Integrated hydrologic models can simulate coupled surface and subsurface processes but are computationally expensive to run at high resolutions over large domains. Here we develop a novel deep learning model to emulate continental-scale subsurface flows simulated by the integrated ParFlow-CLM model. We compare convolutional neural networks like ResNet and UNet run autoregressively against our novel architecture called the Forced SpatioTemporal RNN (FSTR). The FSTR model incorporates separate encoding of initial conditions, static parameters, and meteorological forcings, which are fused in a recurrent loop to produce spatiotemporal predictions of groundwater. We evaluate the model architectures on their ability to reproduce 4D pressure heads, water table depths, and surface soil moisture over the contiguous US at 1km resolution and daily time steps over the course of a full water year. The FSTR model shows superior performance to the baseline models, producing stable simulations that capture both seasonal and event-scale dynamics across a wide array of hydroclimatic regimes. The emulators provide over 1000x speedup compared to the original physical model, which will enable new capabilities like uncertainty quantification and data assimilation for integrated hydrologic modeling that were not previously possible. Our results demonstrate the promise of using specialized deep learning architectures like FSTR for emulating complex process-based models without sacrificing fidelity.

A key step in model development is selection of an appropriate representational system, including both the representation of what is observed (the data), and the formal mathematical structure used to construct the input-state-output mapping. These choices are critical, because they completely determine the questions we can ask, the nature of the analyses and inferences we can perform, and the answers that we can obtain. Accordingly, a representation that is suitable for one kind of investigation might be limited in its ability to support some other kind. Arguably, how different representational approaches affect what we can learn from data is poorly understood. This paper explores three complementary representational strategies as vehicles for understanding how catchment-scale hydrological processes vary across hydro-geo-climatologically diverse Chile. Specifically, we test a lumped water-balance model (GR4J), a data-based dynamical systems model (LSTM), and a data-based regression-tree model (Random Forest). Insights were obtained regarding system memory encoded in data, spatial transferability by use of surrogate attributes, and informational deficiencies of the dataset that limit our ability to learn an adequate input-output relationship. As expected, each approach exhibits specific strengths, with LSTM providing the best characterization of dynamics, GR4J being the most robust under informationally deficient conditions, and RF being most supportive of interpretation. Overall, the complementary nature of the three approaches suggests the value of adopting a multi-representational framework in order to more fully extract information from the data. Our results show that a multi-representational approach better supports the goals of prediction, understanding, and scientific discovery in Hydrology.