arXiv subjects

David Rudrauf

Publications and source records attributed to David Rudrauf.

4 recordsLinked to original sources

arXiv2026

Belief Without Behavior: Measuring the Translation of Theory of Mind into Coordinated Social Action in Vision-Language Models

Effective social interaction requires agents to translate mental state inferences into coordinated behavioral signals across verbal and nonverbal channels simultaneously. Yet existing benchmarks evaluate theory of mind (ToM) reasoning and embodied behavior in isolation, leaving unmeasured the gap between social inference and social action. We introduce MOSAIC (Multimodal Orchestration of Social Action, Inference, and Communication), a controlled benchmark in which two embodied agents interact across cooperative and competitive scenarios requiring integration of verbal statements, spatial trajectories, gaze direction, and facial expression under systematically varied ToM constraints. Evaluating 13 models, including 11 VLMs, across 200 trials per model, we find that VLMs fail to produce behaviors consistent with the expected outcomes under ToM-order constraints, and that imposing explicit ToM-order constraints produces no reliable behavioral change aligned with the specified reasoning level. Signal-level analysis reveals two sequential bottlenecks: most models cannot produce directionally coherent nonverbal signals, and even when signals are present, VLM agents fail to interpret others behaviors and react to them. PCM-LLM, included as a structured architectural reference point with an explicit ToM module, succeeds across all conditions, suggesting that explicit belief-action coupling is a sufficient ingredient for this class of tasks.

cs.AI↗

arXiv2023

Influence of the Geometry of the world model on Curiosity Based Exploration

In human spatial awareness, 3-D projective geometry structures information integration and action planning through perspective taking within an internal representation space. The way different perspectives are related and transform a world model defines a specific perception and imagination scheme. In mathematics, such collection of transformations corresponds to a 'group', whose 'actions' characterize the geometry of a space. Imbuing world models with a group structure may capture different agents' spatial awareness and affordance schemes. We used group action as a special class of policies for perspective-dependent control. We explored how such geometric structure impacts agents' behavior, comparing how the Euclidean versus projective groups act on epistemic value in active inference, drive curiosity, and exploration behaviors. We formally demonstrate and simulate how the groups induce distinct behaviors in a simple search task. The projective group's nonlinear magnification of information transformed epistemic value according to the choice of frame, generating behaviors of approach toward an object of interest. The projective group structure within the agent's world model contains the Projective Consciousness Model, which is know to capture key features of consciousness. On the other hand, the Euclidean group had no effect on epistemic value : no action was better than the initial idle state. In structuring a priori an agent's internal representation, we show how geometry can play a key role in information integration and action planning.

cs.AI↗

arXiv2021

Combining the Projective Consciousness Model and Virtual Humans to assess ToM capacity in Virtual Reality: a proof-of-concept

Relating explicit psychological mechanisms and observable behaviours is a central aim of psychological and behavioural science. We implemented the principles of the Projective Consciousness Model into artificial agents embodied as virtual humans, as a proof-of-concept for a methodological framework aimed at simulating behaviours and assessing underlying psychological parameters, in the context of experiments in virtual reality. We focus on simulating the role of Theory of Mind (ToM) in the choice of strategic behaviours of approach and avoidance to optimise the satisfaction of agents' preferences. We designed an experiment in a virtual environment that could be used with real humans, allowing us to classify behaviours as a function of order of ToM, up to the second order. We show that our agents demonstrate expected behaviours with consistent parameters of ToM in this experiment. We also show that the agents can be used to estimate correctly each other order of ToM. A similar approach could be used with real humans in virtual reality experiments not only to enable human participants to interact with parametric, virtual humans as stimuli, but also as a mean of inference to derive model-based psychological assessments of the participants.

q-bio.NC↗

arXiv2018

The Moon Illusion explained by the Projective Consciousness Model

The Moon often appears larger near the perceptual horizon and smaller high in the sky though the visual angle subtended is invariant. We show how this illusion results from the optimization of a projective geometrical frame for conscious perception through free energy minimization, as articulated in the Projective Consciousness Model. The model accounts for all documented modulations of the illusion without anomalies (e.g., the size-distance paradox), surpasses other theories in explanatory power, makes sense of inter- and intra-subjective variability vis-a-vis the illusion, and yields new quantitative and qualitative predictions.

q-bio.NC↗