Hi 

You may do like this, Create a function for the same with filtering your records  and call this function though a server action and make this server action as action for your menu.

def  your_function(self):

    your_filtered_records=[]

    return {

'name': 'Name',
'view_type': 'form',
'view_mode': 'tree,form',
'res_model': 'your_model',
'view_id': False,
'type': 'ir.actions.act_window',
'domain': [('id', 'in', your_filtered_records)]

}  

 <record id="your_menu_action" model="ir.actions.server">
    <field name="name">Name</field>
    <field name="condition">True</field>
    <field name="model_id" ref="module.model_your_model"/>
    <field name="code">action = model.your_function()</field>
    <field name="state">code</field>
    <field name="type">ir.actions.server</field>
</record>

<menuitem id="your_menu" name="Menu" parent="menu_parent"
          action="your_menu_action" sequence="1"/>

Hope this will help you
Thanks