In Lex Fridman's interview with former CIA spy Andrew Bustamante: https://youtu.be/T3FC7qIAGZk?t=12627 he mentions the difference between perception and perspective and the results of gaining perspective into other people's thoughts. The video url redirects to that particular moment in the discussion.The thing is he doesn't talk about how to learn that skill. Is there any way? Books maybe to get started?