Large Language Models (LLMs) have recently demonstrated remarkable coding capabilities. However, assessing code generation based on well-formed properties and aligning it with developer preferences remains challenging. In this paper, we explore two key questions under the new challenge of code preference learning: (i) How do we train models to predict meaningful preferences for code? and (ii) How do human and LLM preferences align with verifiable code properties and developer code tastes? Furthermore, we discover the prohibitive costs and limitations of human-based code preference: despite spending 23.4 person-minutes on each task, 15.1 40.3% of tasks remain unsolved. Compared to model-based preference, human preference tends to be more accurate under the objective of code correctness, while being sub-optimal for non-functional objectives. Large Language Models (LLMs) for code (Chen et al., 2021; GitHub, 2023; Amazon Web Services, 2023) have become instrumental in modern software development. Code LLMs assist developers in various scenarios, from suggesting code completions and generating functional code based on user instructions to proposing complex code changes to resolve bug reports and feature requests. Instruction-tuned LLMs (Luo et al., 2024; Wei et al., 2024) are increasingly adept at generating functional code based on natural language instructions. However, evaluating the quality of LLM-generated code remains challenging, particularly regarding code correctness, efficiency, security, adherence to best practices, and alignment with developer preferences. Effectively and efficiently assessing LLM-generated code against these properties is crucial for both evaluation (Liu et al., 2023b) and preference optimization for code LLMs (Weyssow et al., 2024). Nevertheless, the subject of learning code preferences has been largely under-explored, motivating us to study code preferences systematically and train code preference models with new data and modeling methods. Following the established format in LLM-as-a-judge (Chiang et al., 2024), we define the code preference task as follows: Given a user query, a pair of two candidate code responses, and optionally a preference criterion, code preference is demonstrated by choosing one response over the other. Work done during a research internship at AWS AI Labs. Code execution: Code preference in another way can be confidently determined by execution statuses (Liu et al., 2023a). However, applying code execution to arbitrary programs poses challenges due to (i) setup complexity, (ii) code incompleteness, and (iii) execution overhead.

This paper explores the challenges of detecting LGBTQIA+ hate speech of large language models across multiple languages, including English, Italian, Chinese and (code-switched) English-Tamil, examining the impact of machine translation and whether the nuances of hate speech are preserved across translation. We examine the hate speech detection ability of zero-shot and fine-tuned GPT. Our findings indicate that: (1) English has the highest performance and the code-switching scenario of English-Tamil being the lowest, (2) fine-tuning improves performance consistently across languages whilst translation yields mixed results. Through simple experimentation with original text and machine-translated text for hate speech detection along with a qualitative error analysis, this paper sheds light on the socio-cultural nuances and complexities of languages that may not be captured by automatic translation.

Accurately capturing individual differences in semantic networks is fundamental to advancing our mechanistic understanding of semantic memory. Past empirical attempts to construct individual-level semantic networks from behavioral paradigms may be limited by data constraints. To assess these limitations and propose improved designs for the measurement of individual semantic networks, we conducted a recovery simulation investigating the psychometric properties underlying estimates of individual semantic networks obtained from two different behavioral paradigms: free associations and relatedness judgment tasks. Our results show that successful inference of semantic networks is achievable, but they also highlight critical challenges. Estimates of absolute network characteristics are severely biased, such that comparisons between behavioral paradigms and different design configurations are often not meaningful. However, comparisons within a given paradigm and design configuration can be accurate and generalizable when based on designs with moderate numbers of cues, moderate numbers of responses, and cue sets including diverse words. Ultimately, our results provide insights that help evaluate past findings on the structure of semantic networks and design new studies capable of more reliably revealing individual differences in semantic networks.

Uncertainty is a fundamental aspect of real-world scenarios, where perfect information is rarely available. Humans naturally develop complex internal models to navigate incomplete data and effectively respond to unforeseen or partially observed events. In machine learning, Focal Loss is commonly used to reduce misclassification rates by emphasizing hard-to-classify samples. However, it does not guarantee well-calibrated predicted probabilities and may result in models that are overconfident or underconfident. High calibration error indicates a misalignment between predicted probabilities and actual outcomes, affecting model reliability. This research introduces a novel loss function called Focal Calibration Loss (FCL), designed to improve probability calibration while retaining the advantages of Focal Loss in handling difficult samples. By minimizing the Euclidean norm through a strictly proper loss, FCL penalizes the instance-wise calibration error and constrains bounds. We provide theoretical validation for proposed method and apply it to calibrate CheXNet for potential deployment in web-based health-care systems. Extensive evaluations on various models and datasets demonstrate that our method achieves SOTA performance in both calibration and accuracy metrics.

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot manage steps or stairs, making the problem effectively 2D. However, navigation for legged robots (or even humans) has to consider an extra dimension. This paper proposes a tailored scene representation coupled with an advanced trajectory optimisation algorithm to enable safe navigation. Our 3D navigation approach is suitable for any ground-based mobile robot, whether wheeled or legged, as well as for human assistance. Given a 3D point cloud of the scene and the segmentation of the ground and non-ground points, we formulate two Gaussian Process distance fields to ensure a collision-free path and maintain distance to the ground constraints. Our method adeptly handles uneven terrain, steps, and overhanging objects through an innovative use of a quadtree structure, constructing a multi-resolution map of the free space and its connectivity graph based on a 2D projection of the relevant scene. Evaluations with both synthetic and real-world datasets demonstrate that this approach provides safe and smooth paths, accommodating a wide range of ground-based mobile systems.

Predicting company growth is crucial for strategic adjustment, operational decision-making, risk assessment, and loan eligibility reviews. Traditional models for company growth often focus too much on theory, overlooking practical forecasting, or they rely solely on time series forecasting techniques, ignoring interpretability and the inherent mechanisms of company growth. In this paper, we propose a machine learning-based prediction framework that incorporates an econophysics model for company growth. Our model captures both the intrinsic growth mechanisms of companies led by scaling laws and the fluctuations influenced by random factors and individual decisions, demonstrating superior predictive performance compared with methods that use time series techniques alone. Its advantages are more pronounced in long-range prediction tasks. By explicitly modeling the baseline growth and volatility components, our model is more interpretable.

As AI becomes fundamental in sectors like healthcare, explainable AI (XAI) tools are essential for trust and transparency. However, traditional user studies used to evaluate these tools are often costly, time consuming, and difficult to scale. In this paper, we explore the use of Large Language Models (LLMs) to replicate human participants to help streamline XAI evaluation. We reproduce a user study comparing counterfactual and causal explanations, replicating human participants with seven LLMs under various settings. Our results show that (i) LLMs can replicate most conclusions from the original study, (ii) different LLMs yield varying levels of alignment in the results, and (iii) experimental factors such as LLM memory and output variability affect alignment with human responses. These initial findings suggest that LLMs could provide a scalable and cost-effective way to simplify qualitative XAI evaluation.

Reinforcement learning algorithms for mean-field games offer a scalable framework for optimizing policies in large populations of interacting agents. Existing methods often depend on online interactions or access to system dynamics, limiting their practicality in real-world scenarios where such interactions are infeasible or difficult to model. In this paper, we present Offline Munchausen Mirror Descent (Off-MMD), a novel mean-field RL algorithm that approximates equilibrium policies in mean-field games using purely offline data. By leveraging iterative mirror descent and importance sampling techniques, Off-MMD estimates the mean-field distribution from static datasets without relying on simulation or environment dynamics. Additionally, we incorporate techniques from offline reinforcement learning to address common issues like Q-value overestimation, ensuring robust policy learning even with limited data coverage. Our algorithm scales to complex environments and demonstrates strong performance on benchmark tasks like crowd exploration or navigation, highlighting its applicability to real-world multi-agent systems where online experimentation is infeasible. We empirically demonstrate the robustness of Off-MMD to low-quality datasets and conduct experiments to investigate its sensitivity to hyperparameter choices.

--Wearable and locomotive robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being back-drivable. Alternatively, quasi-passive and underactuated designs reduce the size of motorization and energy storage, but are often designed for specific tasks. Designers of versatile and stronger wearable robots will face these challenges unless future actuators become very torque-dense, backdrivable and efficient. This paper explores a design paradigm for addressing this issue: reconfigurable hydrostatics. We show that a hydrostatic actuator can integrate a passive force mechanism and a sharing mechanism in the fluid domain and still be multifunctional. First, an analytical study compares how these two mechanisms can relax the motorization requirements in the context of a load-bearing exoskeleton. Then, the hydrostatic concept integrating these two mechanisms using hydraulic components is presented. A case study analysis shows the mass/efficiency/inertia benefits of the concept over a fully actuated one. Then, the feasibility of the concept is partially validated with a proof-of-concept that actuates the knees of an exoskeleton. The experiments show that it can track the vertical ground reaction force (GRF) profiles of walking, running, squatting, and jumping, and that the energy consumption is 6x lower . The transient force behaviors due to switching from one leg to the other are also analyzed along with some mitigation to improve them. Mobile robots that must bear their own weight have conflicting design requirements. For reasonable autonomy, their actuators should be lightweight and efficient, but at the same time they need good backdrivability for good physical interaction with their environment, e.g., with the ground for a legged robot or with the user for an exoskeleton; and still to be useful in various situations (multifunctional), they should have high strength and power levels. The recent research in legged robots and exoskeletons push mainly for lightly geared electric motors for their high velocity and relatively good torque density and backdrivability [1]-[3]. These actuators 1) have low inertia for better interactions and simpler force control, 2) have high transmission efficiency, and 3) enable good energy regeneration at batteries [1], [4]. For instance, the running legged robot Cheetah could regenerate most of its negative power to the battery, but 74% of its energy consumption was due to motor heating [1]. All authors are with the Department of Mechanical Engineering, Universit e de Sherbrooke, Qc, Canada.

The Pap smear is a screening method for early cervical cancer diagnosis. The selection of the right optimizer in the convolutional neural network (CNN) model is key to the success of the CNN in image classification, including the classification of cervical cancer Pap smear images. In this study, stochastic gradient descent (SGD), RMSprop, Adam, AdaGrad, AdaDelta, Adamax, and Nadam optimizers were used to classify cervical cancer Pap smear images from the SipakMed dataset. Resnet-18, Resnet-34, and VGG-16 are the CNN architectures used in this study, and each architecture uses a transfer-learning model. Based on the test results, we conclude that the transfer learning model performs better on all CNNs and optimization techniques and that in the transfer learning model, the optimization has little influence on the training of the model. Adamax, with accuracy values of 72.8% and 66.8%, had the best accuracy for the VGG-16 and Resnet-18 architectures, respectively. Resnet-34 had 54.0%. This is 0.034% lower than Nadam. Overall, Adamax is a suitable optimizer for CNN in cervical cancer classification on Resnet-18, Resnet-34, and VGG-16 architectures. This study provides new insights into the configuration of CNN models for Pap smear image analysis.