  Recent advances in incorporating neural networks into particle filters
provide the desired flexibility to apply particle filters in large-scale
real-world applications. The dynamic and measurement models in this framework
are learnable through the differentiable implementation of particle filters.
Past efforts in optimising such models often require the knowledge of true
states which can be expensive to obtain or even unavailable in practice. In
this paper, in order to reduce the demand for annotated data, we present an
end-to-end learning objective based upon the maximisation of a
pseudo-likelihood function which can improve the estimation of states when
large portion of true states are unknown. We assess performance of the proposed
method in state estimation tasks in robotics with simulated and real-world
datasets.
