ResearchResearch paperRobotics & Embodied AI · Reasoning & Planning · Reinforcement Learning2 sources · Oct 21, 2026

ToM2Vec: Continuous Theory-of-Mind Tokens for Multi-Agent Coordination

To address this challenge, we introduce ToM2Vec, which learns to form abstract theories-of-mind in a rich latent space via a fixed budget of continuous reasoning tokens.

Key points

  • Forming an accurate theory-of-mind (ToM) is key to successful multi-agent collaboration and requires reasoning under uncertainty to capture multiple possible partner states.
  • Across several environments covering collaborative, competitive, and mixed-motive settings (Overcooked-AI, multiparty negotiation, Decrypto, Hanabi, and Collab Escape/Capture), we evaluate ToM2Vec's ability to support multi-agent interactions and collaboration, finding consistent improvements over the base model and a variety of competitive trained and prompted baselines.
  • We show that latent reasoning is critical, with performance dropping when reasoning is expressed in text.
  • In our analysis, we provide evidence that the latent tokens encode a ToM, rather than task-specific information: ToM2Vec's tokens improve the agent's ability to directly answer questions about partner beliefs, desires, and next actions.

Sources (2)

Extractive summary: sentences quoted from the sources.

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