PACT is an ask-or-act framework using reinforcement learning on interaction history to decide when to seek clarification, improving assistance accuracy and a new clarification utility metric over passive baselines in multi-day embodied scenarios.
arXiv preprint arXiv:2510.23495 , year=
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MindZero is a self-supervised RL framework that trains MLLMs for online Theory of Mind reasoning by rewarding mental-state hypotheses that best explain observed actions via a planner, then distills this into fast inference.
citing papers explorer
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PACT: Proactive Asking for Continual Task Assistance in Human-Robot Collaboration
PACT is an ask-or-act framework using reinforcement learning on interaction history to decide when to seek clarification, improving assistance accuracy and a new clarification utility metric over passive baselines in multi-day embodied scenarios.
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MindZero: Learning Online Mental Reasoning With Zero Annotations
MindZero is a self-supervised RL framework that trains MLLMs for online Theory of Mind reasoning by rewarding mental-state hypotheses that best explain observed actions via a planner, then distills this into fast inference.