From Peer Reports to Revisable Intent Evidence: Grounded Peer Evidence Revision for Embodied Collaboration

Grounded Peer Evidence Revision (GPER) raises the rate of completed goal units in a Cooperative Embodied Language Agent (CoELA) pipeline by 3.3 and 2.9 points. The gains hold on two suites derived from the PARTNR and TDW- MAT simulators, with 300 and 200 episodes. Each suite carries ambiguity that a peer can resolve, a regime in which a supported report can still leave competing intentions open. The control receives the same qualified facts with no intent update (QF), and both combined 95% intervals exclude zero. On a diagnostic suite of 600 snapshots with matched inputs, GPER makes the fewest harmful revisions among the tested conditions. GPER is an add-on to CoELA. GPER separates whether observations support a claim from how far that claim, assumed true, shifts competing explanations of teammate behavior. Authorization never conditions on active intent preferences, and compatibility never observes support strength or source reputation. An adapter multiplies record support, freshness and a conflict flag into a support strength in [0, 1]. The support strength scales a compatibility score from an evaluator that never sees strength or source. A ledger indexed by events stores each contribution as an active event group and keeps that contribution revisable. We will make the code, prompt templates, diagnostic snapshots and logs for every call available upon acceptance