  A graphical model is a structured representation of the data generating
process. The traditional method to reason over random variables is to perform
inference in this graphical model. However, in many cases the generating
process is only a poor approximation of the much more complex true data
generating process, leading to suboptimal estimation. The subtleties of the
generative process are however captured in the data itself and we can `learn to
infer', that is, learn a direct mapping from observations to explanatory latent
variables. In this work we propose a hybrid model that combines graphical
inference with a learned inverse model, which we structure as in a graph neural
network, while the iterative algorithm as a whole is formulated as a recurrent
neural network. By using cross-validation we can automatically balance the
amount of work performed by graphical inference versus learned inference. We
apply our ideas to the Kalman filter, a Gaussian hidden Markov model for time
sequences, and show, among other things, that our model can estimate the
trajectory of a noisy chaotic Lorenz Attractor much more accurately than either
the learned or graphical inference run in isolation.

Machine Learning;Machine Learning