diff --git a/discussion/probabilistic_bundle_adjustment/ProbBundle.ipynb b/discussion/probabilistic_bundle_adjustment/ProbBundle.ipynb
index fdbe3b8a7c..f2431f026a 100644
--- a/discussion/probabilistic_bundle_adjustment/ProbBundle.ipynb
+++ b/discussion/probabilistic_bundle_adjustment/ProbBundle.ipynb
@@ -3377,7 +3377,7 @@
     "                if (self.auto_resample.value or self.resample) or not jnp.all(\n",
     "                    jnp.isfinite(extra.target_log_prob)\n",
     "                ):\n",
-    "                    (_, _), ancestor_idx = fun_mc.systematic_resample(\n",
+    "                    (_, _), ancestor_idx = fun_mc.resample(\n",
     "                        (),\n",
     "                        resample_strength * extra.target_log_prob,\n",
     "                        jax.random.key(self.step),\n",
diff --git a/spinoffs/fun_mc/fun_mc/fun_mc_lib.py b/spinoffs/fun_mc/fun_mc/fun_mc_lib.py
index b41fb784fc..9d74e33e16 100644
--- a/spinoffs/fun_mc/fun_mc/fun_mc_lib.py
+++ b/spinoffs/fun_mc/fun_mc/fun_mc_lib.py
@@ -128,7 +128,6 @@
     'SimpleDualAveragesState',
     'splitting_integrator_step',
     'State',
-    'systematic_resample',
     'trace',
     'transform_log_prob_fn',
     'TransitionOperator',
@@ -3466,60 +3465,6 @@ def clip_part(v):
   )
 
 
-@util.named_call
-def systematic_resample(
-    particles: State,
-    log_weights: FloatArray,
-    seed: Any,
-    do_resample: Optional[BooleanArray] = None,
-) -> tuple[tuple[State, FloatArray], IntArray]:
-  """Systematically resamples particles in proportion to their weights.
-
-  This uses the algorithm from [1].
-
-  Args:
-    particles: The particles.
-    log_weights: Un-normalized weights.
-    seed: PRNG seed.
-    do_resample: Whether to perform the resample. If None, resampling is
-      performed unconditionally.
-
-  Returns:
-    particles_and_weights: tuple of resampled particles and weights.
-    ancestor_idx: Indices from which the returned particles were sampled from.
-
-  #### References
-
-  [1] Maskell, S., Alun-Jones, B., & Macleod, M. (2006). A Single Instruction
-      Multiple Data Particle Filter. 2006 IEEE Nonlinear Statistical Signal
-      Processing Workshop. https://doi.org/10.1109/NSSPW.2006.4378818
-  """
-  log_weights = jnp.asarray(log_weights)
-  log_weights = jnp.where(
-      jnp.isnan(log_weights),
-      jnp.array(-float('inf'), log_weights.dtype),
-      log_weights,
-  )
-  probs = jax.nn.softmax(log_weights)
-  num_particles = probs.shape[0]
-
-  shift = util.random_uniform([], log_weights.dtype, seed)
-  pie = jnp.cumsum(probs) * num_particles + shift
-  repeats = jnp.array(util.diff(jnp.floor(pie), prepend=0), jnp.int32)
-  parent_idxs = util.repeat(
-      jnp.arange(num_particles), repeats, total_repeat_length=num_particles
-  )
-  if do_resample is not None:
-    parent_idxs = jnp.where(do_resample, parent_idxs, jnp.arange(num_particles))
-  new_particles = util.map_tree(lambda x: x[parent_idxs], particles)
-  new_log_weights = jnp.full(
-      log_weights.shape, tfp.math.reduce_logmeanexp(log_weights)
-  )
-  if do_resample is not None:
-    new_log_weights = jnp.where(do_resample, new_log_weights, log_weights)
-  return (new_particles, new_log_weights), parent_idxs
-
-
 class GeometricAnnealingPathExtra(NamedTuple):
   """Extra outputs of `geometric_annealing_path`.
 
diff --git a/spinoffs/fun_mc/fun_mc/fun_mc_test.py b/spinoffs/fun_mc/fun_mc/fun_mc_test.py
index a89b6c397c..e9ffd9d0cf 100644
--- a/spinoffs/fun_mc/fun_mc/fun_mc_test.py
+++ b/spinoffs/fun_mc/fun_mc/fun_mc_test.py
@@ -2039,62 +2039,6 @@ def eval_fn(x):
     self.assertAllCloseNested(value, fn(x))
     self.assertAllCloseNested(expected_grad, grad)
 
-  def testSystematicResample(self):
-    probs = self._constant([0.0, 0.5, 0.2, 0.3, 0.0])
-    log_weights = jnp.log(probs)
-    particles = jnp.arange(probs.shape[0])
-
-    @jax.jit
-    def body(seed):
-      seed, resample_seed = util.split_seed(seed, 2)
-      (new_particles, new_log_weights), _ = fun_mc.systematic_resample(
-          particles, log_weights, resample_seed
-      )
-      return seed, (new_particles, new_log_weights)
-
-    _, (new_particles, new_log_weights) = fun_mc.trace(
-        self._make_seed(_test_seed()), body, 1000, trace_mask=(True, False)
-    )
-
-    new_particles_probs = jnp.mean(
-        jnp.array(new_particles[..., jnp.newaxis] == particles, jnp.float32),
-        (0, 1),
-    )
-
-    self.assertAllClose(new_particles_probs, probs, atol=0.05)
-    self.assertEqual(new_particles_probs[0], 0.0)
-    self.assertEqual(new_particles_probs[-1], 0.0)
-    self.assertAllClose(
-        new_log_weights,
-        jnp.full(probs.shape, tfp.math.reduce_logmeanexp(log_weights)),
-    )
-
-  def testSystematicResampleAncestors(self):
-    log_weights = self._constant([-float('inf'), 0.0])
-    particles = jnp.arange(log_weights.shape[0])
-    seed = self._make_seed(_test_seed())
-
-    (new_particles, new_log_weights), ancestors = fun_mc.systematic_resample(
-        particles, log_weights, seed=seed
-    )
-    self.assertAllEqual(new_particles, jnp.ones_like(particles))
-    self.assertAllEqual(new_log_weights, jnp.log(self._constant([0.5, 0.5])))
-    self.assertAllEqual(ancestors, jnp.ones_like(particles))
-
-    (new_particles, new_log_weights), ancestors = fun_mc.systematic_resample(
-        particles, log_weights, do_resample=True, seed=seed
-    )
-    self.assertAllEqual(new_particles, jnp.ones_like(particles))
-    self.assertAllEqual(new_log_weights, jnp.log(self._constant([0.5, 0.5])))
-    self.assertAllEqual(ancestors, jnp.ones_like(particles))
-
-    (new_particles, new_log_weights), ancestors = fun_mc.systematic_resample(
-        particles, log_weights, do_resample=False, seed=seed
-    )
-    self.assertAllEqual(new_particles, particles)
-    self.assertAllEqual(new_log_weights, log_weights)
-    self.assertAllEqual(ancestors, particles)
-
 
 @test_util.multi_backend_test(globals(), 'fun_mc_test')
 class FunMCTest32(FunMCTest):
diff --git a/spinoffs/fun_mc/fun_mc/smc.py b/spinoffs/fun_mc/fun_mc/smc.py
index 4b08e674b6..8c809cad02 100644
--- a/spinoffs/fun_mc/fun_mc/smc.py
+++ b/spinoffs/fun_mc/fun_mc/smc.py
@@ -48,6 +48,7 @@
     'conditional_systematic_resampling',
     'effective_sample_size_predicate',
     'ParticleGatherFn',
+    'resample',
     'ResamplingPredicate',
     'SampleAncestorsFn',
     'sequential_monte_carlo_init',
@@ -78,6 +79,8 @@ def systematic_resampling(
 ) -> Int[Array, 'num_particles']:
   """Generate parent indices via systematic resampling.
 
+  This uses the algorithm from [1].
+
   Args:
     log_weights: Unnormalized log-scale weights.
     seed: PRNG seed.
@@ -87,13 +90,14 @@ def systematic_resampling(
   Returns:
     parent_idxs: parent indices such that the marginal probability that a
       randomly chosen element will be `i` is equal to `softmax(log_weights)[i]`.
+
+  #### References
+
+  [1] Maskell, S., Alun-Jones, B., & Macleod, M. (2006). A Single Instruction
+      Multiple Data Particle Filter. 2006 IEEE Nonlinear Statistical Signal
+      Processing Workshop. https://doi.org/10.1109/NSSPW.2006.4378818
   """
   shift_seed, permute_seed = util.split_seed(seed, 2)
-  log_weights = jnp.where(
-      jnp.isnan(log_weights),
-      jnp.array(-float('inf'), log_weights.dtype),
-      log_weights,
-  )
   probs = jax.nn.softmax(log_weights)
   # A common situation is all -inf log_weights that creats a NaN vector.
   probs = jnp.where(
@@ -146,11 +150,6 @@ def conditional_systematic_resampling(
       https://www.jstor.org/stable/43590414
   """
   mixture_seed, shift_seed, permute_seed = util.split_seed(seed, 3)
-  log_weights = jnp.where(
-      jnp.isnan(log_weights),
-      jnp.array(-float('inf'), log_weights.dtype),
-      log_weights,
-  )
   probs = jax.nn.softmax(log_weights)
   num_particles = log_weights.shape[0]
 
@@ -377,7 +376,7 @@ def __call__(
 
 
 @types.runtime_typed
-def _defalt_pytree_gather(
+def _default_pytree_gather(
     state: State,
     indices: Int[Array, 'num_particles'],
 ) -> State:
@@ -395,6 +394,75 @@ def _defalt_pytree_gather(
   return util.map_tree(lambda x: x[indices], state)
 
 
+@types.runtime_typed
+def resample(
+    state: State,
+    log_weights: Float[Array, 'num_particles'],
+    seed: Seed,
+    do_resample: BoolScalar = True,
+    sample_ancestors_fn: SampleAncestorsFn = systematic_resampling,
+    state_gather_fn: ParticleGatherFn[State] = _default_pytree_gather,
+) -> tuple[
+    tuple[State, Float[Array, 'num_particles']], Int[Array, 'num_particles']
+]:
+  """Possibly resamples state according to the log_weights.
+
+  The state should represent the same number of particles as implied by the
+  length of `log_weights`. If resampling occurs, the new log weights are
+  log-mean-exp of the incoming log weights. Otherwise, they are unchanged. By
+  default, this function performs systematic resampling.
+
+  Args:
+    state: The particles.
+    log_weights: Un-normalized log weights. NaN log weights are treated as -inf.
+    seed: Random seed.
+    do_resample: Whether to resample.
+    sample_ancestors_fn: Ancestor index sampling function.
+    state_gather_fn: State gather function.
+
+  Returns:
+    state_and_log_weights: tuple of the resampled state and log weights.
+    ancestor_idx: Indices that indicate which elements of the original state the
+      returned state particles were sampled from.
+  """
+
+  def do_resample_fn(
+      state,
+      log_weights,
+      seed,
+  ):
+    log_weights = jnp.where(
+        jnp.isnan(log_weights),
+        jnp.array(-float('inf'), log_weights.dtype),
+        log_weights,
+    )
+    ancestor_idxs = sample_ancestors_fn(log_weights, seed)
+    new_state = state_gather_fn(state, ancestor_idxs)
+    num_particles = log_weights.shape[0]
+    new_log_weights = jnp.full(
+        (num_particles,), tfp.math.reduce_logmeanexp(log_weights)
+    )
+    return (new_state, new_log_weights), ancestor_idxs
+
+  def dont_resample_fn(
+      state,
+      log_weights,
+      seed,
+  ):
+    del seed
+    num_particles = log_weights.shape[0]
+    return (state, log_weights), jnp.arange(num_particles)
+
+  return _smart_cond(
+      do_resample,
+      do_resample_fn,
+      dont_resample_fn,
+      state,
+      log_weights,
+      seed,
+  )
+
+
 @types.runtime_typed
 def sequential_monte_carlo_init(
     state: State,
@@ -430,7 +498,7 @@ def sequential_monte_carlo_step(
     seed: Seed,
     resampling_pred: ResamplingPredicate = effective_sample_size_predicate,
     sample_ancestors_fn: SampleAncestorsFn = systematic_resampling,
-    state_gather_fn: ParticleGatherFn[State] = _defalt_pytree_gather,
+    state_gather_fn: ParticleGatherFn[State] = _default_pytree_gather,
 ) -> tuple[
     SequentialMonteCarloState[State], SequentialMonteCarloExtra[State, Extra]
 ]:
@@ -461,43 +529,21 @@ def sequential_monte_carlo_step(
   """
   resample_seed, kernel_seed = util.split_seed(seed, 2)
 
-  def do_resample(
-      state,
-      log_weights,
-      seed,
-  ):
-    ancestor_idxs = sample_ancestors_fn(log_weights, seed)
-    new_state = state_gather_fn(state, ancestor_idxs)
-    num_particles = log_weights.shape[0]
-    new_log_weights = jnp.full(
-        (num_particles,), tfp.math.reduce_logmeanexp(log_weights)
-    )
-    return (new_state, ancestor_idxs, new_log_weights)
-
-  def dont_resample(
-      state,
-      log_weights,
-      seed,
-  ):
-    del seed
-    num_particles = log_weights.shape[0]
-    return state, jnp.arange(num_particles), log_weights
-
   # NOTE: We don't explicitly disable resampling at the first step. However, if
   # we initialize the log weights to zeros, either of
   # 1. resampling according to the effective sample size criterion and
   # 2. using systematic resampling effectively disables resampling at the first
   #    step.
   # First-step resampling can always be forced via the `resampling_pred`.
-  should_resample = resampling_pred(smc_state)
-  state_after_resampling, ancestor_idxs, log_weights_after_resampling = (
-      _smart_cond(
-          should_resample,
-          do_resample,
-          dont_resample,
-          smc_state.state,
-          smc_state.log_weights,
-          resample_seed,
+  do_resample = resampling_pred(smc_state)
+  (state_after_resampling, log_weights_after_resampling), ancestor_idxs = (
+      resample(
+          state=smc_state.state,
+          log_weights=smc_state.log_weights,
+          do_resample=do_resample,
+          seed=resample_seed,
+          sample_ancestors_fn=sample_ancestors_fn,
+          state_gather_fn=state_gather_fn,
       )
   )
 
@@ -516,7 +562,7 @@ def dont_resample(
   smc_extra = SequentialMonteCarloExtra(
       incremental_log_weights=incremental_log_weights,
       kernel_extra=kernel_extra,
-      resampled=should_resample,
+      resampled=do_resample,
       ancestor_idxs=ancestor_idxs,
       state_after_resampling=state_after_resampling,
       log_weights_after_resampling=log_weights_after_resampling,
@@ -711,6 +757,7 @@ def inner_kernel(state, stage, tlp_fn, seed):
   )
 
 
+@types.runtime_typed
 def _smart_cond(
     pred: BoolScalar,
     true_fn: Callable[..., T],
diff --git a/spinoffs/fun_mc/fun_mc/smc_test.py b/spinoffs/fun_mc/fun_mc/smc_test.py
index 3db0efe84b..0b5084ddb2 100644
--- a/spinoffs/fun_mc/fun_mc/smc_test.py
+++ b/spinoffs/fun_mc/fun_mc/smc_test.py
@@ -272,6 +272,33 @@ def kernel(seed):
     )
     self.assertAllClose(rejection_freqs, conditional_freqs, atol=0.05)
 
+  def test_resample(self):
+    state = jnp.array([3, 2, 1, 0])
+    log_weights = jnp.array([-jnp.inf, float('NaN'), 1.0, 1.0], self._dtype)
+    seed = _test_seed()
+
+    (new_state, new_log_weights), ancestor_idxs = smc.resample(
+        state=state, log_weights=log_weights, seed=seed
+    )
+
+    self.assertAllTrue(new_state != 3)
+    self.assertAllTrue(new_state != 2)
+    self.assertAllTrue(~jnp.isnan(new_log_weights))
+    self.assertAllEqual(3 - new_state, ancestor_idxs)
+
+  def test_resample_but_dont(self):
+    state = jnp.array([3, 2, 1, 0])
+    log_weights = jnp.array([-jnp.inf, float('NaN'), 1.0, 1.0], self._dtype)
+    seed = _test_seed()
+
+    (new_state, new_log_weights), ancestor_idxs = smc.resample(
+        state=state, log_weights=log_weights, do_resample=False, seed=seed
+    )
+
+    self.assertAllEqual(new_state, state)
+    self.assertAllEqual(new_log_weights, log_weights)
+    self.assertAllEqual(ancestor_idxs, jnp.arange(state.shape[0]))
+
   def test_smc_runs_and_shapes_correct(self):
     num_particles = 3
     num_timesteps = 20