# Seeing Isn't Believing: Mitigating Belief Inertia via Active Intervention in Embodied Agents

arXiv: https://arxiv.org/abs/2604.17252 · HTML: https://mlsanity.com/paper/2604.17252/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in General LLM agent frameworks and benchmarks, one of 16 directions in LLM agents and tool use.
- Builds on 24 of its 34 references that are in the map.
- First posted on arXiv 19 Apr 2026.

## Placed in

- LLM agents and tool use / [General LLM agent frameworks and benchmarks](https://mlsanity.com/agents/general-llm-agent-frameworks-and-benchmarks/)

## Builds on (most cited first, 24 of 24)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Group-in-Group Policy Optimization for LLM Agent Training](https://mlsanity.com/paper/2505.10978/) (2025)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [ScienceWorld: Is your Agent Smarter than a 5th Grader?](https://mlsanity.com/paper/2203.07540/) (2022)
- [FireAct: Toward Language Agent Fine-tuning](https://mlsanity.com/paper/2310.05915/) (2023)
- [MEM1: Learning to Synergize Memory and Reasoning for Efficient Long-Horizon Agents](https://mlsanity.com/paper/2506.15841/) (2025)
- [Large Language Models as Commonsense Knowledge for Large-Scale Task Planning](https://mlsanity.com/paper/2305.14078/) (2023)
- [EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents](https://mlsanity.com/paper/2502.09560/) (2025)
- [Reasoning Models Can Be Effective Without Thinking](https://mlsanity.com/paper/2504.09858/) (2025)
- [Agent-Pro: Learning to Evolve via Policy-Level Reflection and Optimization](https://mlsanity.com/paper/2402.17574/) (2024)
- [SPA-RL: Reinforcing LLM Agents via Stepwise Progress Attribution](https://mlsanity.com/paper/2505.20732/) (2025)
- [Agent Planning with World Knowledge Model](https://mlsanity.com/paper/2405.14205/) (2024)
- [VAGEN: Reinforcing World Model Reasoning for Multi-Turn VLM Agents](https://mlsanity.com/paper/2510.16907/) (2025)
- [STeCa: Step-level Trajectory Calibration for LLM Agent Learning](https://mlsanity.com/paper/2502.14276/) (2025)
- [ReflAct: World-Grounded Decision Making in LLM Agents via Goal-State Reflection](https://mlsanity.com/paper/2505.15182/) (2025)
- [Grounding Multimodal LLMs to Embodied Agents that Ask for Help with Reinforcement Learning](https://mlsanity.com/paper/2504.00907/) (2025)
- [SoMi-ToM: Evaluating Multi-Perspective Theory of Mind in Embodied Social Interactions](https://mlsanity.com/paper/2506.23046/) (2025)
- [Reinforced Reasoning for Embodied Planning](https://mlsanity.com/paper/2505.22050/) (2025)
- [E2CL: Exploration-based Error Correction Learning for Embodied Agents](https://mlsanity.com/paper/2409.03256/) (2024)
- [ABBEL: Learning Natural-Language Belief States for Memory-Efficient Interaction](https://mlsanity.com/paper/2512.20111/) (2025)
- [Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue](https://mlsanity.com/paper/2509.15061/) (2025)

## Built on by (most cited first, 1 of 1)

- [When History Fails to Become Experience: Action Calibration in Language Agents](https://mlsanity.com/paper/2610.02769/) (2026)

## Abstract (arXiv)

Recent advancements in large language models (LLMs) have enabled agents to tackle complex embodied tasks through environmental interaction. However, these agents still make suboptimal decisions and perform ineffective actions, as they often overlook critical environmental feedback that differs from their internal beliefs. Through a formal probing analysis, we characterize this as belief inertia, a phenomenon where agents stubbornly adhere to prior beliefs despite explicit observations. To address this, we advocate active belief intervention, moving from passive understanding to active management. We introduce the Estimate-Verify-Update (EVU) mechanism, which empowers agents to predict expected outcomes, verify them against observations through explicit reasoning, and actively update prior beliefs based on the verification evidence. EVU is designed as a unified intervention mechanism that generates textual belief states explicitly, and can be integrated into both prompting-based and training-based agent reasoning methods. Extensive experiments across three embodied benchmarks demonstrate that EVU consistently yields substantial gains in task success rates. Further analyses validate that our approach effectively mitigates belief inertia, advancing the development of more robust embodied agents. Our code is available at https://github.com/WangHanLinHenry/EVU.