diff --git a/jormungandr/cpp/autodiff/BindVariableBlock.cpp b/jormungandr/cpp/autodiff/BindVariableBlock.cpp
index cdbb6fd5..fced0a34 100644
--- a/jormungandr/cpp/autodiff/BindVariableBlock.cpp
+++ b/jormungandr/cpp/autodiff/BindVariableBlock.cpp
@@ -50,6 +50,25 @@ void BindVariableBlock(nb::module_& autodiff,
       [](VariableBlock<VariableMatrix>& self,
          nb::DRef<Eigen::MatrixXd> values) { self.SetValue(values); },
       "values"_a, DOC(sleipnir, VariableBlock, SetValue, 2));
+  cls.def(
+      "set_value",
+      [](VariableBlock<VariableMatrix>& self,
+         nb::DRef<Eigen::MatrixXf> values) {
+        self.SetValue(values.cast<double>());
+      },
+      "values"_a, DOC(sleipnir, VariableBlock, SetValue, 2));
+  cls.def(
+      "set_value",
+      [](VariableBlock<VariableMatrix>& self,
+         nb::DRef<Eigen::Matrix<int64_t, Eigen::Dynamic, Eigen::Dynamic>>
+             values) { self.SetValue(values.cast<double>()); },
+      "values"_a, DOC(sleipnir, VariableBlock, SetValue, 2));
+  cls.def(
+      "set_value",
+      [](VariableBlock<VariableMatrix>& self,
+         nb::DRef<Eigen::Matrix<int32_t, Eigen::Dynamic, Eigen::Dynamic>>
+             values) { self.SetValue(values.cast<double>()); },
+      "values"_a, DOC(sleipnir, VariableBlock, SetValue, 2));
   cls.def(
       "__setitem__",
       [](VariableBlock<VariableMatrix>& self, int row, const Variable& value) {
@@ -103,6 +122,8 @@ void BindVariableBlock(nb::module_& autodiff,
               nb::cast<VariableBlock<VariableMatrix>>(value);
         } else if (auto rhs = TryCastToEigen<double>(value)) {
           self.Block(rowOffset, colOffset, blockRows, blockCols) = rhs.value();
+        } else if (auto rhs = TryCastToEigen<float>(value)) {
+          self.Block(rowOffset, colOffset, blockRows, blockCols) = rhs.value();
         } else if (auto rhs = TryCastToEigen<int64_t>(value)) {
           self.Block(rowOffset, colOffset, blockRows, blockCols) = rhs.value();
         } else if (auto rhs = TryCastToEigen<int32_t>(value)) {
@@ -233,6 +254,8 @@ void BindVariableBlock(nb::module_& autodiff,
           if (ufunc_name == "<ufunc 'matmul'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() * self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() * self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() * self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
@@ -247,12 +270,16 @@ void BindVariableBlock(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'add'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() + self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() + self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() + self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() + self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self + rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self + rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self + rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -261,12 +288,16 @@ void BindVariableBlock(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'subtract'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() - self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() - self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() - self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() - self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self - rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self - rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self - rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -275,12 +306,16 @@ void BindVariableBlock(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'equal'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() == self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() == self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() == self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() == self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self == rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self == rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self == rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -289,12 +324,16 @@ void BindVariableBlock(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'less'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() < self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() < self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() < self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() < self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self < rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self < rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self < rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -303,12 +342,16 @@ void BindVariableBlock(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'less_equal'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() <= self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() <= self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() <= self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() <= self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self <= rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self <= rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self <= rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -317,12 +360,16 @@ void BindVariableBlock(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'greater'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() > self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() > self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() > self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() > self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self > rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self > rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self > rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -331,12 +378,16 @@ void BindVariableBlock(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'greater_equal'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() >= self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() >= self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() >= self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() >= self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self >= rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self >= rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self >= rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -505,6 +556,6 @@ void BindVariableBlock(nb::module_& autodiff,
         return CwiseReduce(lhs, rhs, func);
       },
       "lhs"_a, "rhs"_a, "func"_a, DOC(sleipnir, CwiseReduce));
-}
+}  // NOLINT(readability/fn_size)
 
 }  // namespace sleipnir
diff --git a/jormungandr/cpp/autodiff/BindVariableMatrix.cpp b/jormungandr/cpp/autodiff/BindVariableMatrix.cpp
index 42e91ba4..30b74a9e 100644
--- a/jormungandr/cpp/autodiff/BindVariableMatrix.cpp
+++ b/jormungandr/cpp/autodiff/BindVariableMatrix.cpp
@@ -42,6 +42,24 @@ void BindVariableMatrix(nb::module_& autodiff,
         self.SetValue(values);
       },
       "values"_a, DOC(sleipnir, VariableMatrix, SetValue));
+  cls.def(
+      "set_value",
+      [](VariableMatrix& self, nb::DRef<Eigen::MatrixXf> values) {
+        self.SetValue(values.cast<double>());
+      },
+      "values"_a, DOC(sleipnir, VariableMatrix, SetValue));
+  cls.def(
+      "set_value",
+      [](VariableMatrix& self,
+         nb::DRef<Eigen::Matrix<int64_t, Eigen::Dynamic, Eigen::Dynamic>>
+             values) { self.SetValue(values.cast<double>()); },
+      "values"_a, DOC(sleipnir, VariableMatrix, SetValue));
+  cls.def(
+      "set_value",
+      [](VariableMatrix& self,
+         nb::DRef<Eigen::Matrix<int32_t, Eigen::Dynamic, Eigen::Dynamic>>
+             values) { self.SetValue(values.cast<double>()); },
+      "values"_a, DOC(sleipnir, VariableMatrix, SetValue));
   cls.def(
       "__setitem__",
       [](VariableMatrix& self, int row, const Variable& value) {
@@ -94,6 +112,8 @@ void BindVariableMatrix(nb::module_& autodiff,
               nb::cast<VariableMatrix>(value);
         } else if (auto rhs = TryCastToEigen<double>(value)) {
           self.Block(rowOffset, colOffset, blockRows, blockCols) = rhs.value();
+        } else if (auto rhs = TryCastToEigen<float>(value)) {
+          self.Block(rowOffset, colOffset, blockRows, blockCols) = rhs.value();
         } else if (auto rhs = TryCastToEigen<int64_t>(value)) {
           self.Block(rowOffset, colOffset, blockRows, blockCols) = rhs.value();
         } else if (auto rhs = TryCastToEigen<int32_t>(value)) {
@@ -227,12 +247,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           if (ufunc_name == "<ufunc 'matmul'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() * self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() * self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() * self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() * self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self * rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self * rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self * rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -241,12 +265,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'add'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() + self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() + self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() + self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() + self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self + rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self + rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self + rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -255,12 +283,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'subtract'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() - self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() - self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() - self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() - self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self - rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self - rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self - rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -269,12 +301,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'equal'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() == self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() == self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() == self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() == self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self == rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self == rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self == rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -283,12 +319,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'less'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() < self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() < self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() < self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() < self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self < rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self < rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self < rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -297,12 +337,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'less_equal'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() <= self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() <= self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() <= self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() <= self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self <= rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self <= rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self <= rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -311,12 +355,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'greater'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() > self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() > self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() > self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() > self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self > rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self > rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self > rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {
@@ -325,12 +373,16 @@ void BindVariableMatrix(nb::module_& autodiff,
           } else if (ufunc_name == "<ufunc 'greater_equal'>") {
             if (auto lhs = TryCastToEigen<double>(inputs[0])) {
               return nb::cast(lhs.value() >= self);
+            } else if (auto lhs = TryCastToEigen<float>(inputs[0])) {
+              return nb::cast(lhs.value() >= self);
             } else if (auto lhs = TryCastToEigen<int64_t>(inputs[0])) {
               return nb::cast(lhs.value() >= self);
             } else if (auto lhs = TryCastToEigen<int32_t>(inputs[0])) {
               return nb::cast(lhs.value() >= self);
             } else if (auto rhs = TryCastToEigen<double>(inputs[1])) {
               return nb::cast(self >= rhs.value());
+            } else if (auto rhs = TryCastToEigen<float>(inputs[1])) {
+              return nb::cast(self >= rhs.value());
             } else if (auto rhs = TryCastToEigen<int64_t>(inputs[1])) {
               return nb::cast(self >= rhs.value());
             } else if (auto rhs = TryCastToEigen<int32_t>(inputs[1])) {