Sampling First Order Logical Particles
  Approximate inference in dynamic systems is the problem of estimating the
state of the system given a sequence of actions and partial observations. High
precision estimation is fundamental in many applications like diagnosis,
natural language processing, tracking, planning, and robotics. In this paper we
present an algorithm that samples possible deterministic executions of a
probabilistic sequence. The algorithm takes advantage of a compact
representation (using first order logic) for actions and world states to
improve the precision of its estimation. Theoretical and empirical results show
that the algorithm's expected error is smaller than propositional sampling and
Sequential Monte Carlo (SMC) sampling techniques.
