“…ToMdespite typically being associated with the kind of strategic one-shot reasoning studied in game theory (Meijering, van Rijn, Taatgen, & Verbrugge, 2012;Yoshida, Dolan, & Friston, 2008) -also provides a critical foundation for more sophisticated longitudinal cooperation via joint reasoning about roles. Even simple imitation-based models can display specialization to some degree (C. M. Wu et al, 2023;Dale, Fusaroli, Duran, & Richardson, 2013), with the push and pull of synchrony (Frey & Goldstone, 2018;Goldstone & Ashpole, 2004) and repulsion (Setzler & Goldstone, 2020) providing low-level self-organizing mechanisms for specialization (Goldstone, Andrade-Lotero, Hawkins, & Roberts, 2023). Yet a key feature of successful joint-action coordination is to be able to anticipate the actions or intentions of others on the fly (Sebanz et al, 2006;McEllin, Sebanz, & Knoblich, 2018;Richardson, Marsh, Isenhower, Goodman, & Schmidt, 2007).…”