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REVIEW 4 major objections 5 minor 7 cited by

Simulating Human-like Daily Activities with Desire-driven Autonomy

T0 review · 4 major / 5 minor · reviewed 2026-08-11 · deepseek-v4-flash

Pith's one-line read An agent can behave like a person by chasing desires instead of following tasks.

desk verdict A solid integration of desire-driven autonomy for LLM agents with a real behavioral win-rate result, but the mechanistic claim rests on a self-referential metric that needs independent calibration. read the letter →

arxiv 2412.06435 v3 pith:MZJFWOLA submitted 2024-12-09 cs.AI

classification cs.AI
keywords desire-drivenautonomylargelanguagemodelsLLMagentshuman-likeactivitysimulationTheoryofNeedsvaluesystemintrinsicmotivationtext-based
verification ladder T0 review T1 audit T2 compute T3 formal

The pith

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The reading

The paper tries to show that an LLM can act human-like without explicit tasks if it is driven by internal desires. It introduces D2A, an agent whose value system tracks desire dimensions such as hunger, health, social connectivity, joy, and spiritual satisfaction; at each step the agent proposes candidate activities, imagines how each would change its desires, and selects the one that best closes the gap to its expected values. In text-based indoor and outdoor simulations, D2A's activity sequences were judged more natural, coherent, and plausible than those of ReAct, BabyAGI, and LLMob, and its desire-satisfaction trajectory came closest to human-generated routines. If this holds, intrinsic motivational state—not task instructions or reward functions—could be the right driver for autonomous, human-like agent behavior.

What carries the argument

The mechanism is the Value System and the Desire-driven Planner working in a loop. The Value System keeps a numeric score for each desire dimension, decays scores probabilistically according to the profile, translates numbers into qualitative descriptions, and updates scores after each action using the LLM. The Planner proposes N candidate activities, imagines the post-action desire state of each, and selects the one with the most positive predicted impact. The reported Dissatisfaction metric—the sum over desires of the positive gap between expected and current values—is what ties the mechanism to the human-likeness evaluation.

What would settle it

Have independent human raters re-score the post-action desire values from the same transcripts, then recompute the dissatisfaction curves; if D2A's advantage over ReAct shrinks or reverses, the claimed human-likeness gain rests on the agent grading its own homework.

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Extended reading notes

Core claim

The central discovery is that a desire-driven loop is enough to produce human-like daily activity. D2A beats ReAct (0.85 win rate), LLMob (0.72), and BabyAGI (0.66) in GPT-4o judged human-likeness, and in the Fixed-12 experiment its average dissatisfaction curve is the closest automated match to three human annotators. The paper attributes this to desire-based motivation: D2A continuously evaluates its current desire deficits, proposes several candidate activities, predicts their effects, and chooses the one that best reduces the deficit, which yields sequences that are natural, coherent, and plausible.

Load-bearing premise

The desire-satisfaction results assume the same language model that chooses each activity also assigns accurate numerical updates to its own desire states after the activity.

Editorial extensions

If this is right

  • An LLM agent can sustain long-running behavior from internal desire states alone, without task instructions or reward functions, while staying coherent and contextually appropriate.
  • The dissatisfaction metric gives a quantitative handle on human-likeness: D2A's curves most closely match human-generated routines, so desire-satisfaction can be measured and optimized directly.
  • The ablations show qualitative desire descriptions and a wider candidate-activity search matter, while multi-step planning hurts, which suggests immediate desire feedback is the operative mechanism.
  • The framework transfers to social, multi-agent outdoor settings and to a different backbone LLM, so the mechanism is not tied to one environment or one model.

Reading between the lines

Editorial extensions of the paper, not claims the author makes directly.

  • The paper does not test this, but the same architecture could be read as an intrinsic-reward model: the desire deficit is a learnable signal that could steer behavior without external reward functions.
  • A testable extension would hold the environment fixed and vary only the desire dimensions and decay rates; the framework predicts that action diversity and category balance track the set of unmet desires rather than the LLM's prior knowledge.
  • Since the agent both chooses activities and assigns its own desire updates, independent re-scoring of value changes would separate genuine behavioral improvement from self-consistent scoring.
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Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, and a circularity audit.

Referee Report

4 major / 5 minor

Summary. The paper introduces D2A, a desire-driven autonomous agent built on a multi-dimensional Value System inspired by the Theory of Needs, which enables an LLM to propose, evaluate, and select daily activities without explicit task instructions. The agent is evaluated in a Concordia-based text environment (indoor and outdoor, single- and multi-agent) against ReAct, BabyAGI, and LLMob. Using GPT-4o pairwise comparisons and a small human consistency check, the authors report that D2A generates activity sequences that are more natural, coherent, and plausible than the baselines; using a 'dissatisfaction' metric, they further claim that D2A satisfies its desires similarly to humans.

Significance. If the main claims hold, D2A is a meaningful step toward LLM agents with intrinsic motivation, with potential applications in simulation, games, and service agents. The paper has several concrete strengths: the framework is described in sufficient detail to reimplement from the appendix prompts; the evaluation spans two environments with different desire sets and demonstrates some generalization (including a different backbone in Appendix P); and the GPT-4o judgments are partially grounded by a human consistency study (Appendix B). However, the load-bearing evidence for the desire-satisfaction mechanism is weakened by flaws in the dissatisfaction metric and by the self-referential nature of the value update, and the behavioral win-rate evidence lacks statistical grounding and code release.

major comments (4)
  1. [Section 6.2, Eq. (6), Appendix H] The dissatisfaction metric in Eq. (6) has the wrong sign for the physiological dimensions. The value descriptions in Appendix H define hunger, thirst, and sleepiness such that 0 is the satisfied state and 10 is the deprived state, yet Eq. (6) uses max(v*_d - v_t_d, 0) for all dimensions, which yields zero dissatisfaction for a high (deprived) value of hunger relative to its expected value (e.g., hunger=8 vs. v*=2). This contradicts the case study in Appendix C.2, where hunger=8 is treated as a pressing need. The metric should be max(v_t_d - v*_d, 0) for these three dimensions (or, equivalently, the value scales should be inverted before applying Eq. 6). Because the metric is used to compare D2A with baselines in Figures 4(a), 4(b), 5, and 16, the quantitative support for the desire-satisfaction claim is questionable.
  2. [Sections 5.2 and 5.3, Eq. (6)] The Dissatisfaction curves in Section 6.3.2 are computed from value updates produced by the same Llama3.1-70B model that, in the Activity Evaluation (Eq. 4) and Activity Selection (Eq. 5) procedures, already imagines the desire states of candidate actions and selects the action that best fits that imagination. When this value-update model is applied to the baselines' actions, its ratings may be systematically more favorable for D2A's self-chosen actions, making the lower Dissatisfaction of D2A at least partly an artifact of model self-consistency rather than a demonstration of human-like need regulation. The human consistency check in Appendix B validates only the GPT-4o human-likeness judge, not the Value Update. The authors should calibrate the value update against human ratings or an independent, fixed reward rule, or explicitly argue that self-consistency cannot produce the observed gap.
  3. [Section 6.3.1, Figure 3, Appendix B] The pairwise win rates in Figure 3 are reported without confidence intervals or significance tests, so the repeated use of 'significantly' (e.g., in Section 6.3.2) is not supported by the displayed statistics. The human consistency study in Appendix B is based on 19 pairs and 8 annotators per questionnaire; the consistency rate for the 'difficult to distinguish' subset is 66.7%, and no inter-annotator agreement measure (e.g., Cohen's kappa) is reported. The authors should add binomial confidence intervals or a permutation test for the win rates and report inter-annotator agreement to support the claim that GPT-4o evaluations are reliable.
  4. [Section 3 and Section 6.3.1 (style rewriting); reproducibility] The activity sequences are style-rewritten with Llama3.1-70B before evaluation, but no analysis is provided that the rewrite preserves the content of the original sequences; since the raw sequences in Appendix V differ substantially across agents in granularity and detail, the rewriting could change the comparability. In addition, the paper does not release code, prompts, or data, which is particularly problematic because the core claims depend on the exact prompts and the value update procedure described in Appendices I-K. The authors should release the code and prompts (or a detailed pseudocode) and provide at least a small human check of the rewritten sequences against the originals.
minor comments (5)
  1. [Section 6.3.1] Section 6.3.1 refers to 'Appendix 1'; this should be Appendix B.
  2. [Section 6.1] In Section 6.1 a 'human-controlled agent' is mentioned but is not described in the experimental comparisons until Section 6.3.2; clarify its role in the setup.
  3. [Table 8, Appendix G] The expected value formulas in Table 8 (e.g., '3 − Degree') can yield non-integer values even though Appendix G states that all numerical values are integers; specify how these values are rounded or discretized in the implementation.
  4. [Appendix D] The heading 'D CASESTUDY FOR INOUTDOORENVIRONMENT' (Appendix D) contains missing spaces, and the section labels 'D.1' and 'D.2' are not consistently formatted; the paper would benefit from a careful proofreading pass.
  5. [Abstract] The abstract states that D2A 'significantly enhances the rationality' of simulated activities, but the evaluation criteria measured are naturalness, coherence, and plausibility; the term 'rationality' should be either defined or replaced by the measured criteria.

Circularity Check

2 steps flagged · score 5.0 of 10

GPT-4o win-rate evidence is externally judged, but the desire-satisfaction metric (Eq. 6) is self-referential: D2A selects actions using the same LLM-based value system that later scores them, so Figure 4 partly measures self-consistency.

  1. self definitional [Section 5.2-5.3, Eq. (6), Appendix J]
    "Afterward, the Value System initiates the Value Update procedure, updating the intrinsic numerical values v t of the desire components based on the activity a t, the observation o t, the previous values v t−1, and the value description prompts (Appendix H). ... Dissatisfaction δ t of step t is defined as the relative difference between current numerical desire values v t and expected desire values v ∗ ... δt = X d max(v∗ d − v t d,0) (6)"

    The Value Update that produces v^t is executed by the same Llama3.1-70B model that D2A uses in Activity Proposal (Eq. 3), Activity Evaluation (Eq. 4), and Activity Selection (Eq. 5). D2A therefore chooses a_t to maximize the LLM's imagined desire states, and the same LLM then writes the post-hoc v^t values. Eq. 6 is the agent's own objective scored by its own reward model; Appendix J even calls the updater 'the reward model.' No independent calibration of these updates against human desire ratings is provided—Appendix B only validates the GPT-4o human-likeness judge. Hence Figure 4 cannot separate genuine need regulation from LLM self-consistency.

  2. other [Section 6.3.2, Random-8-Steps Experiment]
    "Although the baseline agents were equipped with the Value System for observation, we ensured that their intrinsic values v and descriptive desire states D remained hidden, preserving their original activity generation mechanisms."

    D2A is given D_t and v* and is explicitly prompted to 'generate K activities that might have most positive impact on your own physical desires or value states' and to 'choose the action that has the most positive impact,' while baselines are deliberately denied that information. The Random-8 comparison then reports δ_t from Eq. 6 for both types of agents. This compares an optimizer with full access to the evaluation objective against policies that are blind to it; the lower D2A dissatisfaction is largely a consequence of the experimental design, not independent evidence for human-like desire regulation.

full rationale

The main human-likeness claim rests on GPT-4o pairwise win rates (Figure 3), which are validated against human annotators in Appendix B; that evaluation is external to the agent and not circular. The circularity is confined to Section 6.3.2's dissatisfaction experiments. D2A's Planner proposes, evaluates, and selects activities using imagined desire states produced by Llama3.1-70B (Eqs. 3-5), and the same backbone's Value Update then assigns the numerical v^t used in Eq. 6. The agent is thus scored by the same reward model it optimizes; the Random-8 protocol even denies the baselines access to D_t and v while D2A is given them. Without any calibration of the Value Update against human desire ratings (Appendix B validates only the GPT-4o judge), the lower D2A dissatisfaction is expected by construction and does not independently establish human-like need regulation. No load-bearing self-citation or uniqueness-theorem argument appears; the likelihood comparison remains a genuine behavioral result.

Assumptions & free parameters 5 free parameters · 6 assumptions · 1 invented entities

The framework's behavior depends on a set of hand-chosen constants (expected desire values, decay probabilities, initial values, planner width) and on the assumption that the LLM can correctly assess desire changes. The desire value system is an internal construct without external validation, so the main empirical claims rest partly on self-referential measurements.

free parameters (5)
  • Expected desire values v*_d = e.g., 9 for extremely sociable, 7 for slightly sociable; formulas in Table 8
    Set by the hand-crafted adjective-degree map (Eq. 2, Tables 7-8). These targets define what counts as a satisfied desire and therefore shape all dissatisfaction scores.
  • Desire decay probability p_d = Degree / (60 / step_interval), with Degree in {0.5, 1.0, 1.5, 2.0}
    Controls how quickly each need depletes each step; chosen heuristically, not calibrated to human data (Appendix G).
  • Initial desire values v0_d = uniform random in [0,10]
    Random initialization for desire generation (Section 5.1); affects the transient but the paper argues results are averaged over trials.
  • Planner width N = 3 (ablated to 1 and 5)
    Number of candidate activities proposed each step; shown to affect performance (Section 6.4).
  • Adjective-degree pairings = random pairing at initialization
    Each trait is randomly paired with an adverb of degree, affecting expected values; the mapping is arbitrary (Section 5.1).
assumptions (6)
  • domain assumption Maslow's Theory of Needs correctly describes human motivation as the drive to satisfy intrinsic needs.
    Adopted in Section 1 and 5.1 to justify the desire dimensions; a psychological theory, not a proven mechanism.
  • ad hoc to paper Personality adjectives and degree adverbs map to expected desire values via the predefined map (Eq. 2 and Tables 7-8).
    The mapping values (e.g., 'extremely' maps to 2.0) are chosen by the authors and are not derived from data.
  • ad hoc to paper The chosen 11 (indoor) and 14 (outdoor) desire dimensions are sufficient to capture human-like motivation in these scenarios.
    The authors acknowledge this is heuristic and environment-dependent (Limitations, Section 7).
  • domain assumption Language models can reliably translate numeric desire values into qualitative descriptions and back, and can update values after actions.
    The Value Update procedure asks the LLM to judge how each action changes each desire magnitude (Appendix J); no ground-truth validation.
  • ad hoc to paper Style rewriting with Llama3.1-70B preserves the semantic content of activity sequences.
    Section 6.3.1 applies rewriting before GPT-4o evaluation; the paper does not verify that content is preserved.
  • domain assumption GPT-4o's human-likeness judgments agree with human judgments.
    Supported only by the small consistency check in Appendix B (19 pairs).
invented entities (1)
  • Multi-dimensional Value System (desire components)
    purpose: Quantify and update the agent's internal need states; drives activity proposal, evaluation, and selection.
    The desire values are initialized from random numbers, updated by LLM judgments, and never compared to external measurements of human needs. The 'satisfaction' it measures is internally defined.

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Pith. "Pith review of Simulating Human-like Daily Activities with Desire-driven Autonomy." pith.science (2026). https://pith.science/paper/MZJFWOLA

@misc{pith2026241206435,
  author       = {Pith},
  title        = {Pith review of: Simulating Human-like Daily Activities with Desire-driven Autonomy},
  year         = {2026},
  howpublished = {\url{https://pith.science/paper/MZJFWOLA}},
  note         = {Machine review of arXiv:2412.06435}
}
read the original abstract

Desires motivate humans to interact autonomously with the complex world. In contrast, current AI agents require explicit task specifications, such as instructions or reward functions, which constrain their autonomy and behavioral diversity. In this paper, we introduce a Desire-driven Autonomous Agent (D2A) that can enable a large language model (LLM) to autonomously propose and select tasks, motivated by satisfying its multi-dimensional desires. Specifically, the motivational framework of D2A is mainly constructed by a dynamic Value System, inspired by the Theory of Needs. It incorporates an understanding of human-like desires, such as the need for social interaction, personal fulfillment, and self-care. At each step, the agent evaluates the value of its current state, proposes a set of candidate activities, and selects the one that best aligns with its intrinsic motivations. We conduct experiments on Concordia, a text-based simulator, to demonstrate that our agent generates coherent, contextually relevant daily activities while exhibiting variability and adaptability similar to human behavior. A comparative analysis with other LLM-based agents demonstrates that our approach significantly enhances the rationality of the simulated activities.

Figures

Figures reproduced from arXiv: 2412.06435 by the authors.

Figure 1
Figure 1. Motivation Behind Different Activity Generation Approaches. Our Desire-driven Au [PITH_FULL_IMAGE:figures/full_fig_p002_1.png] view at source ↗
Figure 2
Figure 2. The Desire-Driven Autonomy framework. The [PITH_FULL_IMAGE:figures/full_fig_p005_2.png] view at source ↗
Figure 3
Figure 3. The win rate among 4 agents. Each point represents the win rate of the agent on the vertical axis when compared with the agent on the horizontal axis. The diagonal values are set to 0.5. The results in [PITH_FULL_IMAGE:figures/full_fig_p008_3.png] view at source ↗
Figures from the paper (13 more)
Figure 4
Figure 4. Figure 4: The results of D2A human-likeness analysis experiments. [PITH_FULL_IMAGE:figures/full_fig_p009_4.png]
Figure 5
Figure 5. Figure 5: The averaged dissatisfaction re￾sults in the outdoor environment To assess the adaptability of our D2A framework within complex social interaction scenarios, we conducted ex￾periments in the outdoor environment. The results, pre￾sented in [PITH_FULL_IMAGE:figures/full…
Figure 6
Figure 6. Figure 6: Ablation study regarding (a) Qualitative Value Description, (b) Searching Width of the [PITH_FULL_IMAGE:figures/full_fig_p010_6.png]
Figure 7
Figure 7. Figure 7: The change in each dissatisfaction dimension at every step within the outdoor environment [PITH_FULL_IMAGE:figures/full_fig_p018_7.png]
Figure 8
Figure 8. Figure 8: The changes in desire at each step within the outdoor environment are illustrated; specifi [PITH_FULL_IMAGE:figures/full_fig_p018_8.png]
Figure 9
Figure 9. Figure 9: The change in each dissatisfaction dimension at every step within the indoor environment [PITH_FULL_IMAGE:figures/full_fig_p019_9.png]
Figure 10
Figure 10. Figure 10: The changes in desire at each step within the indoor environment are illustrated; the [PITH_FULL_IMAGE:figures/full_fig_p020_10.png]
Figure 11
Figure 11. Figure 11: The word clouds of the four agents are based on the same environment and settings in [PITH_FULL_IMAGE:figures/full_fig_p021_11.png]
Figure 12
Figure 12. Figure 12: We classified each action output by all agents at every step, allowing each action to belong [PITH_FULL_IMAGE:figures/full_fig_p021_12.png]
Figure 13
Figure 13. Figure 13: The win rates among 4 agents in outdoor environments. Each point represents the win [PITH_FULL_IMAGE:figures/full_fig_p022_13.png]
Figure 14
Figure 14. Figure 14: The word clouds of the four agents are based on the same environment and settings in [PITH_FULL_IMAGE:figures/full_fig_p023_14.png]
Figure 15
Figure 15. Figure 15: The experiments conducted with Qwen2.5:72b model [PITH_FULL_IMAGE:figures/full_fig_p031_15.png]
Figure 16
Figure 16. Figure 16: In randomly initialized indoor environments, D2A’s action sequences also best addressed [PITH_FULL_IMAGE:figures/full_fig_p046_16.png]

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    " write newline "" before.all 'output.state := FUNCTION n.dashify 't := "" t empty not t #1 #1 substring "-" = t #1 #2 substring "--" = not "--" * t #2 global.max substring 't := t #1 #1 substring "-" = "-" * t #2 global.max substring 't := while if t #1 #1 substring * t #2 gl...

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    @esa (Ref

    \@ifxundefined[1] #1\@undefined \@firstoftwo \@secondoftwo \@ifnum[1] #1 \@firstoftwo \@secondoftwo \@ifx[1] #1 \@firstoftwo \@secondoftwo [2] @ #1 \@temptokena #2 #1 @ \@temptokena \@ifclassloaded agu2001 natbib The agu2001 class already includes natbib coding, so you should ...

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    \@lbibitem[] @bibitem@first@sw\@secondoftwo \@lbibitem[#1]#2 \@extra@b@citeb \@ifundefined br@#2\@extra@b@citeb \@namedef br@#2 \@nameuse br@#2\@extra@b@citeb \@ifundefined b@#2\@extra@b@citeb @num @parse #2 @tmp #1 NAT@b@open@#2 NAT@b@shut@#2 \@ifnum @merge>\@ne @bibitem@firs...

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    @open @close @open @close and [1] URL: #1 \@ifundefined chapter * \@mkboth \@ifxundefined @sectionbib * \@mkboth * \@mkboth\@gobbletwo \@ifclassloaded amsart * \@ifclassloaded amsbook * \@ifxundefined @heading @heading NAT@ctr thebibliography [1] @ \@biblabel @NAT@ctr \@bibset...

Pith tools

Reviewed August 11, 2026 · model on record in the stance chip above.