Original:   We motivate the development of our framework with several emph{cautionary tales} of previous research, which has developed numerous inefficient algorithms for computing expectations and their gradients.
Revised:  These algorithms are easy to implement with or without automatic differentiation software. We motivate the development of our framework with several emph{cautionary tales} of previous research, which has developed numerous inefficient algorithms for computing expectations and their gradients.
Edit intent: meaning-changed