    BetweenResidual<VectorVar2>,
+    BetweenResidual<VectorVar3>,
+    BetweenResidual<VectorVar4>,
+    BetweenResidual<VectorVar5>,
+    BetweenResidual<VectorVar6>,
+    BetweenResidual<SE2>,
+    BetweenResidual<SE3>,
+    BetweenResidual<SO2>,
+    BetweenResidual<SO3>,
+);
+
 // Between Variable
 #[derive(Clone, Debug, derive_more::Display)]
+#[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub struct BetweenResidual<P: Variable> {
     delta: P,
 }
@@ -31,7 +59,7 @@ impl<P: Variable> BetweenResidual<P> {
     }
 }
 
-impl<P: Variable<Alias<dtype> = P> + 'static> Residual2 for BetweenResidual<P>
+impl<P: VariableUmbrella + 'static> Residual2 for BetweenResidual<P>
 where
     AllocatorBuffer<DimNameSum<P::Dim, P::Dim>>: Sync + Send,
     DefaultAllocator: DualAllocator<DimNameSum<P::Dim, P::Dim>>,
@@ -55,7 +83,7 @@ where
     AllocatorBuffer<DimNameSum<P::Dim, P::Dim>>: Sync + Send,
     DefaultAllocator: DualAllocator<DimNameSum<P::Dim, P::Dim>>,
     DualVector<DimNameSum<P::Dim, P::Dim>>: Copy,
-    P: Variable<Alias<dtype> = P> + 'static,
+    P: VariableUmbrella + 'static,
     P::Dim: DimNameAdd<P::Dim>,
 {
     type DimOut = <Self as Residual2>::DimOut;
diff --git a/src/residuals/macros.rs b/src/residuals/macros.rs
index 9331660..4498c4a 100644
--- a/src/residuals/macros.rs
+++ b/src/residuals/macros.rs
@@ -21,3 +21,10 @@ macro_rules! impl_residual {
         }
     };
 }
+
+#[macro_export]
+macro_rules! tag_residual {
+    ($($ty:ty),* $(,)?) => {$(
+        $crate::register_typetag!($crate::residuals::ResidualSafe, $ty);
+    )*};
+}
diff --git a/src/residuals/prior.rs b/src/residuals/prior.rs
index c34256b..a94c137 100644
--- a/src/residuals/prior.rs
+++ b/src/residuals/prior.rs
@@ -1,7 +1,7 @@
 use super::{Residual, Residual1};
+#[allow(unused_imports)]
 use crate::{
     containers::{Symbol, Values},
-    dtype,
     linalg::{
         AllocatorBuffer,
         Const,
@@ -14,21 +14,49 @@ use crate::{
         Numeric,
         VectorX,
     },
-    variables::Variable,
+    tag_residual,
+    variables::{
+        Variable,
+        VariableUmbrella,
+        VectorVar1,
+        VectorVar2,
+        VectorVar3,
+        VectorVar4,
+        VectorVar5,
+        VectorVar6,
+        SE2,
+        SE3,
+        SO2,
+        SO3,
+    },
 };
 
+tag_residual!(
+    PriorResidual<VectorVar1>,
+    PriorResidual<VectorVar2>,
+    PriorResidual<VectorVar3>,
+    PriorResidual<VectorVar4>,
+    PriorResidual<VectorVar5>,
+    PriorResidual<VectorVar6>,
+    PriorResidual<SE2>,
+    PriorResidual<SE3>,
+    PriorResidual<SO2>,
+    PriorResidual<SO3>,
+);
+
 #[derive(Clone, Debug, derive_more::Display)]
+#[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub struct PriorResidual<P: Variable> {
     prior: P,
 }
 
-impl<P: Variable<Alias<dtype> = P>> PriorResidual<P> {
+impl<P: VariableUmbrella> PriorResidual<P> {
     pub fn new(prior: P) -> Self {
         Self { prior }
     }
 }
 
-impl<P: Variable<Alias<dtype> = P> + 'static> Residual1 for PriorResidual<P>
+impl<P: VariableUmbrella + 'static> Residual1 for PriorResidual<P>
 where
     AllocatorBuffer<P::Dim>: Sync + Send,
     DefaultAllocator: DualAllocator<P::Dim>,
@@ -44,7 +72,7 @@ where
     }
 }
 
-impl<P: Variable<Alias<dtype> = P> + 'static> Residual for PriorResidual<P>
+impl<P: VariableUmbrella + 'static> Residual for PriorResidual<P>
 where
     AllocatorBuffer<P::Dim>: Sync + Send,
     DefaultAllocator: DualAllocator<P::Dim>,
@@ -85,7 +113,7 @@ mod test {
 
     fn test_prior_jacobian<P>(prior: P)
     where
-        P: Variable<Alias<dtype> = P> + 'static,
+        P: VariableUmbrella + 'static,
         AllocatorBuffer<P::Dim>: Sync + Send,
         DefaultAllocator: DualAllocator<P::Dim>,
         DualVector<P::Dim>: Copy,
diff --git a/src/residuals/traits.rs b/src/residuals/traits.rs
index 03eeded..ed8cba1 100644
--- a/src/residuals/traits.rs
+++ b/src/residuals/traits.rs
@@ -1,16 +1,15 @@
-use std::fmt;
+use std::fmt::{Debug, Display};
 
 use crate::{
     containers::{Symbol, Values},
-    dtype,
     linalg::{Diff, DiffResult, DimName, MatrixX, Numeric, VectorX},
-    variables::Variable,
+    variables::{Variable, VariableUmbrella},
 };
 
 type Alias<V, D> = <V as Variable>::Alias<D>;
 
 // ------------------------- Base Residual Trait & Helpers ------------------------- //
-pub trait Residual: fmt::Debug {
+pub trait Residual: Debug + Display {
     type DimIn: DimName;
     type DimOut: DimName;
     type NumVars: DimName;
@@ -28,7 +27,8 @@ pub trait Residual: fmt::Debug {
     fn residual_jacobian(&self, values: &Values, keys: &[Symbol]) -> DiffResult<VectorX, MatrixX>;
 }
 
-pub trait ResidualSafe {
+#[cfg_attr(feature = "serde", typetag::serde(tag = "tag"))]
+pub trait ResidualSafe: Debug + Display {
     fn dim_in(&self) -> usize;
 
     fn dim_out(&self) -> usize;
@@ -38,26 +38,39 @@ pub trait ResidualSafe {
     fn residual_jacobian(&self, values: &Values, keys: &[Symbol]) -> DiffResult<VectorX, MatrixX>;
 }
 
-impl<T: Residual> ResidualSafe for T {
+impl<
+        #[cfg(not(feature = "serde"))] T: Residual,
+        #[cfg(feature = "serde")] T: Residual + crate::serde::Tagged,
+    > ResidualSafe for T
+{
     fn dim_in(&self) -> usize {
-        T::DimIn::USIZE
+        Residual::dim_in(self)
     }
 
     fn dim_out(&self) -> usize {
-        T::DimOut::USIZE
+        Residual::dim_out(self)
     }
 
     fn residual(&self, values: &Values, keys: &[Symbol]) -> VectorX {
-        self.residual(values, keys)
+        Residual::residual(self, values, keys)
     }
 
     fn residual_jacobian(&self, values: &Values, keys: &[Symbol]) -> DiffResult<VectorX, MatrixX> {
-        self.residual_jacobian(values, keys)
+        Residual::residual_jacobian(self, values, keys)
     }
+
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_name(&self) -> &'static str {
+        Self::TAG
+    }
+
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_deserialize(&self) {}
 }
 
 // ------------------------- Use Macro to create residuals with set sizes -------------------------
-// //
 use paste::paste;
 
 macro_rules! residual_maker {
@@ -66,7 +79,7 @@ macro_rules! residual_maker {
             pub trait [<Residual $num>]: Residual
             {
                 $(
-                    type $var: Variable<Alias<dtype> = Self::$var>;
+                    type $var: VariableUmbrella;
                 )*
                 type DimIn: DimName;
                 type DimOut: DimName;
diff --git a/src/robust/mod.rs b/src/robust/mod.rs
index 71571f8..4053107 100644
--- a/src/robust/mod.rs
+++ b/src/robust/mod.rs
@@ -1,29 +1,56 @@
+use std::fmt::Debug;
+
 use crate::dtype;
 
-// TODO: Consider changing names to \rho and w
-pub trait RobustCost: Default {
+pub trait RobustCost: Default + Debug {
     fn loss(&self, d2: dtype) -> dtype;
 
     fn weight(&self, d2: dtype) -> dtype;
 }
 
-pub trait RobustCostSafe {
+#[cfg_attr(feature = "serde", typetag::serde(tag = "tag"))]
+pub trait RobustCostSafe: Debug {
     fn loss(&self, d2: dtype) -> dtype;
 
     fn weight(&self, d2: dtype) -> dtype;
 }
 
-impl<T: RobustCost> RobustCostSafe for T {
+impl<
+        #[cfg(not(feature = "serde"))] T: RobustCost,
+        #[cfg(feature = "serde")] T: RobustCost + crate::serde::Tagged,
+    > RobustCostSafe for T
+{
     fn loss(&self, d2: dtype) -> dtype {
-        self.loss(d2)
+        RobustCost::loss(self, d2)
     }
 
     fn weight(&self, d2: dtype) -> dtype {
-        self.weight(d2)
+        RobustCost::weight(self, d2)
+    }
+
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_name(&self) -> &'static str {
+        Self::TAG
     }
+
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_deserialize(&self) {}
 }
 
+#[macro_export]
+macro_rules! tag_robust {
+    ($($ty:ty),* $(,)?) => {$(
+        $crate::register_typetag!($crate::robust::RobustCostSafe, $ty);
+    )*};
+}
+
+tag_robust!(L2, L1, Huber, Fair, Cauchy, GemanMcClure, Welsch, Tukey);
+
 // ------------------------- L2 Norm ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct L2;
 
 impl Default for L2 {
@@ -43,6 +70,8 @@ impl RobustCost for L2 {
 }
 
 // ------------------------- L1 Norm ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct L1;
 
 impl Default for L1 {
@@ -66,6 +95,8 @@ impl RobustCost for L1 {
 }
 
 // ------------------------- Huber ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Huber {
     k: dtype,
 }
@@ -103,6 +134,8 @@ impl RobustCost for Huber {
 }
 
 // ------------------------- Fair ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Fair {
     c: dtype,
 }
@@ -131,6 +164,8 @@ impl RobustCost for Fair {
 }
 
 // ------------------------- Cauchy ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Cauchy {
     c2: dtype,
 }
@@ -160,6 +195,8 @@ impl RobustCost for Cauchy {
 }
 
 // ------------------------- Geman-McClure ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct GemanMcClure {
     c2: dtype,
 }
@@ -191,6 +228,8 @@ impl RobustCost for GemanMcClure {
 }
 
 // ------------------------- Welsch ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Welsch {
     c2: dtype,
 }
@@ -220,6 +259,8 @@ impl RobustCost for Welsch {
 }
 
 // ------------------------- Tukey ------------------------- //
+#[derive(Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct Tukey {
     c2: dtype,
 }
@@ -269,7 +310,7 @@ mod test {
     const TOL: dtype = 1e-6;
 
     #[cfg(feature = "f32")]
-    const EPS: dtype = 1e-33;
+    const EPS: dtype = 1e-3;
     #[cfg(feature = "f32")]
     const TOL: dtype = 1e-2;
 
diff --git a/src/variables/macros.rs b/src/variables/macros.rs
index 230dd80..61b6997 100644
--- a/src/variables/macros.rs
+++ b/src/variables/macros.rs
@@ -9,7 +9,7 @@ macro_rules! assert_variable_eq {
     ($x:expr, $y:expr, comp = abs, tol = $tol:expr) => {
         matrixcompare::assert_matrix_eq!(
             $x.ominus(&$y),
-            VectorX::zeros($x.dim()),
+            VectorX::zeros($crate::variables::traits::Variable::dim(&$x)),
             comp = abs,
             tol = $tol
         );
@@ -158,3 +158,10 @@ macro_rules! test_lie {
         }
     };
 }
+
+#[macro_export]
+macro_rules! tag_variable {
+    ($($ty:ty),* $(,)?) => {$(
+        $crate::register_typetag!($crate::variables::VariableSafe, $ty);
+    )*};
+}
diff --git a/src/variables/mod.rs b/src/variables/mod.rs
index 1eea272..6b5a009 100644
--- a/src/variables/mod.rs
+++ b/src/variables/mod.rs
@@ -1,6 +1,6 @@
 // ------------------------- Import all variable types ------------------------- //
 mod traits;
-pub use traits::{MatrixLieGroup, Variable, VariableSafe};
+pub use traits::{MatrixLieGroup, Variable, VariableSafe, VariableUmbrella};
 
 mod so2;
 pub use so2::SO2;
diff --git a/src/variables/se2.rs b/src/variables/se2.rs
index d895c9d..8351807 100644
--- a/src/variables/se2.rs
+++ b/src/variables/se2.rs
@@ -23,10 +23,14 @@ use crate::{
         VectorViewX,
         VectorX,
     },
+    tag_variable,
     variables::{MatrixLieGroup, Variable, SO2},
 };
 
+tag_variable!(SE2);
+
 #[derive(Clone)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct SE2<D: Numeric = dtype> {
     rot: SO2<D>,
     xy: Vector2<D>,
diff --git a/src/variables/se3.rs b/src/variables/se3.rs
index 3391836..a4b0ce9 100644
--- a/src/variables/se3.rs
+++ b/src/variables/se3.rs
@@ -23,10 +23,14 @@ use crate::{
         VectorViewX,
         VectorX,
     },
+    tag_variable,
     variables::{MatrixLieGroup, Variable, SO3},
 };
 
+tag_variable!(SE3);
+
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct SE3<D: Numeric = dtype> {
     rot: SO3<D>,
     xyz: Vector3<D>,
diff --git a/src/variables/so2.rs b/src/variables/so2.rs
index fc5c2b6..cfd20fc 100644
--- a/src/variables/so2.rs
+++ b/src/variables/so2.rs
@@ -23,10 +23,14 @@ use crate::{
         VectorViewX,
         VectorX,
     },
+    tag_variable,
     variables::{MatrixLieGroup, Variable},
 };
 
+tag_variable!(SO2);
+
 #[derive(Clone)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct SO2<D: Numeric = dtype> {
     a: D,
     b: D,
diff --git a/src/variables/so3.rs b/src/variables/so3.rs
index ea9909f..14f0e49 100644
--- a/src/variables/so3.rs
+++ b/src/variables/so3.rs
@@ -22,10 +22,14 @@ use crate::{
         VectorViewX,
         VectorX,
     },
+    tag_variable,
     variables::{MatrixLieGroup, Variable},
 };
 
+tag_variable!(SO3);
+
 #[derive(Clone)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub struct SO3<D: Numeric = dtype> {
     pub xyzw: Vector4<D>,
 }
diff --git a/src/variables/traits.rs b/src/variables/traits.rs
index 29650aa..5b57416 100644
--- a/src/variables/traits.rs
+++ b/src/variables/traits.rs
@@ -91,6 +91,7 @@ pub trait Variable<D: Numeric = dtype>: Clone + Sized + Display + Debug {
     }
 }
 
+#[cfg_attr(feature = "serde", typetag::serde(tag = "tag"))]
 pub trait VariableSafe: Debug + Display + Downcast {
     fn clone_box(&self) -> Box<dyn VariableSafe>;
 
@@ -99,7 +100,11 @@ pub trait VariableSafe: Debug + Display + Downcast {
     fn oplus_mut(&mut self, delta: VectorViewX);
 }
 
-impl<T: Variable + 'static> VariableSafe for T {
+impl<
+        #[cfg(not(feature = "serde"))] T: Variable + 'static,
+        #[cfg(feature = "serde")] T: Variable + 'static + crate::serde::Tagged,
+    > VariableSafe for T
+{
     fn clone_box(&self) -> Box<dyn VariableSafe> {
         Box::new((*self).clone())
     }
@@ -111,7 +116,23 @@ impl<T: Variable + 'static> VariableSafe for T {
     fn oplus_mut(&mut self, delta: VectorViewX) {
         *self = self.oplus(delta);
     }
+
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_name(&self) -> &'static str {
+        Self::TAG
+    }
+
+    #[doc(hidden)]
+    #[cfg(feature = "serde")]
+    fn typetag_deserialize(&self) {}
+}
+
+pub trait VariableUmbrella<D: Numeric = dtype>:
+    VariableSafe + Variable<D, Alias<D> = Self>
+{
 }
+impl<D: Numeric, T: VariableSafe + Variable<D, Alias<D> = T>> VariableUmbrella<D> for T {}
 
 impl_downcast!(VariableSafe);
 
diff --git a/src/variables/vector.rs b/src/variables/vector.rs
index 54fca4d..9bcae2a 100644
--- a/src/variables/vector.rs
+++ b/src/variables/vector.rs
@@ -18,15 +18,27 @@ use crate::{
         VectorViewX,
         VectorX,
     },
+    tag_variable,
     variables::Variable,
 };
 
+tag_variable!(
+    VectorVar<1>,
+    VectorVar<2>,
+    VectorVar<3>,
+    VectorVar<4>,
+    VectorVar<5>,
+    VectorVar<6>,
+);
+
+// ------------------------- Our needs ------------------------- //
 // We create a newtype specifically for vectors we're estimating over due to,
 // 1 - So we can manually implement Debug/Display
 // 2 - Overcome identity issues with the underlying Vector type
 // 3 - Impl Into<Rerun types>
 #[derive(Clone)]
-pub struct VectorVar<const N: usize, D: Numeric>(Vector<N, D>);
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+pub struct VectorVar<const N: usize, D: Numeric = dtype>(Vector<N, D>);
 
 impl<const N: usize, D: Numeric> Variable<D> for VectorVar<N, D> {
     type Dim = Const<N>;