Heave you tryed the Kazdin theory. It is a touch reward type thing. ex. rub childs head, say
'go get your cars up". afterwards a high five and a hug. You do alot of rehersal and touch for rewards. ex. kiss "we are going to be quiet at the library, Lets go in and pratice." GO in spend 3 min. Come out. I am so proud of you high five and a hug. "Do you want to try again." That was lots of fun lets do it again," If they say no. Then don't. End on that good note. If yes then Immidiately go in and do it again maybe 5 min. Leave, hug, high five. If it is not successfull then don't scold. Just leave and say we can try again tomorrow or the next time. Make positive reinforcement doable and thee sence of touch often helps certin types of over sensitive kids. My son has aspurgers. A form of autisim. I understand about kids having no sence of fear. I hope this is helpful.