One of the most significant hurdles in developing advanced AI is the difficulty of precisely defining and encoding complex, nuanced human objectives. For instance, an objective like 'make humans happy' is vague and can be interpreted in problematic ways. Analyze how this specific challenge—the ambiguity of specifying high-level goals—has directly motivated the development of at least two distinct research approaches aimed at creating more beneficial AI systems. For each approach you discuss, explain its core idea and how it attempts to circumvent the problem of direct objective specification.