This is now available to try out in ODK Collect v1.27 Beta. We have some planned improvements for v1.28 and welcome feedback!
What may not be immediately obvious from the mockups shared so far is that the text shown at the top of the bottom sheet is the instance name. For example, if you are visiting different households and filling out one form per household, you can make the instance name something like concat(${head_of_household_name}, ": ", ${adults}, " adults, ", ${kids}, " kids"). This will allow you to see the head of household name and person count for each household you tap on. More documentation coming soon.