{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T01:48:25Z","timestamp":1773193705144,"version":"3.50.1"},"reference-count":68,"publisher":"Association for Computing Machinery (ACM)","issue":"1","funder":[{"name":"European Union\u2019s Horizon 2020 research and innovation programme under Marie Sk\u0142odowska-Curie Actions","award":["955778"],"award-info":[{"award-number":["955778"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2026,1,31]]},"abstract":"<jats:p>Providing a robot with the capabilities of understanding and effectively adapting its behaviour based on human mental states is a critical challenge in Human\u2013Robot Interaction, since it can significantly improve the quality of interaction between humans and robots. In this work, we investigate whether considering human mental states in the decision-making process of a robot improves the transparency of its behaviours and mitigates potential human\u2019s false beliefs about the environment during collaborative scenarios. We used Bayesian inference within a Hierarchical Reinforcement Learning algorithm to include human desires and beliefs into the decision-making processes of the robot, and to monitor the robot\u2019s decisions. This approach, which we refer to as Hierarchical Bayesian Theory of Mind, represents an upgraded version of the initial Bayesian Theory of Mind, a probabilistic model capable of reasoning about a rational agent\u2019s actions. The model enabled us to track the mental states of a human observer, even when the observer held false beliefs, thereby benefiting the collaboration in a multi-goal task and the interaction with the robot. In addition to a qualitative evaluation, we conducted a between-subjects study (110 participants) to evaluate the robot\u2019s perceived Theory of Mind and its effects on transparency and false beliefs in different settings. Results indicate that a robot which considers human desires and beliefs increases its transparency and reduces misunderstandings. These findings show the importance of endowing Theory of Mind capabilities in robots and demonstrate how these skills can enhance their behaviours, particularly in human\u2013robot collaboration, paving the way for more effective robotic applications.<\/jats:p>","DOI":"10.1145\/3737890","type":"journal-article","created":{"date-parts":[[2025,5,30]],"date-time":"2025-05-30T10:09:23Z","timestamp":1748599763000},"page":"1-29","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Robot, Did You Read My Mind? Modelling Human Mental States to Facilitate Transparency and Mitigate False Beliefs in Human\u2013Robot Collaboration"],"prefix":"10.1145","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9866-8719","authenticated-orcid":false,"given":"Georgios","family":"Angelopoulos","sequence":"first","affiliation":[{"name":"Interdepartmental Centre for Advances in Robotic Surgery, University of Naples Federico II, Napoli, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7502-3130","authenticated-orcid":false,"given":"Mehdi","family":"Hellou","sequence":"additional","affiliation":[{"name":"Manchester Centre for Robotics and AI, University of Manchester, Manchester, United Kingdom of Great Britain  and Northern Ireland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0241-9983","authenticated-orcid":false,"given":"Samuele","family":"Vinanzi","sequence":"additional","affiliation":[{"name":"School of Computing and Digital Technologies, Sheffield Hallam University, Sheffield, United Kingdom of Great Britain and Northern Ireland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1362-8799","authenticated-orcid":false,"given":"Alessandra","family":"Rossi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Information Technologies, University of Naples Federico II, Napoli, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3379-1756","authenticated-orcid":false,"given":"Silvia","family":"Rossi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Information Technologies, University of Naples Federico II, Napoli, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4709-2243","authenticated-orcid":false,"given":"Angelo","family":"Cangelosi","sequence":"additional","affiliation":[{"name":"Manchester Centre for Robotics and AI, University of Manchester, Manchester, United Kingdom of Great Britain   and Northern Ireland"}]}],"member":"320","published-online":{"date-parts":[[2025,8,20]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","first-page":"83","DOI":"10.3389\/fnbot.2018.00083","article-title":"System transparency in shared autonomy: A mini review","volume":"12","author":"Alonso Victoria","year":"2018","unstructured":"Victoria Alonso and Paloma De La Puente. 2018. System transparency in shared autonomy: A mini review. Frontiers in Neurorobotics 12 (2018), 83.","journal-title":"Frontiers in Neurorobotics"},{"key":"e_1_3_2_3_2","first-page":"394","volume-title":"International Conference on Social Robotics","author":"Angelopoulos Georgios","year":"2023","unstructured":"Georgios Angelopoulos, Pasquale Imparato, Alessandra Rossi, and Silvia Rossi. 2023. Using theory of mind in explanations for fostering transparency in human-robot interaction. In International Conference on Social Robotics. Springer, Singapore, 394\u2013405."},{"key":"e_1_3_2_4_2","unstructured":"Georgios Angelopoulos Dimitri Lacroix Ricarda Wullenkord Alessandra Rossi Silvia Rossi and Friederike Eyssel. 2024. Measuring transparency in intelligent robots. arXiv:2408.16865. Retrieved from http:\/\/arxiv.org\/abs\/2408.16865"},{"key":"e_1_3_2_5_2","first-page":"3","volume-title":"International Conference on Human-Computer Interaction","author":"Bai Zhangyunfan","year":"2024","unstructured":"Zhangyunfan Bai and Ke Chen. 2024. Effects of explanations by robots on trust repair in human-robot collaborations. In International Conference on Human-Computer Interaction. Springer, 3\u201314."},{"issue":"4","key":"e_1_3_2_6_2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3181671","article-title":"Toward an understanding of trust repair in human-robot interaction: Current research and future directions","volume":"8","author":"Baker Anthony L.","year":"2018","unstructured":"Anthony L. Baker, Elizabeth K. Phillips, Daniel Ullman, and Joseph R. Keebler. 2018. Toward an understanding of trust repair in human-robot interaction: Current research and future directions. ACM Transactions on Interactive Intelligent Systems 8, 4 (2018), 1\u201330.","journal-title":"ACM Transactions on Interactive Intelligent Systems"},{"key":"e_1_3_2_7_2","volume-title":"Bayesian Theory of Mind: Modeling Human Reasoning about Beliefs, Desires, Goals, and Social Relations","author":"Baker Chris Lawrence","year":"2012","unstructured":"Chris Lawrence Baker. 2012. Bayesian Theory of Mind: Modeling Human Reasoning about Beliefs, Desires, Goals, and Social Relations. Ph.D. Dissertation. Massachusetts Institute of Technology."},{"issue":"4","key":"e_1_3_2_8_2","doi-asserted-by":"crossref","first-page":"0064","DOI":"10.1038\/s41562-017-0064","article-title":"Rational quantitative attribution of beliefs, desires and percepts in human mentalizing","volume":"1","author":"Baker Chris L.","year":"2017","unstructured":"Chris L. Baker, Julian Jara-Ettinger, Rebecca Saxe, and Joshua B. Tenenbaum. 2017. Rational quantitative attribution of beliefs, desires and percepts in human mentalizing. Nature Human Behaviour 1, 4 (2017), 0064.","journal-title":"Nature Human Behaviour"},{"key":"e_1_3_2_9_2","first-page":"2469","volume-title":"In 33rd Annual Conference of the Cognitive Science Society","author":"Baker Chris L.","year":"2011","unstructured":"Chris L. Baker, Rebecca R. Saxe, and Joshua B. Tenenbaum. 2011. Bayesian theory of mind: Modeling joint belief-desire attribution. In 33rd Annual Conference of the Cognitive Science Society, 2469\u20132474."},{"key":"e_1_3_2_10_2","unstructured":"Cristian-Paul Bara Sky Ch-Wang and Joyce Chai. 2021. MindCraft: Theory of mind modeling for situated dialogue in collaborative tasks. arXiv:2109.06275. Retrieved from https:\/\/arxiv.org\/abs\/2109.06275"},{"issue":"1","key":"e_1_3_2_11_2","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1016\/0010-0277(85)90022-8","article-title":"Does the autistic child have a \u201ctheory of mind\u201d","volume":"21","author":"Baron-Cohen Simon","year":"1985","unstructured":"Simon Baron-Cohen, Alan M. Leslie, and Uta Frith. 1985. Does the autistic child have a \u201ctheory of mind\u201d? Cognition 21, 1 (1985), 37\u201346.","journal-title":"Cognition"},{"issue":"4","key":"e_1_3_2_12_2","doi-asserted-by":"crossref","first-page":"946","DOI":"10.2307\/1131035","article-title":"Young children\u2019s attribution of action to beliefs and desires","volume":"60","author":"Bartsch Karen","year":"1989","unstructured":"Karen Bartsch and Henry Wellman. 1989. Young children\u2019s attribution of action to beliefs and desires. Child Development 60, 4 (1989), 946\u2013964.","journal-title":"Child Development"},{"issue":"3","key":"e_1_3_2_13_2","doi-asserted-by":"crossref","first-page":"365","DOI":"10.1016\/j.engappai.2006.06.005","article-title":"Optimizing feedforward artificial neural network architecture","volume":"20","author":"Benardos P. G.","year":"2007","unstructured":"P. G. Benardos and G.-C. Vosniakos. 2007. Optimizing feedforward artificial neural network architecture. Engineering Applications of Artificial Intelligence 20, 3 (2007), 365\u2013382.","journal-title":"Engineering Applications of Artificial Intelligence"},{"issue":"1","key":"e_1_3_2_14_2","first-page":"1","article-title":"Theory of mind in human-robot-communication: Appreciated or not","volume":"2013","author":"Benninghoff Brenda","year":"2013","unstructured":"Brenda Benninghoff, Philipp Kulms, Laura Hoffmann, and Nicole C. Kr\u00e4mer. 2013. Theory of mind in human-robot-communication: Appreciated or not? Kognitive Systeme 2013, 1 (2013), 1\u20137.","journal-title":"Kognitive Systeme"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1006\/game.1995.1027"},{"key":"e_1_3_2_16_2","volume-title":"Intention, Plans, and Practical Reason","author":"Bratman Michael","year":"1987","unstructured":"Michael Bratman. 1987. Intention, Plans, and Practical Reason. Harvard University Press, Cambridge, MA."},{"key":"e_1_3_2_17_2","volume-title":"Safe and Efficient Inverse Reinforcement Learning","author":"Brown Daniel Sundquist","year":"2020","unstructured":"Daniel Sundquist Brown. 2020. Safe and Efficient Inverse Reinforcement Learning. Ph.D. Dissertation."},{"key":"e_1_3_2_18_2","unstructured":"Moritz C. Buehler J\u00fcrgen Adamy and Thomas H. Weisswange. 2021. Theory of mind based assistive communication in complex human robot cooperation. arXiv:2109.01355. Retrieved from https:\/\/arxiv.org\/abs\/2109.01355"},{"key":"e_1_3_2_19_2","doi-asserted-by":"crossref","first-page":"2818","DOI":"10.1109\/ICRA46639.2022.9812227","volume-title":"2022 International Conference on Robotics and Automation (ICRA)","author":"Buisan Guilhem","year":"2022","unstructured":"Guilhem Buisan, Anthony Favier, Amandine Mayima, and Rachid Alami. 2022. HATP\/EHDA: A robot task planner anticipating and eliciting human decisions and actions. In 2022 International Conference on Robotics and Automation (ICRA), 2818\u20132824. DOI: 10.1109\/ICRA46639.2022.9812227"},{"issue":"2","key":"e_1_3_2_20_2","doi-asserted-by":"crossref","first-page":"337","DOI":"10.1016\/j.cognition.2009.05.006","article-title":"Eighteen-month-old infants show false belief understanding in an active helping paradigm","volume":"112","author":"Buttelmann David","year":"2009","unstructured":"David Buttelmann, Malinda Carpenter, and Michael Tomasello. 2009. Eighteen-month-old infants show false belief understanding in an active helping paradigm. Cognition 112, 2 (2009), 337\u2013342.","journal-title":"Cognition"},{"key":"e_1_3_2_21_2","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1016\/j.jecp.2013.10.002","article-title":"Eighteen-month-olds understand false beliefs in an unexpected-contents task","volume":"119","author":"Buttelmann David","year":"2014","unstructured":"David Buttelmann, Harriet Over, Malinda Carpenter, and Michael Tomasello. 2014. Eighteen-month-olds understand false beliefs in an unexpected-contents task. Journal of Experimental Child Psychology 119 (2014), 120\u2013126.","journal-title":"Journal of Experimental Child Psychology"},{"issue":"4","key":"e_1_3_2_22_2","first-page":"391","article-title":"Theory of mind","volume":"4","author":"Carlson Stephanie M.","year":"2013","unstructured":"Stephanie M. Carlson, Melissa A. Koenig, and Madeline B. Harms. 2013. Theory of mind. Wiley Interdisciplinary Reviews: Cognitive Science 4, 4 (2013), 391\u2013402.","journal-title":"Wiley Interdisciplinary Reviews: Cognitive Science"},{"key":"e_1_3_2_23_2","first-page":"254","volume-title":"2017 ACM\/IEEE International Conference on Human-Robot Interaction","author":"Carpinella Colleen M.","year":"2017","unstructured":"Colleen M. Carpinella, Alisa B. Wyman, Michael A. Perez, and Steven J. Stroessner. 2017. The robotic social attributes scale (RoSAS) development and validation. In 2017 ACM\/IEEE International Conference on Human-Robot Interaction, 254\u2013262."},{"key":"e_1_3_2_24_2","first-page":"1","volume-title":"8th International Conference on Human-Agent Interaction","author":"Castellano Ginevra","year":"2020","unstructured":"Ginevra Castellano. 2020. What kind of human-centric robotics do we need? Investigations from human-robot interactions in socially assistive scenarios. In 8th International Conference on Human-Agent Interaction, 1\u20132."},{"key":"e_1_3_2_25_2","volume-title":"The Intentional Stance","author":"Dennett Daniel C.","year":"1989","unstructured":"Daniel C. Dennett. 1989. The Intentional Stance. MIT Press, Cambridge, MA."},{"key":"e_1_3_2_26_2","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1613\/jair.639","article-title":"Hierarchical reinforcement learning with the MAXQ value function decomposition","volume":"13","author":"Dietterich Thomas G.","year":"2000","unstructured":"Thomas G. Dietterich. 2000. Hierarchical reinforcement learning with the MAXQ value function decomposition. Journal of Artificial Intelligence Research 13 (2000), 227\u2013303.","journal-title":"Journal of Artificial Intelligence Research"},{"key":"e_1_3_2_27_2","first-page":"118","volume-title":"International Conference on Machine Learning (ICML)","volume":"98","author":"Dietterich Thomas G.","year":"1998","unstructured":"Thomas G. Dietterich. 1998. The MAXQ method for hierarchical reinforcement learning. In International Conference on Machine Learning (ICML), Vol. 98, 118\u2013126."},{"issue":"1","key":"e_1_3_2_28_2","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1177\/0018720816681350","article-title":"From here to autonomy: Lessons learned from human\u2013automation research","volume":"59","author":"Endsley Mica R.","year":"2017","unstructured":"Mica R. Endsley. 2017. From here to autonomy: Lessons learned from human\u2013automation research. Human Factors 59, 1 (2017), 5\u201327.","journal-title":"Human Factors"},{"key":"e_1_3_2_29_2","volume-title":"PlanRob Workshop\u2014International Conference on Automated Planning and Scheduling (ICAPS \u201923)","author":"Favier Anthony","year":"2023","unstructured":"Anthony Favier, Shashank Shekhar, and Rachid Alami. 2023. Anticipating false beliefs and planning pertinent reactions in human-aware task planning with models of theory of mind. In PlanRob Workshop\u2014International Conference on Automated Planning and Scheduling (ICAPS \u201923). Retrieved from https:\/\/hal.science\/hal-04163435"},{"issue":"1","key":"e_1_3_2_30_2","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1146\/annurev.psych.50.1.21","article-title":"Cognitive development: Children\u2019s knowledge about the mind","volume":"50","author":"Flavell John H.","year":"1999","unstructured":"John H. Flavell. 1999. Cognitive development: Children\u2019s knowledge about the mind. Annual Review of Psychology 50, 1 (1999), 21\u201345.","journal-title":"Annual Review of Psychology"},{"key":"e_1_3_2_31_2","doi-asserted-by":"crossref","first-page":"305","DOI":"10.1023\/A:1020183525825","article-title":"The theory of mind module in evolutionary psychology","volume":"17","author":"Gerrans Philip","year":"2002","unstructured":"Philip Gerrans. 2002. The theory of mind module in evolutionary psychology. Biology and Philosophy 17 (2002), 305\u2013321.","journal-title":"Biology and Philosophy"},{"issue":"1","key":"e_1_3_2_32_2","doi-asserted-by":"crossref","first-page":"98","DOI":"10.2307\/1130707","article-title":"Young children\u2019s understanding of changes in their mental states","volume":"62","author":"Gopnik Alison","year":"1991","unstructured":"Alison Gopnik and Virginia Slaughter. 1991. Young children\u2019s understanding of changes in their mental states. Child Development 62, 1 (1991), 98\u2013110.","journal-title":"Child Development"},{"key":"e_1_3_2_33_2","volume-title":"An Earlier Version of This Chapter Was Presented at the Society for Research in Child Development Meeting, 1991","author":"Gopnik Alison","year":"1994","unstructured":"Alison Gopnik and Henry M. Wellman. 1994. The theory theory. In An Earlier Version of This Chapter Was Presented at the Society for Research in Child Development Meeting, 1991. Cambridge University Press."},{"key":"e_1_3_2_34_2","volume-title":"AAAI 2005 Workshop on Modular Construction of Human-Like Intelligence","author":"Gray Jesse","year":"2005","unstructured":"Jesse Gray and Cynthia Breazeal. 2005. Toward helpful robot teammates: A simulation-theoretic approach for inferring mental states of others. In AAAI 2005 Workshop on Modular Construction of Human-Like Intelligence."},{"key":"e_1_3_2_35_2","first-page":"335","volume-title":"3rd ACM\/IEEE International Conference on Human Robot Interaction","author":"Hegel Frank","year":"2008","unstructured":"Frank Hegel, S\u00f6ren Krach, Tilo Kircher, Britta Wrede, and Gerhard Sagerer. 2008. Theory of mind (ToM) on robots: A functional neuroimaging study. In 3rd ACM\/IEEE International Conference on Human Robot Interaction, 335\u2013342."},{"key":"e_1_3_2_36_2","doi-asserted-by":"crossref","first-page":"1893","DOI":"10.1109\/RO-MAN57019.2023.10309356","volume-title":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","author":"Hellou Mehdi","year":"2023","unstructured":"Mehdi Hellou, Samuele Vinanzi, and Angelo Cangelosi. 2023. Bayesian theory of mind for false belief understanding in human-robot interaction. In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 1893\u20131900."},{"issue":"1","key":"e_1_3_2_37_2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3412374","article-title":"A primer for conducting experiments in human\u2013robot interaction","volume":"10","author":"Hoffman Guy","year":"2020","unstructured":"Guy Hoffman and Xuan Zhao. 2020. A primer for conducting experiments in human\u2013robot interaction. ACM Transactions on Human-Robot Interaction 10, 1 (2020), 1\u201331.","journal-title":"ACM Transactions on Human-Robot Interaction"},{"key":"e_1_3_2_38_2","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1016\/j.cobeha.2019.04.010","article-title":"Theory of mind as inverse reinforcement learning","volume":"29","author":"Jara-Ettinger Julian","year":"2019","unstructured":"Julian Jara-Ettinger. 2019. Theory of mind as inverse reinforcement learning. Current Opinion in Behavioral Sciences 29 (2019), 105\u2013110.","journal-title":"Current Opinion in Behavioral Sciences"},{"issue":"6","key":"e_1_3_2_39_2","first-page":"e1503","article-title":"Theory of mind in animals: Current and future directions","volume":"10","author":"Krupenye Christopher","year":"2019","unstructured":"Christopher Krupenye and Josep Call. 2019. Theory of mind in animals: Current and future directions. Wiley Interdisciplinary Reviews: Cognitive Science 10, 6 (2019), e1503.","journal-title":"Wiley Interdisciplinary Reviews: Cognitive Science"},{"issue":"8","key":"e_1_3_2_40_2","doi-asserted-by":"crossref","first-page":"1805","DOI":"10.1007\/s12369-022-00911-z","article-title":"Politeness in human\u2013robot interaction: A multi-experiment study with non-humanoid robots","volume":"14","author":"Kumar Shikhar","year":"2022","unstructured":"Shikhar Kumar, Eliran Itzhak, Yael Edan, Galit Nimrod, Vardit Sarne-Fleischmann, and Noam Tractinsky. 2022. Politeness in human\u2013robot interaction: A multi-experiment study with non-humanoid robots. International Journal of Social Robotics 14, 8 (2022), 1805\u20131820.","journal-title":"International Journal of Social Robotics"},{"issue":"2","key":"e_1_3_2_41_2","first-page":"81","article-title":"The impact of the robot appearance types on social interaction with a robot and service evaluation of a robot","volume":"27","author":"Kwak Sonya S.","year":"2014","unstructured":"Sonya S. Kwak. 2014. The impact of the robot appearance types on social interaction with a robot and service evaluation of a robot. Archives of Design Research 27, 2 (2014), 81\u201393.","journal-title":"Archives of Design Research"},{"key":"e_1_3_2_42_2","first-page":"2120","volume-title":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","author":"Lee Minha","year":"2023","unstructured":"Minha Lee, Peter Ruijten, Lily Frank, and Wijnand IJsselsteijn. 2023. Here\u2019s looking at you, robot: The transparency conundrum in HRI. In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE, 2120\u20132127."},{"issue":"4","key":"e_1_3_2_43_2","doi-asserted-by":"crossref","first-page":"412","DOI":"10.1037\/0033-295X.94.4.412","article-title":"Pretense and representation: The origins of \u201ctheory of mind\u201d","volume":"94","author":"Leslie Alan M.","year":"1987","unstructured":"Alan M. Leslie. 1987. Pretense and representation: The origins of \u201ctheory of mind\u201d. Psychological Review 94, 4 (1987), 412\u2013426.","journal-title":"Psychological Review"},{"issue":"3","key":"e_1_3_2_44_2","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1109\/THMS.2019.2947592","article-title":"Individual differences in trust in autonomous robots: Implications for transparency","volume":"50","author":"Matthews Gerald","year":"2020","unstructured":"Gerald Matthews, Jinchao Lin, April Rose Panganiban, and Michael D. Long. 2020. Individual differences in trust in autonomous robots: Implications for transparency. IEEE Transactions on Human-Machine Systems 50, 3 (2019), 234\u2013244.","journal-title":"IEEE Transactions on Human-Machine Systems"},{"key":"e_1_3_2_45_2","first-page":"1","volume-title":"1st International Symposium on Trustworthy Autonomous Systems","author":"McKenna Peter E.","year":"2023","unstructured":"Peter E. McKenna, Marta Romeo, Jhielson Pimentel, Mohammed Diab, Meriam Moujahid, Helen Hastie, and Yiannis Demiris. 2023. Theory of mind and trust in human-robot navigation. In 1st International Symposium on Trustworthy Autonomous Systems, 1\u20135."},{"issue":"5","key":"e_1_3_2_46_2","doi-asserted-by":"crossref","first-page":"838","DOI":"10.1037\/0012-1649.31.5.838","article-title":"Understanding the intentions of others: Re-enactment of intended acts by 18-month-old children","volume":"31","author":"Meltzoff Andrew N.","year":"1995","unstructured":"Andrew N. Meltzoff. 1995. Understanding the intentions of others: Re-enactment of intended acts by 18-month-old children. Developmental Psychology 31, 5 (1995), 838\u2013850.","journal-title":"Developmental Psychology"},{"key":"e_1_3_2_47_2","first-page":"956","volume-title":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","author":"Mou Wenxuan","year":"2020","unstructured":"Wenxuan Mou, Martina Ruocco, Debora Zanatto, and Angelo Cangelosi. 2020. When would you trust a robot? A study on trust and theory of mind in human-robot interactions. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE, 956\u2013962."},{"key":"e_1_3_2_48_2","doi-asserted-by":"crossref","first-page":"313","DOI":"10.1145\/3434074.3447183","volume-title":"Companion of the 2021 ACM\/IEEE International Conference on Human-Robot Interaction","author":"Nesset Birthe","year":"2021","unstructured":"Birthe Nesset, David A. Robb, Jos\u00e9 Lopes, and Helen Hastie. 2021. Transparency in HRI: Trust and decision making in the face of robot errors. In Companion of the 2021 ACM\/IEEE International Conference on Human-Robot Interaction, 313\u2013317."},{"issue":"2","key":"e_1_3_2_49_2","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1016\/j.cogbrainres.2004.08.004","article-title":"Mental state inference using visual control parameters","volume":"22","author":"Oztop Erhan","year":"2005","unstructured":"Erhan Oztop, Daniel Wolpert, and Mitsuo Kawato. 2005. Mental state inference using visual control parameters. Cognitive Brain Research 22, 2 (2005), 129\u2013151.","journal-title":"Cognitive Brain Research"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2020.3002892"},{"key":"e_1_3_2_51_2","first-page":"470","volume-title":"17th International Conference on Autonomous Agents and Multiagent Systems","author":"P\u00f6ppel Jan","year":"2018","unstructured":"Jan P\u00f6ppel and Stefan Kopp. 2018. Satisficing models of Bayesian theory of mind for explaining behavior of differently uncertain agents: Socially interactive agents track. In 17th International Conference on Autonomous Agents and Multiagent Systems, 470\u2013478."},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X00076512"},{"key":"e_1_3_2_53_2","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1016\/j.cogdev.2017.08.002","article-title":"Helping as an early indicator of a theory of mind: Mentalism or teleology","volume":"46","author":"Priewasser Beate","year":"2018","unstructured":"Beate Priewasser, Eva Rafetseder, Carina Gargitter, and Josef Perner. 2018. Helping as an early indicator of a theory of mind: Mentalism or teleology? Cognitive Development 46 (2018), 69\u201378.","journal-title":"Cognitive Development"},{"issue":"1","key":"e_1_3_2_54_2","doi-asserted-by":"crossref","first-page":"119","DOI":"10.5898\/JHRI.1.1.Riek","article-title":"Wizard of OZ studies in HRI: A systematic review and new reporting guidelines","volume":"1","author":"Riek Laurel D.","year":"2012","unstructured":"Laurel D. Riek. 2012. Wizard of OZ studies in HRI: A systematic review and new reporting guidelines. Journal of Human-Robot Interaction 1, 1 (2012), 119\u2013136.","journal-title":"Journal of Human-Robot Interaction"},{"key":"e_1_3_2_55_2","doi-asserted-by":"crossref","first-page":"461","DOI":"10.1109\/RO-MAN53752.2022.9900550","volume-title":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","author":"Romeo Marta","year":"2022","unstructured":"Marta Romeo, Peter E. McKenna, David A. Robb, Gnanathusharan Rajendran, Birthe Nesset, Angelo Cangelosi, and Helen Hastie. 2022. Exploring theory of mind for human-robot collaboration. In 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE, 461\u2013468."},{"key":"e_1_3_2_56_2","first-page":"227","volume-title":"9th International Conference on Human-Agent Interaction, Virtual Event","author":"Ruocco Martina","year":"2021","unstructured":"Martina Ruocco, Wenxuan Mou, Angelo Cangelosi, Caroline Jay, and Debora Zanatto. 2021. Theory of mind improves human\u2019s trust in an iterative human-robot game. In 9th International Conference on Human-Agent Interaction, Virtual Event. ACM, 227\u2013234. DOI: 10.1145\/3472307.3484176"},{"key":"e_1_3_2_57_2","first-page":"1","volume-title":"Robotics: Science and Systems","author":"Sadigh Dorsa","year":"2016","unstructured":"Dorsa Sadigh, Shankar Sastry, Sanjit A. Seshia, and Anca D. Dragan. 2016. Planning for autonomous cars that leverage effects on human actions. In Robotics: Science and Systems. David Hsu, Nancy M. Amato, Spring Berman and Sam Jacobs (Eds.),\u00a0Vol. 2, MIT Press, Cambridge, MA, 1\u20139."},{"issue":"1","key":"e_1_3_2_58_2","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1023\/A:1013298507114","article-title":"Theory of mind for a humanoid robot","volume":"12","author":"Scassellati Brian","year":"2002","unstructured":"Brian Scassellati. 2002. Theory of mind for a humanoid robot. Autonomous Robots 12, 1 (2002), 13\u201324.","journal-title":"Autonomous Robots"},{"key":"e_1_3_2_59_2","first-page":"618","volume-title":"In 2019 14th ACM\/IEEE International Conference on Human-Robot Interaction (HRI)","author":"Ullman Daniel","year":"2019","unstructured":"Daniel Ullman and Bertram F. Malle. 2019. Measuring gains and losses in human-robot trust: Evidence for differentiable components of trust. In 2019 14th ACM\/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 618\u2013619."},{"issue":"5","key":"e_1_3_2_60_2","doi-asserted-by":"crossref","first-page":"1372","DOI":"10.1111\/j.1467-8624.2011.01629.x","article-title":"The development of distrust","volume":"82","author":"Vanderbilt Kimberly E.","year":"2011","unstructured":"Kimberly E. Vanderbilt, David Liu, and Gail D. Heyman. 2011. The development of distrust. Child Development 82, 5 (2011), 1372\u20131380.","journal-title":"Child Development"},{"issue":"1771","key":"e_1_3_2_61_2","doi-asserted-by":"crossref","first-page":"20180032","DOI":"10.1098\/rstb.2018.0032","article-title":"Would a robot trust you? Developmental robotics model of trust and theory of mind","volume":"374","author":"Vinanzi Samuele","year":"2019","unstructured":"Samuele Vinanzi, Massimiliano Patacchiola, Antonio Chella, and Angelo Cangelosi. 2019. Would a robot trust you? Developmental robotics model of trust and theory of mind. Philosophical Transactions of the Royal Society B 374, 1771 (2019), 20180032.","journal-title":"Philosophical Transactions of the Royal Society B"},{"issue":"3","key":"e_1_3_2_62_2","doi-asserted-by":"crossref","first-page":"655","DOI":"10.1111\/1467-8624.00304","article-title":"Meta-analysis of theory-of-mind development: The truth about false belief","volume":"72","author":"Wellman Henry M.","year":"2001","unstructured":"Henry M. Wellman, David Cross, and Julanne Watson. 2001. Meta-analysis of theory-of-mind development: The truth about false belief. Child Development 72, 3 (2001), 655\u2013684.","journal-title":"Child Development"},{"key":"e_1_3_2_63_2","unstructured":"Eric Wiewiora. 2011. Potential-based shaping and Q-value initialization are equivalent. arXiv:1106.5267. Retrieved from http:\/\/arxiv.org\/abs\/1106.5267"},{"key":"e_1_3_2_64_2","doi-asserted-by":"crossref","first-page":"750763","DOI":"10.3389\/frai.2022.750763","article-title":"Supporting artificial social intelligence with theory of mind","volume":"5","author":"Williams Jessica","year":"2022","unstructured":"Jessica Williams, Stephen M. Fiore, and Florian Jentsch. 2022. Supporting artificial social intelligence with theory of mind. Frontiers in Artificial Intelligence 5 (2022), 750763.","journal-title":"Frontiers in Artificial Intelligence"},{"key":"e_1_3_2_65_2","first-page":"51","volume-title":"15th IEEE International Symposium on Robot and Human Interactive Communication (ROMAN \u201906)","author":"Woods Sarah N.","year":"2006","unstructured":"Sarah N. Woods, Michael L. Walters, Kheng Lee Koay, and Kerstin Dautenhahn. 2006. Methodological issues in HRI: A comparison of live and video-based methods in robot to human approach direction trials. In 15th IEEE International Symposium on Robot and Human Interactive Communication (ROMAN \u201906). IEEE, 51\u201358."},{"issue":"14","key":"e_1_3_2_66_2","doi-asserted-by":"crossref","first-page":"eaar7650","DOI":"10.1126\/scirobotics.aar7650","article-title":"The grand challenges of science robotics","volume":"3","author":"Yang Guang-Zhong","year":"2018","unstructured":"Guang-Zhong Yang, Jim Bellingham, Pierre E. Dupont, Peer Fischer, Luciano Floridi, Robert Full, Neil Jacobstein, Vijay Kumar, Marcia McNutt, Robert Merrifield, et al. 2018. The grand challenges of science robotics. Science Robotics 3, 14 (2018), eaar7650.","journal-title":"Science Robotics"},{"key":"e_1_3_2_67_2","doi-asserted-by":"crossref","first-page":"60","DOI":"10.3389\/fnbot.2020.00060","article-title":"A brain-inspired model of theory of mind","volume":"14","author":"Zeng Yi","year":"2020","unstructured":"Yi Zeng, Yuxuan Zhao, Tielin Zhang, Dongcheng Zhao, Feifei Zhao, and Enmeng Lu. 2020. A brain-inspired model of theory of mind. Frontiers in Neurorobotics 14 (2020), 60.","journal-title":"Frontiers in Neurorobotics"},{"key":"e_1_3_2_68_2","first-page":"1905","volume-title":"21st International Conference on Neural Information Processing Systems (NIPS \u201908)","author":"Zettlemoyer Luke S.","year":"2008","unstructured":"Luke S. Zettlemoyer, Brian Milch, and Leslie Pack Kaelbling. 2008. Multi-agent filtering with infinitely nested beliefs. In 21st International Conference on Neural Information Processing Systems (NIPS \u201908). Curran Associates Inc., Red Hook, NY, 1905\u20131912."},{"key":"e_1_3_2_69_2","first-page":"620","volume-title":"AAAI Conference on Artificial Intelligence","author":"Zhang Tielin","year":"2018","unstructured":"Tielin Zhang, Yi Zeng, Dongcheng Zhao, and Mengting Shi. 2018. A plasticity-centric approach to train the non-differential spiking neural networks. In AAAI Conference on Artificial Intelligence. AAAI Press, New Orleans, LA, 620\u2013628."}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3737890","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,20]],"date-time":"2025-08-20T17:19:45Z","timestamp":1755710385000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3737890"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,8,20]]},"references-count":68,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,1,31]]}},"alternative-id":["10.1145\/3737890"],"URL":"https:\/\/doi.org\/10.1145\/3737890","relation":{},"ISSN":["2573-9522"],"issn-type":[{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,8,20]]},"assertion":[{"value":"2024-01-17","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-05-22","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}