Multiobject tracking (MOT) is a key challenge in a wide range of applications, such as autonomous navigation and applied ocean sciences. MOT is complicated by object appearance and disappearance, data association ambiguities, and occlusion. Conventional Bayesian methods for MOT, e.g., methods based on belief propagation (BP), entirely rely on a statistical model. This fully model-based approach can lead to highly suboptimal estimates when there is a mismatch between the statistical model and the true data-generating process.