机器人社交应从推断内心转向实时协作，让互动自然生成意义。
Beyond Theory of Mind in Robotics
- 用协同感知替代内部状态建模，强调即时互动
- 行为意义由共同参与动态生成，非静态解读
- 适合做具身智能、人机协同的开发者参考
心智理论（ToM）认为通过推断隐藏心理状态来解释和预测行为，已成为机器人社交交互的主流范式。然而，该理论基于三个假设：意义从内在状态向外传递；理解依赖于脱离情境的推理；行为意义是固定且可被旁观者直接获取。本文结合民族志方法学、会话分析与参与式意义建构理论，主张社会意义并非从行为中解码，而是通过主体间实时协调共同生成。这一交互基础对机器人设计具有直接影响：应从内部状态建模转向维持协调的策略设计，从被动观察推理转向主动参与，从固定行为意义转向通过回应稳定的意义潜能。
原文摘要 · Abstract (English)
Theory of Mind, the capacity to explain and predict behavior by inferring hidden mental states, has become the dominant paradigm for social interaction in robotics. Yet ToM rests on three assumptions that poorly capture how most social interaction actually unfolds: that meaning travels inside-out from hidden states to observable behavior; that understanding requires detached inference rather than participation; and that the meaning of behavior is fixed and available to a passive observer. Drawing on ethnomethodology, conversation analysis, and participatory sense-making, I argue that social meaning is not decoded from behavior but produced through moment-to-moment coordination between agents. This interactional foundation has direct implications for robot design: shifting from internal state modeling toward policies for sustaining coordination, from observer-based inference toward active participation, and from fixed behavioral meaning toward meaning potential stabilized through response.
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