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Calling rust from R goes through the C abi, meaning you’ll probably still use a C wrapper like in this project, which makes building the package somewhat complicated. If you want to work with R SEXPs that’s also pretty complicated and Rcpp helps a lot with that. Rcpp will also help you convert R types back and forth.
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If it is matrix operations and linear algebra that you are planning to optimise, have a look at RcppArmadillo. I had some successes in using for some computational heavy algorithms, see them here: https://gitlab.com/zauster/riot/-/tree/master/src
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Consider rust.
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I’ve had some joy with JuliaCall.