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cs.RO2026
Inferring World Belief States in Dynamic Real-World Environments
Jack Kolb, Aditya Garg, Nikolai Warner +1
We investigate estimating a human's world belief state using a robot's observations in a dynamic, 3D, and partially observable environment. The methods are grounded in mental model…
cs.CV2026
MoCHA: Denoising Caption Supervision for Motion-Text Retrieval
Nikolai Warner, Cameron Ethan Taylor, Irfan Essa +1
Text-motion retrieval systems learn shared embedding spaces from motion-caption pairs via contrastive objectives. However, each caption is not a deterministic label but a sample fr…