I can’t say specifically what algorithms, though would also like to know. I can say that imagination in agent or multi-agent systems cuts two ways. There is a whole field dedicated to Computational creativity; however, I find Computational Dreaming , Daydreaming Machines , and Robot Dreams  more intriguing. See my recent answer to: How are metaphors handled in AI / NLP / ML?
What algorithms model the imagination in agent or multi-agent systems?
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