ResearchBenchmarksPreference Learning on Robot Voice Design SimulatedPreference Learning on Robot Voice Design SimulatedFollow0.852AlignmentInfogain0.798960.812730.82650.84027Mar 9, 2026Evaluation resultsMethodMethodLinksAlignmentRegretInfogain2026.030.8520.017CMA-ES2026.030.8150.033CMA-ES-IG2026.030.8010.082