diff --git a/Cargo.lock b/Cargo.lock
index ef89111..9300911 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -106,9 +106,9 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.92"
+version = "1.0.95"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74f37166d7d48a0284b99dd824694c26119c700b53bf0d1540cdb147dbdaaf13"
+checksum = "34ac096ce696dc2fcabef30516bb13c0a68a11d30131d3df6f04711467681b04"
 
 [[package]]
 name = "approx"
@@ -176,7 +176,7 @@ dependencies = [
  "arrow-schema",
  "chrono",
  "half",
- "hashbrown 0.15.1",
+ "hashbrown 0.15.2",
  "num",
 ]
 
@@ -299,6 +299,39 @@ dependencies = [
  "regex-syntax",
 ]
 
+[[package]]
+name = "async-stream"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b5a71a6f37880a80d1d7f19efd781e4b5de42c88f0722cc13bcb6cc2cfe8476"
+dependencies = [
+ "async-stream-impl",
+ "futures-core",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "async-stream-impl"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7c24de15d275a1ecfd47a380fb4d5ec9bfe0933f309ed5e705b775596a3574d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "async-trait"
+version = "0.1.85"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f934833b4b7233644e5848f235df3f57ed8c80f1528a26c3dfa13d2147fa056"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "atoi"
 version = "2.0.0"
@@ -308,12 +341,65 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "atomic-waker"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
+
 [[package]]
 name = "autocfg"
 version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
+[[package]]
+name = "axum"
+version = "0.7.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edca88bc138befd0323b20752846e6587272d3b03b0343c8ea28a6f819e6e71f"
+dependencies = [
+ "async-trait",
+ "axum-core",
+ "bytes",
+ "futures-util",
+ "http",
+ "http-body",
+ "http-body-util",
+ "itoa",
+ "matchit",
+ "memchr",
+ "mime",
+ "percent-encoding",
+ "pin-project-lite",
+ "rustversion",
+ "serde",
+ "sync_wrapper",
+ "tower 0.5.2",
+ "tower-layer",
+ "tower-service",
+]
+
+[[package]]
+name = "axum-core"
+version = "0.4.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09f2bd6146b97ae3359fa0cc6d6b376d9539582c7b4220f041a33ec24c226199"
+dependencies = [
+ "async-trait",
+ "bytes",
+ "futures-util",
+ "http",
+ "http-body",
+ "http-body-util",
+ "mime",
+ "pin-project-lite",
+ "rustversion",
+ "sync_wrapper",
+ "tower-layer",
+ "tower-service",
+]
+
 [[package]]
 name = "az"
 version = "1.2.1"
@@ -343,9 +429,9 @@ checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
 name = "bit-vec"
-version = "0.7.0"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2c54ff287cfc0a34f38a6b832ea1bd8e448a330b3e40a50859e6488bee07f22"
+checksum = "5e764a1d40d510daf35e07be9eb06e75770908c27d411ee6c92109c9840eaaf7"
 
 [[package]]
 name = "bitflags"
@@ -370,9 +456,9 @@ dependencies = [
 
 [[package]]
 name = "bstr"
-version = "1.10.0"
+version = "1.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40723b8fb387abc38f4f4a37c09073622e41dd12327033091ef8950659e6dc0c"
+checksum = "531a9155a481e2ee699d4f98f43c0ca4ff8ee1bfd55c31e9e98fb29d2b176fe0"
 dependencies = [
  "memchr",
  "regex-automata",
@@ -393,18 +479,18 @@ checksum = "5ce89b21cab1437276d2650d57e971f9d548a2d9037cc231abdc0562b97498ce"
 
 [[package]]
 name = "bytemuck"
-version = "1.19.0"
+version = "1.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8334215b81e418a0a7bdb8ef0849474f40bb10c8b71f1c4ed315cff49f32494d"
+checksum = "ef657dfab802224e671f5818e9a4935f9b1957ed18e58292690cc39e7a4092a3"
 dependencies = [
  "bytemuck_derive",
 ]
 
 [[package]]
 name = "bytemuck_derive"
-version = "1.8.0"
+version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bcfcc3cd946cb52f0bbfdbbcfa2f4e24f75ebb6c0e1002f7c25904fada18b9ec"
+checksum = "3fa76293b4f7bb636ab88fd78228235b5248b4d05cc589aed610f954af5d7c7a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -419,9 +505,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.8.0"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ac0150caa2ae65ca5bd83f25c7de183dea78d4d366469f148435e2acfbad0da"
+checksum = "325918d6fe32f23b19878fe4b34794ae41fc19ddbe53b10571a4874d44ffd39b"
 
 [[package]]
 name = "camino"
@@ -434,9 +520,9 @@ dependencies = [
 
 [[package]]
 name = "cargo-platform"
-version = "0.1.8"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24b1f0365a6c6bb4020cd05806fd0d33c44d38046b8bd7f0e40814b9763cabfc"
+checksum = "e35af189006b9c0f00a064685c727031e3ed2d8020f7ba284d78cc2671bd36ea"
 dependencies = [
  "serde",
 ]
@@ -470,9 +556,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.2.4"
+version = "1.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9157bbaa6b165880c27a4293a474c91cdcf265cc68cc829bf10be0964a391caf"
+checksum = "a012a0df96dd6d06ba9a1b29d6402d1a5d77c6befd2566afdc26e10603dc93d7"
 dependencies = [
  "shlex",
 ]
@@ -502,9 +588,9 @@ checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
 
 [[package]]
 name = "chrono"
-version = "0.4.38"
+version = "0.4.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
+checksum = "7e36cc9d416881d2e24f9a963be5fb1cd90966419ac844274161d10488b3e825"
 dependencies = [
  "android-tzdata",
  "iana-time-zone",
@@ -523,9 +609,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.5.23"
+version = "4.5.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3135e7ec2ef7b10c6ed8950f0f792ed96ee093fa088608f1c76e569722700c84"
+checksum = "9560b07a799281c7e0958b9296854d6fafd4c5f31444a7e5bb1ad6dde5ccf1bd"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -533,9 +619,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.5.23"
+version = "4.5.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30582fc632330df2bd26877bde0c1f4470d57c582bbc070376afcd04d8cb4838"
+checksum = "874e0dd3eb68bf99058751ac9712f622e61e6f393a94f7128fa26e3f02f5c7cd"
 dependencies = [
  "anstream",
  "anstyle",
@@ -545,9 +631,9 @@ dependencies = [
 
 [[package]]
 name = "clap_derive"
-version = "4.5.18"
+version = "4.5.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ac6a0c7b1a9e9a5186361f67dfa1b88213572f427fb9ab038efb2bd8c582dab"
+checksum = "54b755194d6389280185988721fffba69495eed5ee9feeee9a599b53db80318c"
 dependencies = [
  "heck",
  "proc-macro2",
@@ -579,6 +665,16 @@ version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5b63caa9aa9397e2d9480a9b13673856c78d8ac123288526c37d7839f2a86990"
 
+[[package]]
+name = "colored"
+version = "2.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "117725a109d387c937a1533ce01b450cbde6b88abceea8473c4d7a85853cda3c"
+dependencies = [
+ "lazy_static",
+ "windows-sys 0.59.0",
+]
+
 [[package]]
 name = "colorgrad"
 version = "0.6.2"
@@ -590,9 +686,9 @@ dependencies = [
 
 [[package]]
 name = "comfy-table"
-version = "7.1.1"
+version = "7.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b34115915337defe99b2aff5c2ce6771e5fbc4079f4b506301f5cf394c8452f7"
+checksum = "24f165e7b643266ea80cb858aed492ad9280e3e05ce24d4a99d7d7b889b6a4d9"
 dependencies = [
  "crossterm",
  "strum",
@@ -602,14 +698,14 @@ dependencies = [
 
 [[package]]
 name = "console"
-version = "0.15.8"
+version = "0.15.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e1f83fc076bd6dd27517eacdf25fef6c4dfe5f1d7448bafaaf3a26f13b5e4eb"
+checksum = "ea3c6ecd8059b57859df5c69830340ed3c41d30e3da0c1cbed90a96ac853041b"
 dependencies = [
  "encode_unicode",
- "lazy_static",
  "libc",
- "windows-sys 0.52.0",
+ "once_cell",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -649,9 +745,9 @@ checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.14"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "608697df725056feaccfa42cffdaeeec3fccc4ffc38358ecd19b243e716a78e0"
+checksum = "16b80225097f2e5ae4e7179dd2266824648f3e2f49d9134d584b76389d31c4c3"
 dependencies = [
  "libc",
 ]
@@ -671,18 +767,18 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-channel"
-version = "0.5.13"
+version = "0.5.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33480d6946193aa8033910124896ca395333cae7e2d1113d1fef6c3272217df2"
+checksum = "06ba6d68e24814cb8de6bb986db8222d3a027d15872cabc0d18817bc3c0e4471"
 dependencies = [
  "crossbeam-utils",
 ]
 
 [[package]]
 name = "crossbeam-deque"
-version = "0.8.5"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "613f8cc01fe9cf1a3eb3d7f488fd2fa8388403e97039e2f73692932e291a770d"
+checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51"
 dependencies = [
  "crossbeam-epoch",
  "crossbeam-utils",
@@ -699,29 +795,29 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-queue"
-version = "0.3.11"
+version = "0.3.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df0346b5d5e76ac2fe4e327c5fd1118d6be7c51dfb18f9b7922923f287471e35"
+checksum = "0f58bbc28f91df819d0aa2a2c00cd19754769c2fad90579b3592b1c9ba7a3115"
 dependencies = [
  "crossbeam-utils",
 ]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.20"
+version = "0.8.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "22ec99545bb0ed0ea7bb9b8e1e9122ea386ff8a48c0922e43f36d45ab09e0e80"
+checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28"
 
 [[package]]
 name = "crossterm"
-version = "0.27.0"
+version = "0.28.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f476fe445d41c9e991fd07515a6f463074b782242ccf4a5b7b1d1012e70824df"
+checksum = "829d955a0bb380ef178a640b91779e3987da38c9aea133b20614cfed8cdea9c6"
 dependencies = [
  "bitflags 2.6.0",
  "crossterm_winapi",
- "libc",
  "parking_lot",
+ "rustix",
  "winapi",
 ]
 
@@ -814,9 +910,9 @@ dependencies = [
 
 [[package]]
 name = "downcast-rs"
-version = "1.2.1"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
+checksum = "ea8a8b81cacc08888170eef4d13b775126db426d0b348bee9d18c2c1eaf123cf"
 
 [[package]]
 name = "dyn-clone"
@@ -834,6 +930,15 @@ dependencies = [
  "reborrow",
 ]
 
+[[package]]
+name = "dyn-stack"
+version = "0.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf6fa63092e3ca9f602f6500fddd05502412b748c4c4682938565b44eb9e0066"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "econtext"
 version = "0.2.0"
@@ -848,15 +953,15 @@ checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
 
 [[package]]
 name = "emath"
-version = "0.29.1"
+version = "0.30.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1fe0049ce51d0fb414d029e668dd72eb30bc2b739bf34296ed97bd33df544f3"
+checksum = "c4fe73c1207b864ee40aa0b0c038d6092af1030744678c60188a05c28553515d"
 
 [[package]]
 name = "encode_unicode"
-version = "0.3.6"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
+checksum = "34aa73646ffb006b8f5147f3dc182bd4bcb190227ce861fc4a4844bf8e3cb2c0"
 
 [[package]]
 name = "enum-as-inner"
@@ -894,11 +999,11 @@ dependencies = [
 
 [[package]]
 name = "equator"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5099e7b6f0b7431c7a1c49f75929e2777693da192784f167066977a2965767af"
+checksum = "4711b213838dfee0117e3be6ac926007d7f433d7bbe33595975d4190cb07e6fc"
 dependencies = [
- "equator-macro 0.4.1",
+ "equator-macro 0.4.2",
 ]
 
 [[package]]
@@ -914,9 +1019,9 @@ dependencies = [
 
 [[package]]
 name = "equator-macro"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5322a90066ddae2b705096eb9e10c465c0498ae93bf9bdd6437415327c88e3bb"
+checksum = "44f23cf4b44bfce11a86ace86f8a73ffdec849c9fd00a386a53d278bd9e81fb3"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -941,12 +1046,12 @@ dependencies = [
 
 [[package]]
 name = "errno"
-version = "0.3.9"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "534c5cf6194dfab3db3242765c03bbe257cf92f22b38f6bc0c58d59108a820ba"
+checksum = "33d852cb9b869c2a9b3df2f71a3074817f01e1844f839a144f5fcef059a4eb5d"
 dependencies = [
  "libc",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -1009,17 +1114,18 @@ dependencies = [
 
 [[package]]
 name = "faer"
-version = "0.19.4"
+version = "0.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64bc4855cb2792ae3520e8af22051a47a6d6dc8300ebc0ddf51ad73f65bd0dc9"
+checksum = "c2b19b8c3570ea226e507fe3dbae2aa9d7e0f16676abd35ea3adeeb9f90f7b5d"
 dependencies = [
  "bytemuck",
  "coe-rs",
  "dbgf",
- "dyn-stack",
- "equator 0.4.1",
+ "dyn-stack 0.11.0",
+ "equator 0.4.2",
  "faer-entity",
  "gemm",
+ "generativity",
  "libm",
  "log",
  "matrixcompare",
@@ -1034,24 +1140,24 @@ dependencies = [
 
 [[package]]
 name = "faer-entity"
-version = "0.19.2"
+version = "0.20.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c9c752ab2bff6f0b9597c6a1adc0112f7fd41fb343bc5a009a6274ae9d32fd03"
+checksum = "072f96f1bc8b2b30dfc26c086baeadb63aae08019b1ed84721809b9fd2006685"
 dependencies = [
  "bytemuck",
  "coe-rs",
  "libm",
  "num-complex",
  "num-traits",
- "pulp",
+ "pulp 0.18.22",
  "reborrow",
 ]
 
 [[package]]
 name = "faer-ext"
-version = "0.3.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa0b66079aff3caae4e41177b37487914cbcb377651e86a838d6a2088fb4b666"
+checksum = "9f92bf75258e2a62712ca6d058e8ce2e70c7837ea931612d31a96ec696736976"
 dependencies = [
  "faer",
  "nalgebra",
@@ -1060,9 +1166,9 @@ dependencies = [
 
 [[package]]
 name = "fastrand"
-version = "2.1.1"
+version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e8c02a5121d4ea3eb16a80748c74f5549a5665e4c21333c6098f283870fbdea6"
+checksum = "37909eebbb50d72f9059c3b6d82c0463f2ff062c9e95845c43a6c9c0355411be"
 
 [[package]]
 name = "fixed"
@@ -1095,9 +1201,9 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "foldhash"
-version = "0.1.3"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f81ec6369c545a7d40e4589b5597581fa1c441fe1cce96dd1de43159910a36a2"
+checksum = "a0d2fde1f7b3d48b8395d5f2de76c18a528bd6a9cdde438df747bfcba3e05d6f"
 
 [[package]]
 name = "foreign_vec"
@@ -1105,13 +1211,74 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ee1b05cbd864bcaecbd3455d6d967862d446e4ebfc3c2e5e5b9841e53cba6673"
 
+[[package]]
+name = "futures-channel"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+dependencies = [
+ "futures-core",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
+
+[[package]]
+name = "futures-macro"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "futures-sink"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
+
+[[package]]
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+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
+
+[[package]]
+name = "futures-util"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
+dependencies = [
+ "futures-core",
+ "futures-io",
+ "futures-macro",
+ "futures-sink",
+ "futures-task",
+ "memchr",
+ "pin-project-lite",
+ "pin-utils",
+ "slab",
+]
+
 [[package]]
 name = "gemm"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e400f2ffd14e7548356236c35dc39cad6666d833a852cb8a8f3f28029359bb03"
+checksum = "e200f51d9c3b23f6b57b7c0bfd37b4e0b68288cbcebaac756e5f46c94480a5e4"
 dependencies = [
- "dyn-stack",
+ "dyn-stack 0.10.0",
  "gemm-c32",
  "gemm-c64",
  "gemm-common",
@@ -1127,11 +1294,11 @@ dependencies = [
 
 [[package]]
 name = "gemm-c32"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10dc4a6176c8452d60eac1a155b454c91c668f794151a303bf3c75ea2874812d"
+checksum = "60c3ffd89134367f7295e6ab31450de9fcf2c58f10bc64d720dab94e5c589655"
 dependencies = [
- "dyn-stack",
+ "dyn-stack 0.10.0",
  "gemm-common",
  "num-complex",
  "num-traits",
@@ -1142,11 +1309,11 @@ dependencies = [
 
 [[package]]
 name = "gemm-c64"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc2032ce2c0bb150da0256338759a6fb01ca056f6dfe28c4d14af32d7f878f6f"
+checksum = "cc8b6d0b8817b12429ae9c2dee618ef7df5d69147d7c01c72e8dc652f816fcb0"
 dependencies = [
- "dyn-stack",
+ "dyn-stack 0.10.0",
  "gemm-common",
  "num-complex",
  "num-traits",
@@ -1157,18 +1324,19 @@ dependencies = [
 
 [[package]]
 name = "gemm-common"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90fd234fc525939654f47b39325fd5f55e552ceceea9135f3aa8bdba61eabef6"
+checksum = "bdca5dc7092b611d1eec94b5404d3c526a8d3852cd78480274185a8314a67261"
 dependencies = [
  "bytemuck",
- "dyn-stack",
+ "dyn-stack 0.10.0",
  "half",
+ "libm",
  "num-complex",
  "num-traits",
  "once_cell",
  "paste",
- "pulp",
+ "pulp 0.21.1",
  "raw-cpuid",
  "rayon",
  "seq-macro",
@@ -1177,11 +1345,11 @@ dependencies = [
 
 [[package]]
 name = "gemm-f16"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fc3652651f96a711d46b8833e1fac27a864be4bdfa81a374055f33ddd25c0c6"
+checksum = "5a276242524085aa58af8321ac3d72b1265e043ee31f1443ff32759e9b184b06"
 dependencies = [
- "dyn-stack",
+ "dyn-stack 0.10.0",
  "gemm-common",
  "gemm-f32",
  "half",
@@ -1195,11 +1363,11 @@ dependencies = [
 
 [[package]]
 name = "gemm-f32"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "acbc51c44ae3defd207e6d9416afccb3c4af1e7cef5e4960e4c720ac4d6f998e"
+checksum = "6b818420702012b424960147f0065325ceab69f9d0dc9734bd802cd99d410a42"
 dependencies = [
- "dyn-stack",
+ "dyn-stack 0.10.0",
  "gemm-common",
  "num-complex",
  "num-traits",
@@ -1210,11 +1378,11 @@ dependencies = [
 
 [[package]]
 name = "gemm-f64"
-version = "0.18.0"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f37fc86e325c2415a4d0cab8324a0c5371ec06fc7d2f9cb1636fcfc9536a8d8"
+checksum = "977e9c7ba7c50b290fcda35d86e35b624eaa0a00df17fc008b48ee67e6b806bb"
 dependencies = [
- "dyn-stack",
+ "dyn-stack 0.10.0",
  "gemm-common",
  "num-complex",
  "num-traits",
@@ -1223,6 +1391,12 @@ dependencies = [
  "seq-macro",
 ]
 
+[[package]]
+name = "generativity"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5881e4c3c2433fe4905bb19cfd2b5d49d4248274862b68c27c33d9ba4e13f9ec"
+
 [[package]]
 name = "generic-array"
 version = "0.14.7"
@@ -1254,9 +1428,28 @@ checksum = "07e28edb80900c19c28f1072f2e8aeca7fa06b23cd4169cefe1af5aa3260783f"
 
 [[package]]
 name = "glob"
-version = "0.3.1"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a8d1add55171497b4705a648c6b583acafb01d58050a51727785f0b2c8e0a2b2"
+
+[[package]]
+name = "h2"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2fabcfbdc87f4758337ca535fb41a6d701b65693ce38287d856d1674551ec9b"
+checksum = "ccae279728d634d083c00f6099cb58f01cc99c145b84b8be2f6c74618d79922e"
+dependencies = [
+ "atomic-waker",
+ "bytes",
+ "fnv",
+ "futures-core",
+ "futures-sink",
+ "http",
+ "indexmap 2.7.0",
+ "slab",
+ "tokio",
+ "tokio-util",
+ "tracing",
+]
 
 [[package]]
 name = "half"
@@ -1276,6 +1469,12 @@ version = "2.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "74721d007512d0cb3338cd20f0654ac913920061a4c4d0d8708edb3f2a698c0c"
 
+[[package]]
+name = "hashbrown"
+version = "0.12.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+
 [[package]]
 name = "hashbrown"
 version = "0.14.5"
@@ -1287,9 +1486,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.15.1"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3a9bfc1af68b1726ea47d3d5109de126281def866b33970e10fbab11b5dafab3"
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
 
 [[package]]
 name = "heck"
@@ -1303,12 +1502,111 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fbf6a919d6cf397374f7dfeeea91d974c7c0a7221d0d0f4f20d859d329e53fcc"
 
+[[package]]
+name = "http"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f16ca2af56261c99fba8bac40a10251ce8188205a4c448fbb745a2e4daa76fea"
+dependencies = [
+ "bytes",
+ "fnv",
+ "itoa",
+]
+
+[[package]]
+name = "http-body"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1efedce1fb8e6913f23e0c92de8e62cd5b772a67e7b3946df930a62566c93184"
+dependencies = [
+ "bytes",
+ "http",
+]
+
+[[package]]
+name = "http-body-util"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "793429d76616a256bcb62c2a2ec2bed781c8307e797e2598c50010f2bee2544f"
+dependencies = [
+ "bytes",
+ "futures-util",
+ "http",
+ "http-body",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "httparse"
+version = "1.9.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7d71d3574edd2771538b901e6549113b4006ece66150fb69c0fb6d9a2adae946"
+
+[[package]]
+name = "httpdate"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df3b46402a9d5adb4c86a0cf463f42e19994e3ee891101b1841f30a545cb49a9"
+
 [[package]]
 name = "humantime"
 version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
 
+[[package]]
+name = "hyper"
+version = "1.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "256fb8d4bd6413123cc9d91832d78325c48ff41677595be797d90f42969beae0"
+dependencies = [
+ "bytes",
+ "futures-channel",
+ "futures-util",
+ "h2",
+ "http",
+ "http-body",
+ "httparse",
+ "httpdate",
+ "itoa",
+ "pin-project-lite",
+ "smallvec",
+ "tokio",
+ "want",
+]
+
+[[package]]
+name = "hyper-timeout"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b90d566bffbce6a75bd8b09a05aa8c2cb1fabb6cb348f8840c9e4c90a0d83b0"
+dependencies = [
+ "hyper",
+ "hyper-util",
+ "pin-project-lite",
+ "tokio",
+ "tower-service",
+]
+
+[[package]]
+name = "hyper-util"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df2dcfbe0677734ab2f3ffa7fa7bfd4706bfdc1ef393f2ee30184aed67e631b4"
+dependencies = [
+ "bytes",
+ "futures-channel",
+ "futures-util",
+ "http",
+ "http-body",
+ "hyper",
+ "pin-project-lite",
+ "socket2",
+ "tokio",
+ "tower-service",
+ "tracing",
+]
+
 [[package]]
 name = "iana-time-zone"
 version = "0.1.61"
@@ -1338,6 +1636,16 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9f1a0777d972970f204fdf8ef319f1f4f8459131636d7e3c96c5d59570d0fa6"
 
+[[package]]
+name = "indexmap"
+version = "1.9.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bd070e393353796e801d209ad339e89596eb4c8d430d18ede6a1cced8fafbd99"
+dependencies = [
+ "autocfg",
+ "hashbrown 0.12.3",
+]
+
 [[package]]
 name = "indexmap"
 version = "2.7.0"
@@ -1345,7 +1653,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "62f822373a4fe84d4bb149bf54e584a7f4abec90e072ed49cda0edea5b95471f"
 dependencies = [
  "equivalent",
- "hashbrown 0.15.1",
+ "hashbrown 0.15.2",
 ]
 
 [[package]]
@@ -1359,9 +1667,12 @@ dependencies = [
 
 [[package]]
 name = "inventory"
-version = "0.3.15"
+version = "0.3.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f958d3d68f4167080a18141e10381e7634563984a537f2a49a30fd8e53ac5767"
+checksum = "3b31349d02fe60f80bbbab1a9402364cad7460626d6030494b08ac4a2075bf81"
+dependencies = [
+ "rustversion",
+]
 
 [[package]]
 name = "is-terminal"
@@ -1400,16 +1711,17 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.11"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
+checksum = "d75a2a4b1b190afb6f5425f10f6a8f959d2ea0b9c2b1d79553551850539e4674"
 
 [[package]]
 name = "js-sys"
-version = "0.3.69"
+version = "0.3.76"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29c15563dc2726973df627357ce0c9ddddbea194836909d655df6a75d2cf296d"
+checksum = "6717b6b5b077764fb5966237269cb3c64edddde4b14ce42647430a78ced9e7b7"
 dependencies = [
+ "once_cell",
  "wasm-bindgen",
 ]
 
@@ -1421,9 +1733,9 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 
 [[package]]
 name = "lexical-core"
-version = "1.0.2"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0431c65b318a590c1de6b8fd6e72798c92291d27762d94c9e6c37ed7a73d8458"
+checksum = "b765c31809609075565a70b4b71402281283aeda7ecaf4818ac14a7b2ade8958"
 dependencies = [
  "lexical-parse-float",
  "lexical-parse-integer",
@@ -1434,9 +1746,9 @@ dependencies = [
 
 [[package]]
 name = "lexical-parse-float"
-version = "1.0.2"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb17a4bdb9b418051aa59d41d65b1c9be5affab314a872e5ad7f06231fb3b4e0"
+checksum = "de6f9cb01fb0b08060209a057c048fcbab8717b4c1ecd2eac66ebfe39a65b0f2"
 dependencies = [
  "lexical-parse-integer",
  "lexical-util",
@@ -1445,9 +1757,9 @@ dependencies = [
 
 [[package]]
 name = "lexical-parse-integer"
-version = "1.0.2"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5df98f4a4ab53bf8b175b363a34c7af608fe31f93cc1fb1bf07130622ca4ef61"
+checksum = "72207aae22fc0a121ba7b6d479e42cbfea549af1479c3f3a4f12c70dd66df12e"
 dependencies = [
  "lexical-util",
  "static_assertions",
@@ -1455,18 +1767,18 @@ dependencies = [
 
 [[package]]
 name = "lexical-util"
-version = "1.0.3"
+version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85314db53332e5c192b6bca611fb10c114a80d1b831ddac0af1e9be1b9232ca0"
+checksum = "5a82e24bf537fd24c177ffbbdc6ebcc8d54732c35b50a3f28cc3f4e4c949a0b3"
 dependencies = [
  "static_assertions",
 ]
 
 [[package]]
 name = "lexical-write-float"
-version = "1.0.2"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e7c3ad4e37db81c1cbe7cf34610340adc09c322871972f74877a712abc6c809"
+checksum = "c5afc668a27f460fb45a81a757b6bf2f43c2d7e30cb5a2dcd3abf294c78d62bd"
 dependencies = [
  "lexical-util",
  "lexical-write-integer",
@@ -1475,9 +1787,9 @@ dependencies = [
 
 [[package]]
 name = "lexical-write-integer"
-version = "1.0.2"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb89e9f6958b83258afa3deed90b5de9ef68eef090ad5086c791cd2345610162"
+checksum = "629ddff1a914a836fb245616a7888b62903aae58fa771e1d83943035efa0f978"
 dependencies = [
  "lexical-util",
  "static_assertions",
@@ -1485,9 +1797,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.161"
+version = "0.2.169"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e9489c2807c139ffd9c1794f4af0ebe86a828db53ecdc7fea2111d0fed085d1"
+checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a"
 
 [[package]]
 name = "libm"
@@ -1503,9 +1815,9 @@ checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.14"
+version = "0.4.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
+checksum = "d26c52dbd32dccf2d10cac7725f8eae5296885fb5703b261f7d0a0739ec807ab"
 
 [[package]]
 name = "litrs"
@@ -1547,6 +1859,12 @@ dependencies = [
  "twox-hash",
 ]
 
+[[package]]
+name = "matchit"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0e7465ac9959cc2b1404e8e2367b43684a6d13790fe23056cc8c6c5a6b7bcb94"
+
 [[package]]
 name = "matrixcompare"
 version = "0.3.0"
@@ -1607,13 +1925,24 @@ dependencies = [
 
 [[package]]
 name = "miniz_oxide"
-version = "0.8.0"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2d80299ef12ff69b16a84bb182e3b9df68b5a91574d3d4fa6e41b65deec4df1"
+checksum = "4ffbe83022cedc1d264172192511ae958937694cd57ce297164951b8b3568394"
 dependencies = [
  "adler2",
 ]
 
+[[package]]
+name = "mio"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2886843bf800fba2e3377cff24abf6379b4c4d5c6681eaf9ea5b0d15090450bd"
+dependencies = [
+ "libc",
+ "wasi",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "nalgebra"
 version = "0.33.2"
@@ -1866,9 +2195,9 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.36.5"
+version = "0.36.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aedf0a2d09c573ed1d8d85b30c119153926a2b36dce0ab28322c09a117a4683e"
+checksum = "62948e14d923ea95ea2c7c86c71013138b66525b86bdc08d2dcc262bdb497b87"
 dependencies = [
  "memchr",
 ]
@@ -1941,11 +2270,17 @@ version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9555b1514d2d99d78150d3c799d4c357a3e2c2a8062cd108e93a06d9057629c5"
 
+[[package]]
+name = "percent-encoding"
+version = "2.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
+
 [[package]]
 name = "phf"
-version = "0.11.2"
+version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ade2d8b8f33c7333b51bcf0428d37e217e9f32192ae4772156f65063b8ce03dc"
+checksum = "1fd6780a80ae0c52cc120a26a1a42c1ae51b247a253e4e06113d23d2c2edd078"
 dependencies = [
  "phf_macros",
  "phf_shared",
@@ -1953,9 +2288,9 @@ dependencies = [
 
 [[package]]
 name = "phf_generator"
-version = "0.11.2"
+version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "48e4cc64c2ad9ebe670cb8fd69dd50ae301650392e81c05f9bfcb2d5bdbc24b0"
+checksum = "3c80231409c20246a13fddb31776fb942c38553c51e871f8cbd687a4cfb5843d"
 dependencies = [
  "phf_shared",
  "rand",
@@ -1963,9 +2298,9 @@ dependencies = [
 
 [[package]]
 name = "phf_macros"
-version = "0.11.2"
+version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3444646e286606587e49f3bcf1679b8cef1dc2c5ecc29ddacaffc305180d464b"
+checksum = "f84ac04429c13a7ff43785d75ad27569f2951ce0ffd30a3321230db2fc727216"
 dependencies = [
  "phf_generator",
  "phf_shared",
@@ -1976,18 +2311,44 @@ dependencies = [
 
 [[package]]
 name = "phf_shared"
-version = "0.11.2"
+version = "0.11.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90fcb95eef784c2ac79119d1dd819e162b5da872ce6f3c3abe1e8ca1c082f72b"
+checksum = "67eabc2ef2a60eb7faa00097bd1ffdb5bd28e62bf39990626a582201b7a754e5"
 dependencies = [
  "siphasher",
 ]
 
+[[package]]
+name = "pin-project"
+version = "1.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e2ec53ad785f4d35dac0adea7f7dc6f1bb277ad84a680c7afefeae05d1f5916"
+dependencies = [
+ "pin-project-internal",
+]
+
+[[package]]
+name = "pin-project-internal"
+version = "1.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d56a66c0c55993aa927429d0f8a0abfd74f084e4d9c192cffed01e418d83eefb"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "pin-project-lite"
-version = "0.2.15"
+version = "0.2.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "915a1e146535de9163f3987b8944ed8cf49a18bb0056bcebcdcece385cece4ff"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "planus"
@@ -2010,17 +2371,27 @@ dependencies = [
  "skeptic",
 ]
 
+[[package]]
+name = "poll-promise"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f6a58fecbf9da8965bcdb20ce4fd29788d1acee68ddbb64f0ba1b81bccdb7df"
+dependencies = [
+ "document-features",
+ "static_assertions",
+]
+
 [[package]]
 name = "portable-atomic"
-version = "1.9.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc9c68a3f6da06753e9335d63e27f6b9754dd1920d941135b7ea8224f141adb2"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
 
 [[package]]
 name = "portable-atomic-util"
-version = "0.2.3"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90a7d5beecc52a491b54d6dd05c7a45ba1801666a5baad9fdbfc6fef8d2d206c"
+checksum = "d8a2f0d8d040d7848a709caf78912debcc3f33ee4b3cac47d73d1e1069e83507"
 dependencies = [
  "portable-atomic",
 ]
@@ -2052,9 +2423,9 @@ dependencies = [
 
 [[package]]
 name = "prettyplease"
-version = "0.2.25"
+version = "0.2.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64d1ec885c64d0457d564db4ec299b2dae3f9c02808b8ad9c3a089c591b18033"
+checksum = "483f8c21f64f3ea09fe0f30f5d48c3e8eefe5dac9129f0075f76593b4c1da705"
 dependencies = [
  "proc-macro2",
  "syn",
@@ -2062,13 +2433,36 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.89"
+version = "1.0.92"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f139b0662de085916d1fb67d2b4169d1addddda1919e696f3252b740b629986e"
+checksum = "37d3544b3f2748c54e147655edb5025752e2303145b5aefb3c3ea2c78b973bb0"
 dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "prost"
+version = "0.13.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2c0fef6c4230e4ccf618a35c59d7ede15dea37de8427500f50aff708806e42ec"
+dependencies = [
+ "bytes",
+ "prost-derive",
+]
+
+[[package]]
+name = "prost-derive"
+version = "0.13.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "157c5a9d7ea5c2ed2d9fb8f495b64759f7816c7eaea54ba3978f0d63000162e3"
+dependencies = [
+ "anyhow",
+ "itertools 0.13.0",
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "puffin"
 version = "0.19.1"
@@ -2106,11 +2500,24 @@ dependencies = [
  "reborrow",
 ]
 
+[[package]]
+name = "pulp"
+version = "0.21.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9b2a7391bf1c7ade66f0299af59423e4d3bcd929a50fa7b1b64399a90331cc0f"
+dependencies = [
+ "bytemuck",
+ "cfg-if",
+ "libm",
+ "num-complex",
+ "reborrow",
+]
+
 [[package]]
 name = "quote"
-version = "1.0.37"
+version = "1.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
+checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
 dependencies = [
  "proc-macro2",
 ]
@@ -2121,6 +2528,7 @@ version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "34af8d1a0e25924bc5b7c43c079c942339d8f0a8b57c39049bef581b46327404"
 dependencies = [
+ "libc",
  "rand_chacha",
  "rand_core",
 ]
@@ -2140,6 +2548,9 @@ name = "rand_core"
 version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
+dependencies = [
+ "getrandom",
+]
 
 [[package]]
 name = "raw-cpuid"
@@ -2178,9 +2589,9 @@ dependencies = [
 
 [[package]]
 name = "re_arrow2"
-version = "0.17.5"
+version = "0.18.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "55322c12f50d5a372e8c8b9bf672894e8280772dc62af3a44188c98556363404"
+checksum = "ad04cc9064504e653c6a6de42a45982bbe899e61657164072eca7e3ab6de1e9f"
 dependencies = [
  "ahash",
  "arrow-array",
@@ -2196,6 +2607,7 @@ dependencies = [
  "ethnum",
  "foreign_vec",
  "getrandom",
+ "half",
  "hash_hasher",
  "hashbrown 0.14.5",
  "num-traits",
@@ -2205,18 +2617,18 @@ dependencies = [
 
 [[package]]
 name = "re_build_info"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "afceb6ade9ba13aa9db7b7ecbc69e8504d483372ea73ac77ff5b9b5b9f1324f0"
+checksum = "5b88b413ebeee91520b7825e4fde0b65702394f5282f5e783e56d0d8155a536a"
 dependencies = [
  "serde",
 ]
 
 [[package]]
 name = "re_build_tools"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2167c78090fb4c0b206ed6175c7022ac34868bf042dd6c574038ac4593a9629e"
+checksum = "0892c63699ce6d5a87a8b18a8b2ab587124aa32fee251c1107fab44ca4e4c786"
 dependencies = [
  "anyhow",
  "cargo_metadata 0.18.1",
@@ -2227,23 +2639,34 @@ dependencies = [
  "walkdir",
 ]
 
+[[package]]
+name = "re_capabilities"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7ff19bd8c1f2604f4207847a80b1ffebe1654a24f422872b60e873e28b369462"
+dependencies = [
+ "document-features",
+ "static_assertions",
+]
+
 [[package]]
 name = "re_case"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8203818db9e9c32920d36df577d49e4ab3e8e0f657fd01bf265035c254090890"
+checksum = "07dce93a41adb3c620e2b03c1c995eb9ba57e520143ef7ee4d8b4f7e53514a36"
 dependencies = [
  "convert_case",
 ]
 
 [[package]]
 name = "re_chunk"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32f27d05b85f899347628312426ed19bb691cc7caae7688d870328695e1a7185"
+checksum = "1a0cc5e3e6c262b0c3b9babad886e30af36ca041da64121afbe68c6341e6d924"
 dependencies = [
  "ahash",
  "anyhow",
+ "arrow",
  "bytemuck",
  "crossbeam",
  "document-features",
@@ -2266,9 +2689,9 @@ dependencies = [
 
 [[package]]
 name = "re_chunk_store"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0981e5a86c5eced775a0a95657bbb6bf708d1daeff0170fc9e1ac782854dd975"
+checksum = "9468c4409588cba5cad103fe5205a922294ada40989cbbc13fd83a1ac982c932"
 dependencies = [
  "ahash",
  "anyhow",
@@ -2284,6 +2707,7 @@ dependencies = [
  "re_log",
  "re_log_encoding",
  "re_log_types",
+ "re_protos",
  "re_tracing",
  "re_types_core",
  "thiserror",
@@ -2292,9 +2716,9 @@ dependencies = [
 
 [[package]]
 name = "re_crash_handler"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0d89e0e7dd4ad0bedabe629d37b02cbe358bd0f1acb87299e484b564ab82df7"
+checksum = "62bdf77e0a0c1310fa5c02b9d66e33b73693bbd61d44a93bcb3d58cae8a34156"
 dependencies = [
  "backtrace",
  "econtext",
@@ -2306,9 +2730,9 @@ dependencies = [
 
 [[package]]
 name = "re_entity_db"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84a8c7ab21884061a3c6c7588b1979d55bc11b8e573395a17873be7dd3bebb9d"
+checksum = "eec319df6d68a71390aae382ae2982915c95ab3fa69bd286104e6954b46d8986"
 dependencies = [
  "ahash",
  "document-features",
@@ -2334,24 +2758,24 @@ dependencies = [
 
 [[package]]
 name = "re_error"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9ceed2af74174a3e7bae0968004c93f8b07311d22ca5d5427e1793dabcda06d"
+checksum = "f0adebf7ffebab798e5171717bc99f228619cdf8bb9a79806346f3c41ef7a0f3"
 
 [[package]]
 name = "re_format"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c20366672e23d83b835a23b6672733956a12aa6311d4099059fd42de52b46d8f"
+checksum = "b01706f49ef1e074aca58c7161280057f74ff181199c558146585b58f23c0ecd"
 dependencies = [
  "num-traits",
 ]
 
 [[package]]
 name = "re_format_arrow"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "043dff2bd346ec91d479f1aa43479b275608a77349d9142e1d3af373f0e28668"
+checksum = "5f318b5363e4d798b08f2fa0c0135f0fd137136100000a06adae235ba368344f"
 dependencies = [
  "comfy-table",
  "re_arrow2",
@@ -2361,9 +2785,9 @@ dependencies = [
 
 [[package]]
 name = "re_int_histogram"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a6dffe100ca94eb7ef126e06741a0dcb8a3cf4c7b4bc1f412b38751826e90376"
+checksum = "2bd1fc768a59b0ffd7178cf592d6290f48346ade4adb930862f2c7d83ded2d32"
 dependencies = [
  "smallvec",
  "static_assertions",
@@ -2371,9 +2795,9 @@ dependencies = [
 
 [[package]]
 name = "re_log"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2ab667ed7e50886ad50c2a829129e1e895c7d578433049a35a91805890d52d8b"
+checksum = "fdd546fa37286a0114641cf7b271eca4bce3b4a20041ca378fb3530b8dc947b8"
 dependencies = [
  "env_logger",
  "js-sys",
@@ -2386,16 +2810,18 @@ dependencies = [
 
 [[package]]
 name = "re_log_encoding"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d87669db43b69517b548f2301960685415b43c3db17c8905435bdc8f20613124"
+checksum = "c6ddf1fbcb460622f305711563047d1f04ca248f0dca046dbba19b4b6df51424"
 dependencies = [
  "lz4_flex",
  "parking_lot",
+ "re_arrow2",
  "re_build_info",
  "re_chunk",
  "re_log",
  "re_log_types",
+ "re_protos",
  "re_smart_channel",
  "re_tracing",
  "rmp-serde",
@@ -2404,16 +2830,15 @@ dependencies = [
 
 [[package]]
 name = "re_log_types"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a53cf7a86930816268ad6bdaf5c273b4274922fdaad4c267b8fd8798086a2b7"
+checksum = "3a48047201720a8d950910b2d90471d36b05a4fc581d3b4c4ec1856c939d9a39"
 dependencies = [
  "ahash",
  "anyhow",
  "backtrace",
  "bytemuck",
  "clean-path",
- "crossbeam",
  "document-features",
  "fixed",
  "half",
@@ -2426,13 +2851,13 @@ dependencies = [
  "re_build_info",
  "re_format",
  "re_log",
+ "re_protos",
  "re_string_interner",
  "re_tracing",
  "re_tuid",
  "re_types_core",
  "serde",
  "serde_bytes",
- "similar-asserts",
  "static_assertions",
  "thiserror",
  "time",
@@ -2443,9 +2868,9 @@ dependencies = [
 
 [[package]]
 name = "re_memory"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "219c1f8f6643c4b8bd584688033713403c1069d62feacb3625a2de631c5825f6"
+checksum = "ec4106e54dde4835fc601458283c02a783f8fa5bfd5b010c74e7bf251c3bf83e"
 dependencies = [
  "ahash",
  "backtrace",
@@ -2478,11 +2903,23 @@ dependencies = [
  "thiserror",
 ]
 
+[[package]]
+name = "re_protos"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "95f75d9831745a5944ef6a338cc3cc06f8d39a83506f943896eaf602ab1166c4"
+dependencies = [
+ "prost",
+ "thiserror",
+ "tonic",
+ "tonic-web-wasm-client",
+]
+
 [[package]]
 name = "re_query"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce6cda8e231527f3da6ebf30eb63487e552d86044219079a8e1c7626e7394352"
+checksum = "b9c7b7cd2bcd4ee1f2bdfaba50f10af72baca0ac44fb7865618f7108cd0e7f7b"
 dependencies = [
  "ahash",
  "anyhow",
@@ -2507,15 +2944,16 @@ dependencies = [
 
 [[package]]
 name = "re_sdk"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1acbc161b9aedbeff8d75757152eba940216bb7781e0e2408a7ba1a815d5aef4"
+checksum = "1c3b408455022a5cbbfe3a36e0006eb87c07b3b63dd55f14ff01cfe0e7de902f"
 dependencies = [
  "ahash",
  "crossbeam",
  "document-features",
  "itertools 0.13.0",
  "libc",
+ "nohash-hasher",
  "once_cell",
  "parking_lot",
  "re_arrow2",
@@ -2533,9 +2971,9 @@ dependencies = [
 
 [[package]]
 name = "re_sdk_comms"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea2c9bcadb86f897342b66055af16218ab9a782445ae10359ecf2196814bb0d1"
+checksum = "8ce2eb73d054d2bea611e6eb5c8aba1e1b25010a46c834cbc545a9855dd9c0a8"
 dependencies = [
  "ahash",
  "crossbeam",
@@ -2550,9 +2988,9 @@ dependencies = [
 
 [[package]]
 name = "re_smart_channel"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3bc16aeea28899a77ecfcf87e6fbc01b1cc0acac44f4f5828e6389bef2af97b7"
+checksum = "d7d07784b8939f05364f526590fc7aa3d3a43797f31db0a0492a279046f7d690"
 dependencies = [
  "crossbeam",
  "parking_lot",
@@ -2563,9 +3001,9 @@ dependencies = [
 
 [[package]]
 name = "re_string_interner"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc14c66b8ae530f7193e9796295e63992afdd10afcaa491d2caea11726e7b437"
+checksum = "10218faacf52f7453a6fda036d4418907e3465229e9ec32bf662c181e6b365c0"
 dependencies = [
  "ahash",
  "nohash-hasher",
@@ -2577,34 +3015,36 @@ dependencies = [
 
 [[package]]
 name = "re_tracing"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ebf9de5d6aed6401389e6fd6081ab620542ae36f61578a69f5766fb2fbe56ec"
+checksum = "6112ec08a39f169bdf843ffb318872c909038effde68e67e1b0b19ffa3f380c1"
 dependencies = [
  "puffin",
 ]
 
 [[package]]
 name = "re_tuid"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddf335959a4ca7b12bfcda25471c588c90015b573ddd45cf2ee575ba11916e51"
+checksum = "b0fab74c48f17a4a29b29e1184f690c4470f0f34126eedd5051868afc8e908af"
 dependencies = [
  "document-features",
  "getrandom",
  "once_cell",
+ "re_protos",
  "serde",
  "web-time",
 ]
 
 [[package]]
 name = "re_types"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81e7785a2cfbb72d7742103ecd776d36c8f8093744963cdc0424a8f5ed7b0ed4"
+checksum = "8969f3feb653267d32b3a50272adebd2b36e874572a591e61fa1081418a49ec3"
 dependencies = [
  "anyhow",
  "array-init",
+ "arrow",
  "bytemuck",
  "document-features",
  "emath",
@@ -2633,14 +3073,15 @@ dependencies = [
 
 [[package]]
 name = "re_types_builder"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b00f15ef755433605e83509c8cf4023644d1f4951472160e6a08dc9f39af5795"
+checksum = "5d9a754673bb2a1a08266d32797cf429394dca0bf80c5d13594d6d7d207f9e11"
 dependencies = [
  "anyhow",
  "arrow",
  "camino",
  "clang-format",
+ "colored",
  "flatbuffers",
  "indent",
  "itertools 0.13.0",
@@ -2655,22 +3096,26 @@ dependencies = [
  "re_log",
  "re_tracing",
  "rust-format",
+ "serde",
  "syn",
  "tempfile",
+ "toml",
  "unindent",
  "xshell",
 ]
 
 [[package]]
 name = "re_types_core"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7ece9663f10adf00fadfe7bed5088537d98db88bdac8cb6fbcb4aa1334a8525"
+checksum = "23ba9a0b66c99a435560675ff422da8e5ee9f42eaf6bf9daae75a0cc9a084573"
 dependencies = [
  "anyhow",
+ "arrow",
  "backtrace",
  "bytemuck",
  "document-features",
+ "half",
  "itertools 0.13.0",
  "nohash-hasher",
  "once_cell",
@@ -2687,9 +3132,9 @@ dependencies = [
 
 [[package]]
 name = "re_video"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4b348b01f90bedb8cdfefbb4a93594eb82d01f1b53bd84610b1025570cc99e0"
+checksum = "4c6626e79ef75582a27d3610ed777cfb12e928446dbccf5fec518a503e2c365e"
 dependencies = [
  "bit-vec",
  "cfg_aliases",
@@ -2699,6 +3144,7 @@ dependencies = [
  "js-sys",
  "once_cell",
  "parking_lot",
+ "poll-promise",
  "re_build_info",
  "re_build_tools",
  "re_log",
@@ -2717,9 +3163,9 @@ checksum = "03251193000f4bd3b042892be858ee50e8b3719f2b08e5833ac4353724632430"
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.7"
+version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b6dfecf2c74bce2466cabf93f6664d6998a69eb21e39f4207930065b27b771f"
+checksum = "03a862b389f93e68874fbf580b9de08dd02facb9a788ebadaf4a3fd33cf58834"
 dependencies = [
  "bitflags 2.6.0",
 ]
@@ -2738,9 +3184,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.8"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "368758f23274712b504848e9d5a6f010445cc8b87a7cdb4d7cbee666c1288da3"
+checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -2755,9 +3201,9 @@ checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
 
 [[package]]
 name = "rerun"
-version = "0.20.1"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c226abd235e76631add1abe48094cb24039812d0225014dc6cc9db7430fbc56a"
+checksum = "620b001ee2d8f6187e2c91ef2726379a29eb4d89c440aab8ed0bba886d9d4c83"
 dependencies = [
  "anyhow",
  "document-features",
@@ -2766,12 +3212,14 @@ dependencies = [
  "rayon",
  "re_build_info",
  "re_build_tools",
+ "re_capabilities",
  "re_chunk",
  "re_crash_handler",
  "re_entity_db",
  "re_error",
  "re_format",
  "re_log",
+ "re_log_encoding",
  "re_log_types",
  "re_memory",
  "re_sdk",
@@ -2827,22 +3275,22 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.38.39"
+version = "0.38.43"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "375116bee2be9ed569afe2154ea6a99dfdffd257f533f187498c2a8f5feaf4ee"
+checksum = "a78891ee6bf2340288408954ac787aa063d8e8817e9f53abb37c695c6d834ef6"
 dependencies = [
  "bitflags 2.6.0",
  "errno",
  "libc",
  "linux-raw-sys",
- "windows-sys 0.52.0",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
 name = "rustversion"
-version = "1.0.18"
+version = "1.0.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e819f2bc632f285be6d7cd36e25940d45b2391dd6d9b939e79de557f7014248"
+checksum = "f7c45b9784283f1b2e7fb61b42047c2fd678ef0960d4f6f1eba131594cc369d4"
 
 [[package]]
 name = "ryu"
@@ -2852,9 +3300,9 @@ checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
 
 [[package]]
 name = "safe_arch"
-version = "0.7.2"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3460605018fdc9612bce72735cba0d27efbcd9904780d44c7e3a9948f96148a"
+checksum = "96b02de82ddbe1b636e6170c21be622223aea188ef2e139be0a5b219ec215323"
 dependencies = [
  "bytemuck",
 ]
@@ -2876,9 +3324,9 @@ checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
 [[package]]
 name = "semver"
-version = "1.0.23"
+version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+checksum = "3cb6eb87a131f756572d7fb904f6e7b68633f09cca868c5df1c4b8d1a694bbba"
 dependencies = [
  "serde",
 ]
@@ -2891,9 +3339,9 @@ checksum = "a3f0bf26fd526d2a95683cd0f87bf103b8539e2ca1ef48ce002d67aad59aa0b4"
 
 [[package]]
 name = "serde"
-version = "1.0.214"
+version = "1.0.217"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f55c3193aca71c12ad7890f1785d2b73e1b9f63a0bbc353c08ef26fe03fc56b5"
+checksum = "02fc4265df13d6fa1d00ecff087228cc0a2b5f3c0e87e258d8b94a156e984c70"
 dependencies = [
  "serde_derive",
 ]
@@ -2909,9 +3357,9 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.214"
+version = "1.0.217"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de523f781f095e28fa605cdce0f8307e451cc0fd14e2eb4cd2e98a355b147766"
+checksum = "5a9bf7cf98d04a2b28aead066b7496853d4779c9cc183c440dbac457641e19a0"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2920,9 +3368,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.132"
+version = "1.0.135"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d726bfaff4b320266d395898905d0eba0345aae23b54aee3a737e260fd46db03"
+checksum = "2b0d7ba2887406110130a978386c4e1befb98c674b4fba677954e4db976630d9"
 dependencies = [
  "itoa",
  "memchr",
@@ -2997,9 +3445,9 @@ dependencies = [
 
 [[package]]
 name = "siphasher"
-version = "0.3.11"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38b58827f4464d87d377d175e90bf58eb00fd8716ff0a62f80356b5e61555d0d"
+checksum = "56199f7ddabf13fe5074ce809e7d3f42b42ae711800501b5b16ea82ad029c39d"
 
 [[package]]
 name = "skeptic"
@@ -3016,12 +3464,31 @@ dependencies = [
  "walkdir",
 ]
 
+[[package]]
+name = "slab"
+version = "0.4.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "smallvec"
 version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
+[[package]]
+name = "socket2"
+version = "0.5.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c970269d99b64e60ec3bd6ad27270092a5394c4e309314b18ae3fe575695fbe8"
+dependencies = [
+ "libc",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "static_assertions"
 version = "1.1.0"
@@ -3055,15 +3522,21 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.87"
+version = "2.0.95"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "25aa4ce346d03a6dcd68dd8b4010bcb74e54e62c90c573f394c46eae99aba32d"
+checksum = "46f71c0377baf4ef1cc3e3402ded576dccc315800fbc62dfc7fe04b009773b4a"
 dependencies = [
  "proc-macro2",
  "quote",
  "unicode-ident",
 ]
 
+[[package]]
+name = "sync_wrapper"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"
+
 [[package]]
 name = "sysctl"
 version = "0.5.5"
@@ -3094,12 +3567,13 @@ dependencies = [
 
 [[package]]
 name = "tempfile"
-version = "3.13.0"
+version = "3.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f2c9fc62d0beef6951ccffd757e241266a2c833136efbe35af6cd2567dca5b"
+checksum = "9a8a559c81686f576e8cd0290cd2a24a2a9ad80c98b3478856500fcbd7acd704"
 dependencies = [
  "cfg-if",
  "fastrand",
+ "getrandom",
  "once_cell",
  "rustix",
  "windows-sys 0.59.0",
@@ -3116,18 +3590,18 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.68"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02dd99dc800bbb97186339685293e1cc5d9df1f8fae2d0aecd9ff1c77efea892"
+checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.68"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7c61ec9a6f64d2793d8a45faba21efbe3ced62a886d44c36a009b2b519b4c7e"
+checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3136,9 +3610,9 @@ dependencies = [
 
 [[package]]
 name = "time"
-version = "0.3.36"
+version = "0.3.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5dfd88e563464686c916c7e46e623e520ddc6d79fa6641390f2e3fa86e83e885"
+checksum = "35e7868883861bd0e56d9ac6efcaaca0d6d5d82a2a7ec8209ff492c07cf37b21"
 dependencies = [
  "deranged",
  "itoa",
@@ -3160,9 +3634,9 @@ checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
 
 [[package]]
 name = "time-macros"
-version = "0.2.18"
+version = "0.2.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f252a68540fde3a3877aeea552b832b40ab9a69e318efd078774a01ddee1ccf"
+checksum = "2834e6017e3e5e4b9834939793b282bc03b37a3336245fa820e35e233e2a85de"
 dependencies = [
  "num-conv",
  "time-core",
@@ -3179,8 +3653,8 @@ dependencies = [
 
 [[package]]
 name = "tiny-solver"
-version = "0.12.0"
-source = "git+https://github.com/contagon/tiny-solver-rs?branch=rayon#3c5b573f351d810ed499797eae1a994372bfbde2"
+version = "0.14.1"
+source = "git+https://github.com/contagon/tiny-solver-rs?branch=rayon#3d73473bb572a342f735f694d76ae4dec7942cb1"
 dependencies = [
  "faer",
  "faer-ext",
@@ -3189,6 +3663,58 @@ dependencies = [
  "num-dual",
  "num-traits",
  "rayon",
+ "simba",
+]
+
+[[package]]
+name = "tokio"
+version = "1.43.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d61fa4ffa3de412bfea335c6ecff681de2b609ba3c77ef3e00e521813a9ed9e"
+dependencies = [
+ "backtrace",
+ "bytes",
+ "libc",
+ "mio",
+ "pin-project-lite",
+ "socket2",
+ "tokio-macros",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "tokio-macros"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e06d43f1345a3bcd39f6a56dbb7dcab2ba47e68e8ac134855e7e2bdbaf8cab8"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "tokio-stream"
+version = "0.1.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eca58d7bba4a75707817a2c44174253f9236b2d5fbd055602e9d5c07c139a047"
+dependencies = [
+ "futures-core",
+ "pin-project-lite",
+ "tokio",
+]
+
+[[package]]
+name = "tokio-util"
+version = "0.7.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7fcaa8d55a2bdd6b83ace262b016eca0d79ee02818c5c1bcdf0305114081078"
+dependencies = [
+ "bytes",
+ "futures-core",
+ "futures-sink",
+ "pin-project-lite",
+ "tokio",
 ]
 
 [[package]]
@@ -3197,6 +3723,7 @@ version = "0.8.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a1ed1f98e3fdc28d6d910e6737ae6ab1a93bf1985935a1193e68f93eeb68d24e"
 dependencies = [
+ "indexmap 2.7.0",
  "serde",
  "serde_spanned",
  "toml_datetime",
@@ -3218,29 +3745,151 @@ version = "0.22.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4ae48d6208a266e853d946088ed816055e556cc6028c5e8e2b84d9fa5dd7c7f5"
 dependencies = [
- "indexmap",
+ "indexmap 2.7.0",
  "serde",
  "serde_spanned",
  "toml_datetime",
  "winnow",
 ]
 
+[[package]]
+name = "tonic"
+version = "0.12.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "877c5b330756d856ffcc4553ab34a5684481ade925ecc54bcd1bf02b1d0d4d52"
+dependencies = [
+ "async-stream",
+ "async-trait",
+ "axum",
+ "base64",
+ "bytes",
+ "h2",
+ "http",
+ "http-body",
+ "http-body-util",
+ "hyper",
+ "hyper-timeout",
+ "hyper-util",
+ "percent-encoding",
+ "pin-project",
+ "prost",
+ "socket2",
+ "tokio",
+ "tokio-stream",
+ "tower 0.4.13",
+ "tower-layer",
+ "tower-service",
+ "tracing",
+]
+
+[[package]]
+name = "tonic-web-wasm-client"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef5ca6e7bdd0042c440d36b6df97c1436f1d45871ce18298091f114004b1beb4"
+dependencies = [
+ "base64",
+ "byteorder",
+ "bytes",
+ "futures-util",
+ "http",
+ "http-body",
+ "http-body-util",
+ "httparse",
+ "js-sys",
+ "pin-project",
+ "thiserror",
+ "tonic",
+ "tower-service",
+ "wasm-bindgen",
+ "wasm-bindgen-futures",
+ "wasm-streams",
+ "web-sys",
+]
+
+[[package]]
+name = "tower"
+version = "0.4.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b8fa9be0de6cf49e536ce1851f987bd21a43b771b09473c3549a6c853db37c1c"
+dependencies = [
+ "futures-core",
+ "futures-util",
+ "indexmap 1.9.3",
+ "pin-project",
+ "pin-project-lite",
+ "rand",
+ "slab",
+ "tokio",
+ "tokio-util",
+ "tower-layer",
+ "tower-service",
+ "tracing",
+]
+
+[[package]]
+name = "tower"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d039ad9159c98b70ecfd540b2573b97f7f52c3e8d9f8ad57a24b916a536975f9"
+dependencies = [
+ "futures-core",
+ "futures-util",
+ "pin-project-lite",
+ "sync_wrapper",
+ "tower-layer",
+ "tower-service",
+]
+
+[[package]]
+name = "tower-layer"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "121c2a6cda46980bb0fcd1647ffaf6cd3fc79a013de288782836f6df9c48780e"
+
+[[package]]
+name = "tower-service"
+version = "0.3.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8df9b6e13f2d32c91b9bd719c00d1958837bc7dec474d94952798cc8e69eeec3"
+
 [[package]]
 name = "tracing"
-version = "0.1.40"
+version = "0.1.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
+checksum = "784e0ac535deb450455cbfa28a6f0df145ea1bb7ae51b821cf5e7927fdcfbdd0"
 dependencies = [
  "log",
  "pin-project-lite",
+ "tracing-attributes",
  "tracing-core",
 ]
 
+[[package]]
+name = "tracing-attributes"
+version = "0.1.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "tracing-core"
-version = "0.1.32"
+version = "0.1.33"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e672c95779cf947c5311f83787af4fa8fffd12fb27e4993211a84bdfd9610f9c"
+dependencies = [
+ "once_cell",
+]
+
+[[package]]
+name = "try-lock"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
+checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b"
 
 [[package]]
 name = "twox-hash"
@@ -3286,15 +3935,15 @@ dependencies = [
 
 [[package]]
 name = "unicase"
-version = "2.8.0"
+version = "2.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e51b68083f157f853b6379db119d1c1be0e6e4dec98101079dec41f6f5cf6df"
+checksum = "75b844d17643ee918803943289730bec8aac480150456169e647ed0b576ba539"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.13"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe"
+checksum = "adb9e6ca4f869e1180728b7950e35922a7fc6397f7b641499e8f3ef06e50dc83"
 
 [[package]]
 name = "unicode-segmentation"
@@ -3304,9 +3953,9 @@ checksum = "f6ccf251212114b54433ec949fd6a7841275f9ada20dddd2f29e9ceea4501493"
 
 [[package]]
 name = "unicode-width"
-version = "0.1.14"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
+checksum = "1fc81956842c57dac11422a97c3b8195a1ff727f06e85c84ed2e8aa277c9a0fd"
 
 [[package]]
 name = "unindent"
@@ -3347,6 +3996,15 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "want"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa7760aed19e106de2c7c0b581b509f2f25d3dacaf737cb82ac61bc6d760b0e"
+dependencies = [
+ "try-lock",
+]
+
 [[package]]
 name = "wasi"
 version = "0.11.0+wasi-snapshot-preview1"
@@ -3355,9 +4013,9 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.95"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "128d1e363af62632b8eb57219c8fd7877144af57558fb2ef0368d0087bddeb2e"
+checksum = "a474f6281d1d70c17ae7aa6a613c87fce69a127e2624002df63dcb39d6cf6396"
 dependencies = [
  "cfg-if",
  "once_cell",
@@ -3366,24 +4024,36 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.95"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb6dd4d3ca0ddffd1dd1c9c04f94b868c37ff5fac97c30b97cff2d74fce3a358"
+checksum = "5f89bb38646b4f81674e8f5c3fb81b562be1fd936d84320f3264486418519c79"
 dependencies = [
  "bumpalo",
  "log",
- "once_cell",
  "proc-macro2",
  "quote",
  "syn",
  "wasm-bindgen-shared",
 ]
 
+[[package]]
+name = "wasm-bindgen-futures"
+version = "0.4.49"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38176d9b44ea84e9184eff0bc34cc167ed044f816accfe5922e54d84cf48eca2"
+dependencies = [
+ "cfg-if",
+ "js-sys",
+ "once_cell",
+ "wasm-bindgen",
+ "web-sys",
+]
+
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.95"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e79384be7f8f5a9dd5d7167216f022090cf1f9ec128e6e6a482a2cb5c5422c56"
+checksum = "2cc6181fd9a7492eef6fef1f33961e3695e4579b9872a6f7c83aee556666d4fe"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -3391,9 +4061,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.95"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26c6ab57572f7a24a4985830b120de1594465e5d500f24afe89e16b4e833ef68"
+checksum = "30d7a95b763d3c45903ed6c81f156801839e5ee968bb07e534c44df0fcd330c2"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3404,15 +4074,28 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.95"
+version = "0.2.99"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65fc09f10666a9f147042251e0dda9c18f166ff7de300607007e96bdebc1068d"
+checksum = "943aab3fdaaa029a6e0271b35ea10b72b943135afe9bffca82384098ad0e06a6"
+
+[[package]]
+name = "wasm-streams"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "15053d8d85c7eccdbefef60f06769760a563c7f0a9d6902a13d35c7800b0ad65"
+dependencies = [
+ "futures-util",
+ "js-sys",
+ "wasm-bindgen",
+ "wasm-bindgen-futures",
+ "web-sys",
+]
 
 [[package]]
 name = "web-sys"
-version = "0.3.69"
+version = "0.3.76"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77afa9a11836342370f4817622a2f0f418b134426d91a82dfb48f532d2ec13ef"
+checksum = "04dd7223427d52553d3702c004d3b2fe07c148165faa56313cb00211e31c12bc"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -3430,9 +4113,9 @@ dependencies = [
 
 [[package]]
 name = "wide"
-version = "0.7.28"
+version = "0.7.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b828f995bf1e9622031f8009f8481a85406ce1f4d4588ff746d872043e855690"
+checksum = "41b5576b9a81633f3e8df296ce0063042a73507636cbe956c61133dd7034ab22"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -3572,27 +4255,27 @@ checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
 name = "winnow"
-version = "0.6.20"
+version = "0.6.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "36c1fec1a2bb5866f07c25f68c26e565c4c200aebb96d7e55710c19d3e8ac49b"
+checksum = "39281189af81c07ec09db316b302a3e67bf9bd7cbf6c820b50e35fee9c2fa980"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "xshell"
-version = "0.2.6"
+version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6db0ab86eae739efd1b054a8d3d16041914030ac4e01cd1dca0cf252fd8b6437"
+checksum = "9e7290c623014758632efe00737145b6867b66292c42167f2ec381eb566a373d"
 dependencies = [
  "xshell-macros",
 ]
 
 [[package]]
 name = "xshell-macros"
-version = "0.2.6"
+version = "0.2.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d422e8e38ec76e2f06ee439ccc765e9c6a9638b9e7c9f2e8255e4d41e8bd852"
+checksum = "32ac00cd3f8ec9c1d33fb3e7958a82df6989c42d747bd326c822b1d625283547"
 
 [[package]]
 name = "zerocopy"
diff --git a/Cargo.toml b/Cargo.toml
index c8d5cea..0ff22a2 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -28,30 +28,30 @@ cargo-args = ["-Zunstable-options", "-Zrustdoc-scrape-examples"]
 
 
 [dependencies]
-foldhash = "0.1.3"
+foldhash = "0.1.4"
 paste = "1.0.15"
-downcast-rs = "1.2.1"
+downcast-rs = "2.0.1"
 log = "0.4.22"
 factrs-proc = { version = "0.1.0", path = "./factrs-proc" }
 pad-adapter = "0.1.1"
 
 # numerical 
-faer = { version = "0.19.4", default-features = false, features = [
+faer = { version = "0.20.2", default-features = false, features = [
     "perf-warn",
     "std",
-    "matrixcompare",
+    "linalg",
 ] }
-faer-ext = { version = "0.3.0", features = ["nalgebra"] }
+faer-ext = { version = "0.4.1", features = ["nalgebra"] }
 nalgebra = { version = "0.33.2", features = ["compare"] }
 num-dual = "0.11.0"
-matrixcompare = { version = "0.3" }
+matrixcompare = { version = "0.3.0" }
 
 # serialization
-serde = { version = "1.0.214", optional = true }
+serde = { version = "1.0.217", optional = true }
 typetag = { version = "0.2.18", optional = true, path = "./factrs-typetag" }
 
 # rerun support
-rerun = { version = "0.20", optional = true, default-features = false, features = [
+rerun = { version = "0.21.0", optional = true, default-features = false, features = [
     "sdk",
 ] }
 simba = { version = "0.9.0", default-features = false }
@@ -84,9 +84,9 @@ rerun = ["dep:rerun"]
 
 [dev-dependencies]
 matrixcompare = "0.3.0"
-pretty_env_logger = "0.5"
+pretty_env_logger = "0.5.0"
 nalgebra = { version = "0.33.2", features = ["compare"] }
-serde_json = { version = "1.0.132" }
+serde_json = { version = "1.0.135" }
 
 [profile.bench]
 lto = true
diff --git a/README.md b/README.md
index 983b22f..3ce6e77 100644
--- a/README.md
+++ b/README.md
@@ -112,25 +112,27 @@ let f = fac![PriorResidual::new(id), Y(0), 0.1 as std];
 ```
 
 # Benchmarks
-Performance-wise, factrs is competitive with alternative libraries. Benchmarks were ran on a 12th Gen Intel i9 and are all single-threaded (for now). Current benchmarks include [gtsam](https://github.com/borglab/gtsam/) and [tinysolver-rs](https://github.com/powei-lin/tiny-solver-rs).
+Performance-wise, factrs is competitive with alternative libraries. Benchmarks were ran on a 12th Gen Intel i9 and are all single-threaded (for now). Current benchmarks include [gtsam](https://github.com/borglab/gtsam/) and [tiny-solver-rs](https://github.com/powei-lin/tiny-solver-rs) and data can be found in the [examples/data](/examples/data) folder.
 
 ### 2D Benchmarks
-| benchmark  | args      | fastest   | median    | mean      |
-|------------|-----------|-----------|-----------|-----------|
-| factrs     | M3500.g2o | 81.23 ms  | 82.13 ms  | 82.80 ms  |
-| gtsam      | M3500.g2o | 160.00 ms | 161.13 ms | 161.14 ms |
-| tinysolver | M3500.g2o | 125.13 ms | 130.46 ms | 132.08 ms |
+| benchmark   | args  | fastest   | median    | mean      |
+|-------------|-------|-----------|-----------|-----------|
+| factrs      | M3500 | 81.23 ms  | 82.13 ms  | 82.80 ms  |
+| gtsam       | M3500 | 160.00 ms | 161.13 ms | 161.14 ms |
+| tiny-solver | M3500 | 125.13 ms | 130.46 ms | 132.08 ms |
 
 
 ### 3D Benchmarks
-| benchmark | args               | fastest   | median    | mean      |
-|-----------|--------------------|-----------|-----------|-----------|
-| factrs    | sphere2500.g2o     | 366.47 ms | 368.66 ms | 369.75 ms |
-| gtsam     | sphere2500.g2o     | 389.81 ms | 395.16 ms | 396.65 ms |
-| factrs    | parking-garage.g2o | 291.02 ms | 294.33 ms | 295.53 ms |
-| gtsam     | parking-garage.g2o | 113.24 ms | 114.74 ms | 114.45 ms |
-
-*Note, gtsam is significantly faster for the parking garage due to leveraging the sparsity of the pose graph better using the Baye's tree, something that is planned for factrs*
+| benchmark   | args           | fastest   | median    | mean      |
+|-------------|----------------|-----------|-----------|-----------|
+| factrs      | sphere2500     | 352.97 ms | 355.01 ms | 355.14 ms |
+| gtsam       | sphere2500     | 389.81 ms | 395.16 ms | 396.65 ms |
+| tiny-solver | sphere2500     | 600.80 ms | 615.90 ms | 616.75 ms |
+| factrs      | parking-garage | 292.14 ms | 294.01 ms | 294.10 ms |
+| gtsam       | parking-garage | 113.24 ms | 114.74 ms | 114.45 ms |
+| tiny-solver | parking-garage | 329.48 ms | 334.78 ms | 335.17 ms |
+
+*Note, gtsam is significantly faster for the parking garage due to leveraging the sparsity of the pose graph better using the Baye's tree, something that is planned for factrs.*
 
 To run the rust benchmarks after cloning, simply run,
 ```bash
diff --git a/factrs-bench/benches/g2o-2d.rs b/factrs-bench/benches/g2o-2d.rs
index d91e53e..425b865 100644
--- a/factrs-bench/benches/g2o-2d.rs
+++ b/factrs-bench/benches/g2o-2d.rs
@@ -14,10 +14,12 @@ fn factrs(bencher: Bencher, file: &str) {
 }
 
 // ------------------------- tiny-solver ------------------------- //
-use tiny_solver::{gauss_newton_optimizer, optimizer::Optimizer as TSOptimizer};
+use tiny_solver::{
+    gauss_newton_optimizer, helper::read_g2o as load_tiny_g2o, optimizer::Optimizer as TSOptimizer,
+};
 
 fn tinysolver(bencher: Bencher, file: &str) {
-    let (graph, init) = factrs_bench::load_tiny_g2o(&format!("{}{}", DATA_DIR, file));
+    let (graph, init) = load_tiny_g2o(&format!("{}{}", DATA_DIR, file));
     bencher.bench(|| {
         let gn = gauss_newton_optimizer::GaussNewtonOptimizer::new();
         let mut results = gn.optimize(&graph, &init, None);
diff --git a/factrs-bench/benches/g2o-3d.rs b/factrs-bench/benches/g2o-3d.rs
index 6464702..4b6c2ab 100644
--- a/factrs-bench/benches/g2o-3d.rs
+++ b/factrs-bench/benches/g2o-3d.rs
@@ -13,8 +13,22 @@ fn factrs(bencher: Bencher, file: &str) {
     });
 }
 
+// ------------------------- tiny-solver ------------------------- //
+use tiny_solver::{
+    gauss_newton_optimizer, helper::read_g2o as load_tiny_g2o, optimizer::Optimizer as TSOptimizer,
+};
+
+fn tinysolver(bencher: Bencher, file: &str) {
+    let (graph, init) = load_tiny_g2o(&format!("{}{}", DATA_DIR, file));
+    bencher.bench(|| {
+        let gn = gauss_newton_optimizer::GaussNewtonOptimizer::new();
+        let mut results = gn.optimize(&graph, &init, None);
+        black_box(&mut results);
+    });
+}
+
 fn main() -> std::io::Result<()> {
-    let to_run = list![factrs];
+    let to_run = list![factrs, tinysolver];
 
     let mut bench = Bench::new(BenchConfig::from_args()?);
     bench.register_many(to_run, ["sphere2500.g2o", "parking-garage.g2o"]);
diff --git a/factrs-bench/src/lib.rs b/factrs-bench/src/lib.rs
index 938ac04..8b13789 100644
--- a/factrs-bench/src/lib.rs
+++ b/factrs-bench/src/lib.rs
@@ -1,39 +1 @@
-use std::{collections::HashMap, fs::read_to_string};
 
-use nalgebra as na;
-use tiny_solver::{factors, problem};
-
-pub fn load_tiny_g2o(filename: &str) -> (problem::Problem, HashMap<String, na::DVector<f64>>) {
-    let mut problem = problem::Problem::new();
-    let mut init_values = HashMap::<String, na::DVector<f64>>::new();
-    for line in read_to_string(filename).unwrap().lines() {
-        let line: Vec<&str> = line.split(' ').collect();
-        match line[0] {
-            "VERTEX_SE2" => {
-                let x = line[2].parse::<f64>().unwrap();
-                let y = line[3].parse::<f64>().unwrap();
-                let theta = line[4].parse::<f64>().unwrap();
-                init_values.insert(format!("x{}", line[1]), na::dvector![theta, x, y]);
-            }
-            "EDGE_SE2" => {
-                let id0 = format!("x{}", line[1]);
-                let id1 = format!("x{}", line[2]);
-                let dx = line[3].parse::<f64>().unwrap();
-                let dy = line[4].parse::<f64>().unwrap();
-                let dtheta = line[5].parse::<f64>().unwrap();
-                // todo add info matrix
-                let edge = factors::BetweenFactorSE2 { dx, dy, dtheta };
-                problem.add_residual_block(3, &[(&id0, 3), (&id1, 3)], Box::new(edge), None);
-            }
-            _ => {
-                println!("err");
-                break;
-            }
-        }
-    }
-    let origin_factor = factors::PriorFactor {
-        v: na::dvector![0.0, 0.0, 0.0],
-    };
-    problem.add_residual_block(3, &[("x0", 3)], Box::new(origin_factor), None);
-    (problem, init_values)
-}