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Despite their importance, very few studies have investigated the impact of adaptive robots with ToM capabilities. This work presents an exploratory comparative study to investigate how social robots simulating ToM capabilities affect user performance and perception. We design a two-tier architecture. The Q-learning agent on the first layer learns the robot\u2019s higher-level behaviour. On the second layer, a heuristic-based ToM infers the user\u2019s intended strategy and is responsible for implementing the robot\u2019s assistance, as well as providing the motivation behind its choice. We conducted a user study in a real-world setting, involving 56 participants who interacted with either an adaptive robot simulating ToM capabilities, or with a robot lacking such capabilities. Our results suggest that participants in the ToM condition performed better, accepted the robot\u2019s assistance more often, and perceived its ability to adapt, predict and detect their intentions to a greater extent. Our preliminary findings could inform future research and pave the way for the design of robot architectures for adaptive behaviour with ToM capabilities, where the choice of action is decoupled from its implementation.<\/jats:p>","DOI":"10.1007\/s12369-025-01280-z","type":"journal-article","created":{"date-parts":[[2025,7,14]],"date-time":"2025-07-14T14:44:54Z","timestamp":1752504294000},"page":"2293-2309","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Enhancing Robot Assistive Behaviour by Mentalising User Intent and Beliefs with Reinforcement Learning"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6641-6450","authenticated-orcid":false,"given":"Antonio","family":"Andriella","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Giovanni","family":"Falcone","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3379-1756","authenticated-orcid":false,"given":"Silvia","family":"Rossi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,7,14]]},"reference":[{"key":"1280_CR1","doi-asserted-by":"crossref","unstructured":"Abd-Alrazaq A, Alhuwail D, Al-Jafar E, Ahmed A, Shuweihdi F, Reagu SM, Househ M (2022) The effectiveness of serious games in improving memory among older adults with cognitive impairment: Systematic review and meta-analysis. 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