Lexical Substitution discovers appropriate substitutes for a given target word in a context sentence. However, the task fails to consider substitutes that are of equal or higher proficiency than the target, an aspect that could be beneficial for language learners looking to improve their writing. To bridge this gap, we propose a new task, language proficiency-oriented lexical substitution. We also introduce ProLex, a novel benchmark designed to assess systems' ability to generate not only appropriate substitutes but also substitutes that demonstrate better language proficiency. Besides the benchmark, we propose models that can automatically perform the new task. We show that our best model, a Llama2-13B model fine-tuned with task-specific synthetic data, outperforms ChatGPT by an average of 3.2% in F-score and achieves comparable results with GPT-4 on ProLex.

The goal of programmatic Learning from Demonstration (LfD) is to learn a policy in a programming language that can be used to control a robot's behavior from a set of user demonstrations. This paper presents a new programmatic LfD algorithm that targets long-horizon robot tasks which require synthesizing programs with complex control flow structures, including nested loops with multiple conditionals. Our proposed method first learns a program sketch that captures the target program's control flow and then completes this sketch using an LLM-guided search procedure that incorporates a novel technique for proving unrealizability of programming-by-demonstration problems. We have implemented our approach in a new tool called PROLEX and present the results of a comprehensive experimental evaluation on 120 benchmarks involving complex tasks and environments. We show that, given a 120 second time limit, PROLEX can find a program consistent with the demonstrations in 80% of the cases. Furthermore, for 81% of the tasks for which a solution is returned, PROLEX is able to find the ground truth program with just one demonstration. In comparison, CVC5, a syntax guided synthesis tool, is only able to solve 25% of the cases even when given the ground truth program sketch, and an LLM-based approach, GPT-Synth, is unable to solve any of the tasks due to the environment complexity.