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src=\"./kalmanformer.png\" width=\"400px\"\u003e\u003c/img\u003e\n\n## KalmanFormer\n\nImplementation of \u003ca href=\"https://www.frontiersin.org/articles/10.3389/fnbot.2024.1460255/full\"\u003eKalmanFormer\u003c/a\u003e.\n\nThe paper proposes learning the Kalman Gain directly from data using Transformers, bypassing the limitations of traditional Kalman Filters on non-linear systems.\n\n## Install\n\n```bash\n$ pip install kalmanformer\n```\n\n## Usage\n\n```python\nimport torch\nfrom kalmanformer import KalmanFormer\n\n# kalmanformer\n\nkalmanformer = KalmanFormer(\n    state_dim = 3,\n    obs_dim = 3,\n    dim = 64,\n    depth = 2,\n    heads = 2,\n    dim_head = 32,\n    mlp_dim = 64\n)\n\n# mock observations\n\nobservations = torch.randn(2, 10, 3)\n\n# state transition matrix f and observation matrix h\n\nF = torch.randn(3, 3)\nH = torch.randn(3, 3)\n\n# initial state\n\nx_0 = torch.zeros(2, 3)\n\n# tracking over sequence\n\npost_states = kalmanformer(\n    observations,\n    F,\n    H,\n    x_0 = x_0\n)\n\nassert post_states.shape == (2, 10, 3)\n```\n\n## Citations\n\n```bibtex\n@article{Shen2025KalmanFormer,\n    title   = {KalmanFormer: using transformer to model the Kalman Gain in Kalman Filters},\n    author  = {Siyuan Shen and Jichen Chen and Guanfeng Yu and Zhengjun Zhai and Pujie Han},\n    journal = {Frontiers in Neurorobotics},\n    year    = {2025},\n    volume  = {18},\n    doi     = {10.3389/fnbot.2024.1460255}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flucidrains%2Fkalmanformer","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Flucidrains%2Fkalmanformer","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flucidrains%2Fkalmanformer/lists"}