I'm pretty bad at math (though I learned a lot of mathematical concepts from popular videos, e.g. the difference between cardinals and ordinals). Can you suggest suitable materials about the problem of "environmental goals"?

Here's all the materials I know:

• Arbital. Environmental goals; identifying causal goal concepts from sensory data; "look where I'm pointing, not at my finger", ontology identification problem.
• Particular LW posts. Pointers Problem by johnswentworth, Stable Pointers to Value II: Environmental Goals by abramdemski.
• ELK-related materials. Eliciting Latent Knowledge.

Also, are there any popular explanations of what specific agent foundations researchers are trying to do? They do a lot of math, but can some of their ideas be explained without math? Some explanations I'm aware of:

• ELK Thought Dump (Abram Demski), John Wentworth's writing. Though I can't understand what the first post proposes.

Now, the final part of my question. Imagine I have an idea about environmental goals/agent foundations. It's relatively fast to explain. Are there any people who would be interested in discussing it? Are there any people who'd like to discuss such topics without immediately jumping into loads of math?