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Great advancements have been achieved in the field of robotics, however, mainchallenges remain, including building robots with an adaptive Theory of Mind(ToM). In the present paper, seven current robotic architectures forhuman-robot interactions were described as well as four main functionaladvantages of equipping robots with an adaptive ToM. The aim of the presentpaper was to determine in which way and how often ToM features are integratedin the architectures analyzed, and if they provide robots with the associatedfunctional advantages. Our assessment shows that different methods are used toimplement ToM features in robotic architectures. Furthermore, while a ToM forfalse-belief understanding and tracking is often built in social roboticarchitectures, a ToM for proactivity, active perception and learning is lesscommon. Nonetheless, progresses towards better adaptive ToM features in robotsare warranted to provide them with full access to the advantages of having aToM resembling that of humans.

Functional advantages of an adaptive Theory of Mind for robotics: a review of current architectures