diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3302df1d..c3c12235 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@
 ### Changed
 
 - Relax the integer types expected when indexing arrays.
+- Promote the `wp.Int`, `wp.Float`, and `wp.Scalar` generic annotation types to the public API.
 
 ### Fixed
 
diff --git a/warp/__init__.py b/warp/__init__.py
index dc77075c..28c165b4 100644
--- a/warp/__init__.py
+++ b/warp/__init__.py
@@ -26,6 +26,9 @@
 from warp.types import spatial_vector, spatial_vectorh, spatial_vectorf, spatial_vectord
 from warp.types import spatial_matrix, spatial_matrixh, spatial_matrixf, spatial_matrixd
 
+# annotation types
+from warp.types import Int, Float, Scalar
+
 # geometry types
 from warp.types import Bvh, Mesh, HashGrid, Volume, MarchingCubes
 from warp.types import BvhQuery, HashGridQuery, MeshQueryAABB, MeshQueryPoint, MeshQueryRay
diff --git a/warp/stubs.py b/warp/stubs.py
index 050f601f..fcf8c4c8 100644
--- a/warp/stubs.py
+++ b/warp/stubs.py
@@ -39,6 +39,8 @@
 from warp.types import spatial_vector, spatial_vectorh, spatial_vectorf, spatial_vectord
 from warp.types import spatial_matrix, spatial_matrixh, spatial_matrixf, spatial_matrixd
 
+from warp.types import Int, Float, Scalar
+
 from warp.types import Bvh, Mesh, HashGrid, Volume, MarchingCubes
 from warp.types import BvhQuery, HashGridQuery, MeshQueryAABB, MeshQueryPoint, MeshQueryRay
 
diff --git a/warp/tests/test_generics.py b/warp/tests/test_generics.py
index ed769338..1b5ab9ac 100644
--- a/warp/tests/test_generics.py
+++ b/warp/tests/test_generics.py
@@ -522,6 +522,57 @@ def kernel():
         )
 
 
+@wp.func
+def vec_int_annotation_func(v: wp.vec(3, wp.Int)) -> wp.Int:
+    return v[0] + v[1] + v[2]
+
+
+@wp.func
+def vec_float_annotation_func(v: wp.vec(3, wp.Float)) -> wp.Float:
+    return v[0] + v[1] + v[2]
+
+
+@wp.func
+def vec_scalar_annotation_func(v: wp.vec(3, wp.Scalar)) -> wp.Scalar:
+    return v[0] + v[1] + v[2]
+
+
+@wp.func
+def mat_int_annotation_func(m: wp.mat((2, 2), wp.Int)) -> wp.Int:
+    return m[0, 0] + m[0, 1] + m[1, 0] + m[1, 1]
+
+
+@wp.func
+def mat_float_annotation_func(m: wp.mat((2, 2), wp.Float)) -> wp.Float:
+    return m[0, 0] + m[0, 1] + m[1, 0] + m[1, 1]
+
+
+@wp.func
+def mat_scalar_annotation_func(m: wp.mat((2, 2), wp.Scalar)) -> wp.Scalar:
+    return m[0, 0] + m[0, 1] + m[1, 0] + m[1, 1]
+
+
+mat22s = wp.mat((2, 2), wp.int16)
+mat22d = wp.mat((2, 2), wp.float64)
+
+
+@wp.kernel
+def test_annotations_kernel():
+    vi16 = wp.vec3s(wp.int16(1), wp.int16(2), wp.int16(3))
+    vf64 = wp.vec3d(wp.float64(1), wp.float64(2), wp.float64(3))
+    wp.expect_eq(vec_int_annotation_func(vi16), wp.int16(6))
+    wp.expect_eq(vec_float_annotation_func(vf64), wp.float64(6))
+    wp.expect_eq(vec_scalar_annotation_func(vi16), wp.int16(6))
+    wp.expect_eq(vec_scalar_annotation_func(vf64), wp.float64(6))
+
+    mi16 = mat22s(wp.int16(1), wp.int16(2), wp.int16(3), wp.int16(4))
+    mf64 = mat22d(wp.float64(1), wp.float64(2), wp.float64(3), wp.float64(4))
+    wp.expect_eq(mat_int_annotation_func(mi16), wp.int16(10))
+    wp.expect_eq(mat_float_annotation_func(mf64), wp.float64(10))
+    wp.expect_eq(mat_scalar_annotation_func(mi16), wp.int16(10))
+    wp.expect_eq(mat_scalar_annotation_func(mf64), wp.float64(10))
+
+
 class TestGenerics(unittest.TestCase):
     pass
 
@@ -590,6 +641,7 @@ class TestGenerics(unittest.TestCase):
 )
 add_function_test(TestGenerics, "test_type_operator_misspell", test_type_operator_misspell, devices=devices)
 add_function_test(TestGenerics, "test_type_attribute_error", test_type_attribute_error, devices=devices)
+add_kernel_test(TestGenerics, name="test_annotations_kernel", kernel=test_annotations_kernel, dim=1, devices=devices)
 
 if __name__ == "__main__":
     wp.clear_kernel_cache()
diff --git a/warp/types.py b/warp/types.py
index e50b4cfd..cdd659f8 100644
--- a/warp/types.py
+++ b/warp/types.py
@@ -100,8 +100,10 @@ class vec_t(ctypes.Array):
 
         if dtype is bool:
             _type_ = ctypes.c_bool
-        elif dtype in [Scalar, Float]:
+        elif dtype in (Scalar, Float):
             _type_ = ctypes.c_float
+        elif dtype is Int:
+            _type_ = ctypes.c_int
         else:
             _type_ = dtype._type_
 
@@ -289,8 +291,10 @@ class mat_t(ctypes.Array):
 
         if dtype is bool:
             _type_ = ctypes.c_bool
-        elif dtype in [Scalar, Float]:
+        elif dtype in (Scalar, Float):
             _type_ = ctypes.c_float
+        elif dtype is Int:
+            _type_ = ctypes.c_int
         else:
             _type_ = dtype._type_