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A first step to reach Theory of Mind (ToM) abilities (attribution of beliefsto others) in synthetic agents through sensorimotor interactions, would be totag sensory data with agent typology and action intentions: autonomous agent Xmoved an object under the box. We propose a dual arm robotic setup in which ToMcould be probed. We then discuss what measures can be extracted fromsensorimotor interaction data (based on a correlation analysis) in the proposedsetup that allow to distinguish self than other and other/inanimate fromother/active with intentions. We finally discuss what elements are missing incurrent cognitive architectures to be able to acquire ToM abilities insynthetic agents from sensorimotor interactions, bottom-up from reactive agentinteraction behaviors and top-down from the optimization of social behaviourand cooperation.

A correlational analysis of multiagent sensorimotor interactions: clustering autonomous and controllable entities