Data assimilation (DA) combines dynamical models with sparse, noisy observations to estimate latent system states and quantify uncertainty for applications such as climate forecasting and environmental monitoring. In practice, traditional DA methods face severe challenges due to high-dimensional state spaces, nonlinear and possibly chaotic dynamics, model error arising from imperfect physical representations, and non-Gaussian uncertainties. Therefore, it is crucial to develop efficient and robust DA algorithms that can handle high-dimensional systems while properly accounting for model uncertainties for complex dynamical systems.