Learning reduced-order latent linear models for Kalman filtering of nonlinear systems

Manas Mejari, Milad Banitalebi Dehkordi, Dario Piga

We propose a filtering-oriented end-to-end learning framework to identify reduced-order models explicitly tailored for state estimation in high-dimensional nonlinear systems. An autoencoder (AE) neural network learns a low-dimensional latent representation of the state together with a lifting map to the original space, while a reduced-order linear time-invariant (RO-LTI) model describes the latent dynamics. The AE and RO-LTI model are trained jointly by minimizing a multi-objective loss that combines reconstruction error with a filtering objective based on a differentiable Kalman filter, ensuring that the reduced-order model is tailored for the downstream state estimation task. At inference, filtering is performed entirely in the latent space using the RO-LTI model, and the estimated state is mapped back to the original space via the decoder. Unlike conventional two-stage approaches, in which a reduced-order model is first identified for system approximation and a filter is subsequently designed on top of it, the proposed framework learns a task-oriented reduced-order model whose parameters are shaped entirely by filtering performance rather than system approximation accuracy alone. We further quantify probabilistic bounds on the performance gap between full-order and reduced-order filters using conformal predictions, which do not require assumption on data distribution. The approach is validated on a heat diffusion benchmark, where the full temperature field is reconstructed from sparse measurements.