**Original article:** The Discriminative Kalman Filter for Bayesian Filtering with Nonlinear and Non-Gaussian Observation Models **PDF URL:** https://github.com/Josuelmet/Discriminative-Kalman-Filter-4.5-Python/blob/main/article/article.pdf **Metadata URL:** https://github.com/Josuelmet/Discriminative-Kalman-Filter-4.5-Python/blob/main/article/metadata.yaml **Code URL:** https://github.com/Josuelmet/Discriminative-Kalman-Filter-4.5-Python/tree/main **Scientific domain:** Computational Neuroscience **Programming language:** Python **Suggested editor:**