From 34a35ae2d2e0042546845d65b8830c8006c31d90 Mon Sep 17 00:00:00 2001
From: Florian Pfaff <6773539+FlorianPfaff@users.noreply.github.com>
Date: Fri, 31 Jul 2026 07:58:00 +0200
Subject: [PATCH 1/3] Stabilize UKF covariance symmetrization

---
 src/pyrecest/filters/_ukf.py | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/pyrecest/filters/_ukf.py b/src/pyrecest/filters/_ukf.py
index f09c393b94..4c55662d37 100644
--- a/src/pyrecest/filters/_ukf.py
+++ b/src/pyrecest/filters/_ukf.py
@@ -8,15 +8,18 @@
 
 # pylint: disable=no-name-in-module,no-member
 from pyrecest.backend import (
+    absolute,
     asarray,
     einsum,
     expand_dims,
     eye,
     float64,
     linalg,
+    maximum,
     reshape,
     stack,
     transpose,
+    where,
     zeros,
 )
 from pyrecest.sampling.sigma_points import JulierSigmaPoints, MerweScaledSigmaPoints
@@ -47,6 +50,15 @@ def _as_vector(value, description):
     return value
 
 
+def _stable_symmetric_average(matrix):
+    """Average a matrix with its transpose without finite overflow."""
+    transposed = transpose(matrix)
+    scale = maximum(absolute(matrix), absolute(transposed))
+    safe_scale = where(scale == 0.0, 1.0, scale)
+    normalized_average = 0.5 * (matrix / safe_scale + transposed / safe_scale)
+    return scale * normalized_average
+
+
 # ---------------------------------------------------------------------------
 # Unscented Kalman Filter
 # ---------------------------------------------------------------------------
@@ -121,7 +133,7 @@ def predict(self, fx=None, dt=None, **fx_args):
             d = expand_dims(sigmas_f[i] - x_pred, -1)
             P_pred = P_pred + Wc[i] * (d @ transpose(d))
         P_pred = P_pred + asarray(self.Q, dtype=float64)
-        P_pred = 0.5 * (P_pred + transpose(P_pred))
+        P_pred = _stable_symmetric_average(P_pred)
 
         self.x = x_pred
         self.P = P_pred
@@ -213,7 +225,7 @@ def update(self, z, R=None, hx=None, **hx_args):
 
         self.x = self.x + K @ (z - z_pred)
         self.P = self.P - K @ Pz @ transpose(K)
-        self.P = 0.5 * (self.P + transpose(self.P))
+        self.P = _stable_symmetric_average(self.P)
 
         self._sigmas_f = None  # clear cached sigma points
 

From 1f64fc22d53c6ecf9d0f321f5f7d246c3d709831 Mon Sep 17 00:00:00 2001
From: Florian Pfaff <6773539+FlorianPfaff@users.noreply.github.com>
Date: Fri, 31 Jul 2026 07:58:10 +0200
Subject: [PATCH 2/3] Add UKF covariance overflow regression

---
 .../filters/test_ukf_covariance_stability.py  | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)
 create mode 100644 tests/filters/test_ukf_covariance_stability.py

diff --git a/tests/filters/test_ukf_covariance_stability.py b/tests/filters/test_ukf_covariance_stability.py
new file mode 100644
index 0000000000..0af3c46c6e
--- /dev/null
+++ b/tests/filters/test_ukf_covariance_stability.py
@@ -0,0 +1,36 @@
+import unittest
+
+import numpy as np
+import numpy.testing as npt
+
+# pylint: disable=no-name-in-module,no-member
+import pyrecest.backend
+from pyrecest.backend import array, float64
+from pyrecest.distributions import GaussianDistribution
+from pyrecest.filters.unscented_kalman_filter import UnscentedKalmanFilter
+
+
+class UnscentedKalmanFilterCovarianceStabilityTest(unittest.TestCase):
+    @unittest.skipIf(
+        pyrecest.backend.__backend_name__ in ("pytorch", "jax"),
+        reason="Not supported on this backend",
+    )
+    def test_predict_preserves_extreme_finite_process_covariance(self):
+        largest = np.finfo(np.float64).max
+        ukf = UnscentedKalmanFilter(
+            GaussianDistribution(
+                array([0.0], dtype=float64),
+                array([[1.0]], dtype=float64),
+            )
+        )
+
+        with np.errstate(over="raise", invalid="raise"):
+            ukf.predict_identity(array([[largest]], dtype=float64))
+
+        covariance = ukf.filter_state.covariance()
+        self.assertTrue(np.isfinite(covariance).all())
+        npt.assert_array_equal(covariance, array([[largest]], dtype=float64))
+
+
+if __name__ == "__main__":
+    unittest.main()

From e56d354ed4547fd2fbc70e80f4649d1bc48bc029 Mon Sep 17 00:00:00 2001
From: Florian Pfaff <6773539+FlorianPfaff@users.noreply.github.com>
Date: Fri, 31 Jul 2026 08:02:47 +0200
Subject: [PATCH 3/3] Use the exported backend absolute-value helper

---
 src/pyrecest/filters/_ukf.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/pyrecest/filters/_ukf.py b/src/pyrecest/filters/_ukf.py
index 4c55662d37..f6e3a4d1f5 100644
--- a/src/pyrecest/filters/_ukf.py
+++ b/src/pyrecest/filters/_ukf.py
@@ -8,7 +8,7 @@
 
 # pylint: disable=no-name-in-module,no-member
 from pyrecest.backend import (
-    absolute,
+    abs,
     asarray,
     einsum,
     expand_dims,
@@ -53,7 +53,7 @@ def _as_vector(value, description):
 def _stable_symmetric_average(matrix):
     """Average a matrix with its transpose without finite overflow."""
     transposed = transpose(matrix)
-    scale = maximum(absolute(matrix), absolute(transposed))
+    scale = maximum(abs(matrix), abs(transposed))
     safe_scale = where(scale == 0.0, 1.0, scale)
     normalized_average = 0.5 * (matrix / safe_scale + transposed / safe_scale)
     return scale * normalized_average