{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/beliefnest-a-joint-action-simulator-for","title":"BeliefNest: A Joint Action Simulator for Embodied Agents with Theory of Mind","arxiv_id":"2505.12321","date":"2025-05-18","proceeding":null,"authors":["Rikunari Sagara","Koichiro Terao","Naoto Iwahashi"],"abstract":"This paper introduces an open-source simulator, BeliefNest, designed to enable embodied agents to perform collaborative tasks by leveraging Theory of Mind. BeliefNest dynamically and hierarchically constructs simulators within a Minecraft environment, allowing agents to explicitly represent nested belief states about themselves and others. This enables agent control in open-domain tasks that require Theory of Mind reasoning. The simulator provides a prompt generation mechanism based on each belief state, facilitating the design and evaluation of methods for agent control utilizing large language models (LLMs). We demonstrate through experiments that agents can infer others' beliefs and predict their belief-based actions in false-belief tasks.","url_abs":"https://arxiv.org/abs/2505.12321v1","url_pdf":"https://arxiv.org/pdf/2505.12321v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"beliefnest-a-joint-action-simulator-for","repo_url":"https://github.com/sagara-r/beliefnest","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"minecraft","task_name":"Minecraft"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}