def METHOD_NAME(self, Q=None, R=None):
    r'''
    Set the covariance matrices of transition noise and observation noise.
    Args:
        Q (:obj:`Tensor`): batched square covariance matrices of transition noise.
        R (:obj:`Tensor`): batched square covariance matrices of observation noise.
    '''
    if Q is not None:
        self.register_buffer("_Q", Q)
    if R is not None:
        self.register_buffer("_R", R)