timtyler comments on Nature: Red, in Truth and Qualia - Less Wrong
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Citation needed. This is a specific question (do chimps model the minds of other chimps?) that cognitive scientists have considered in detail. But I don't remember specific studies or conclusions.
"Empathy" is a useful keyword here - so see, for example:
Chimps Not So Selfish: Comforting Behavior May Well Be Expression Of Empathy.
Empathy is pretty basic for social mammals - e.g.see: Dogs Probably Feel Sorry For Us.