Supplementary Information: Pragmatic Instruction Following and Goal Assistance via Cooperative Language-Guided Inverse Planning

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`paper_with_appendix.pdf` contains the full paper along with an appendix, which provides further details about our model, dataset, and experiments. The `dataset` folder contains ZIP files for both domains, each of which contains PDDL descriptions of the environments (`problems`), observed action trajectories (`plans`), and the environment transition dynamics (`domain.pddl`). The `doors-keys-gems` domain additionally has an `utterances` directory, and a set of visual stimuli in `stimuli`. The `results` folder contains data collected from our human experiments, model outputs for each goal assistance problem, and (for `doors-keys-gems`) GPT-4V text responses for each problem. The `plots` folder contains per-stimulus plots showing the goal inferences and assistance judgments produced by humans and each of our models.

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