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This study introduces the GRASP (Generative Role-Play AI Simulation for Pedagogy) model, which employs customized ChatGPT-based agents to support preservice mathematics teachers (PMTs) in a four-phase practice-based learning cycle: initiating, exploring, enacting, and reflecting. Focusing on the first two phases, we investigated how GRASP supports PMTs’ understanding of collective mathematical argumentation. Ten PMTs enrolled in a mathematics education course participated in the study. Analysis of their assignments and reflections revealed that most demonstrated a basic to advanced understanding of collective argumentation. Reflections further indicated that interactions with AI chatbots facilitated multi-layered learning. Findings highlight the potential of GenAI in mathematics teacher education and point to future directions for leveraging AI to support PMTs’ development of pedagogical practices.