“…We answer these questions by formalizing the Naïve Utility Calculus in a computational model that performs approximate Bayesian inferences of costs and rewards over extended sequences of actions that unfold over time and space. Our model builds on but extends substantially beyond previous qualitative formulations (Jara-Ettinger, Gweon, Schulz, & Tenenbaum, 2016;Jara-Ettinger, Floyd, Huey, Tenenbaum, & Schulz, 2019;Jara-Ettinger, Floyd, Tenenbaum, & Schulz, 2017), as well as simpler quantitative formulations of utility-based action understanding (e.g., Baker et al, 2019;Lucas et al, 2014;Jern, Lukas, & Kemp, 2017) that do not attempt to account for inferences about multiple dimensions of cost and reward, or complex actions operating over multiple spatial and temporal scales. We then present a set of quantitative experiments that test if (1) the Naïve Utility Calculus supports joint inferences of costs and reward from observable actions; if (2) these inferences can be captured with quantitative precision; and (3) if these judgments are best explained by a unified theory structured around the single assumption that agents approximately maximize utilities.…”