Figure 4.

(a) Outline of how the HAICA model for the green ‘agent cook’ perceives and acts on the Overcooked kitchen environment (including mentalizing over the blue ‘agent cook’). (b) Results of simulations comparing the performance of HAICA, with optimal susceptibility parameters, with a full Bayesian reasoning and planning approach (BD) [70]. Comparison is done with regard to average numbers for required steps, joint task success rate, total run-time and time to plan one step ahead (best marked as bold). While BD needs about half as many steps as HAICA, its computational costs are three orders of magnitude higher and prevent using it in interactive settings. (Online version in colour.)