Priors are vital for planning under partial observability, yet difficult to obtain in practice. We present a sampling-based pipeline that leverages large-scale pretrained generative models to produce probabilistic priors capturing environmental uncertainty and spatio-semantic relationships in a zero-shot manner. Conditioned on partial observations, the pipeline recovers complete RGB-D point cloud samples with occupancy and target semantics, formulated to be directly useful in configuration-space planning. We establish a Matterport3D benchmark of rooms partially visible through doorways, where a robot must navigate to an unobserved target object. Effective priors for this setting must represent both occupancy and target-location uncertainty in unobserved regions. Experiments show that our approach recovers commonsense spatial semantics consistent with ground truth, yielding diverse, clean 3D point clouds usable in motion planning, highlight the promise of generative models as a rich source of priors for robotic planning.

Functional correctness is critical for ensuring the reliability and security of network protocol implementations. Functional bugs, instances where implementations diverge from behaviors specified in RFC documents, can lead to severe consequences, including faulty routing, authentication bypasses, and service disruptions. Detecting these bugs requires deep semantic analysis across specification documents and source code, a task beyond the capabilities of traditional static analysis tools. This paper introduces RFCAudit, an autonomous agent that leverages large language models (LLMs) to detect functional bugs by checking conformance between network protocol implementations and their RFC specifications. Inspired by the human auditing procedure, RFCAudit comprises two key components: an indexing agent and a detection agent. The former hierarchically summarizes protocol code semantics, generating semantic indexes that enable the detection agent to narrow down the scanning scope. The latter employs demand-driven retrieval to iteratively collect additional relevant data structures and functions, eventually identifying potential inconsistencies with the RFC specifications effectively. We evaluate RFCAudit across six real-world network protocol implementations. RFCAudit identifies 47 functional bugs with 81.9% precision, of which 20 bugs have been confirmed or fixed by developers.

In robotic object manipulation, human preferences can often be influenced by the visual attributes of objects, such as color and shape. These properties play a crucial role in operating a robot to interact with objects and align with human intention. In this paper, we focus on the problem of inferring underlying human preferences from a sequence of raw visual observations in tabletop manipulation environments with a variety of object types, named Visual Preference Inference (VPI). To facilitate visual reasoning in the context of manipulation, we introduce the Chain-of-Visual-Residuals (CoVR) method. CoVR employs a prompting mechanism that describes the difference between the consecutive images (i.e., visual residuals) and incorporates such texts with a sequence of images to infer the user's preference. This approach significantly enhances the ability to understand and adapt to dynamic changes in its visual environment during manipulation tasks. Furthermore, we incorporate such texts along with a sequence of images to infer the user's preferences. Our method outperforms baseline methods in terms of extracting human preferences from visual sequences in both simulation and real-world environments. Code and videos are available at: \href{https://joonhyung-lee.github.io/vpi/}{https://joonhyung-lee.github.io/vpi/}

In the domain of Natural Language Processing (NLP), many works have investigated social biases in terms of associations in the embeddings space. Early works [1, 2] introduced methods to measure and mitigate social biases based on cosine similarity in word embeddigs. With NLP research progressing to large language models and contextualized embeddings, doubts have been raised whether these methods are still suitable for fairness evaluation [3] and other works criticize that for instance the Word Embedding Association Test (WEAT) [2] fails to detect some kinds of biases [4, 5]. Overall there exists a great deal of bias measures in the literature, which not necessarily detect the same biases [6, 4, 5]. In general, researchers are questioning the usability of model intrinsic bias measures, such as cosine based methods [7, 8, 9]. There exist few papers that compare the performance of different bias scores [10, 11] and works that evaluate experimental setups for bias measurement [12]. However, to our knowledge, only two works investigate the properties of intrinsic bias scores on a theoretical level [5, 13]. To further close this gap, we evaluate the semantic properties of cosine based bias scores, focusing on bias quantification as opposed to bias detection. We make the following contributions: (i) We formalize the properties of trustworthiness and comparability as requirements for cosine based bias scores.

Learning vectors that capture the meaning of concepts remains a fundamental challenge. Somewhat surprisingly, perhaps, pre-trained language models have thus far only enabled modest improvements to the quality of such concept embeddings. Current strategies for using language models typically represent a concept by averaging the contextualised representations of its mentions in some corpus. This is potentially sub-optimal for at least two reasons. First, contextualised word vectors have an unusual geometry, which hampers downstream tasks. Second, concept embeddings should capture the semantic properties of concepts, whereas contextualised word vectors are also affected by other factors. To address these issues, we propose two contrastive learning strategies, based on the view that whenever two sentences reveal similar properties, the corresponding contextualised vectors should also be similar. One strategy is fully unsupervised, estimating the properties which are expressed in a sentence from the neighbourhood structure of the contextualised word embeddings. The second strategy instead relies on a distant supervision signal from ConceptNet. Our experimental results show that the resulting vectors substantially outperform existing concept embeddings in predicting the semantic properties of concepts, with the ConceptNet-based strategy achieving the best results. These findings are furthermore confirmed in a clustering task and in the downstream task of ontology completion.

The code smell is a sign of design and development flaws in a software system that reduces the reusability and maintainability of the system. Refactoring is done as an ongoing practice to remove the code smell from the program code. Among different code smells, the God class or Blob is one of the most common code smells. A god class contains too many responsibilities, violating object-oriented programming design's low coupling and high cohesiveness principles. This paper proposes an automatic approach to extracting a God class into multiple smaller classes with more specific responsibilities. To do this, we first construct a graph of methods (as nodes) for the concerning god class. The edge between any two methods is determined by their structural similarity, and the feature for each method is initialized using different semantic representation methods. Then, the variational graph auto-encoder is used to learn a vector representation for each method. Finally, the learned vectors are used to cluster methods into different groups to be recommended as refactored classes. We assessed the proposed framework using three different class cohesion metrics on sixteen actual God Classes collected from two well-known open-source systems. We also conducted a comparative study of our approach with a similar existing approach and found that the proposed approach generated better results for almost all the God Classes used in the experiment.

We introduce Autodecompose, a novel self-supervised generative model that decomposes data into two semantically independent properties: the desired property, which captures a specific aspect of the data (e.g. the voice in an audio signal), and the context property, which aggregates all other information (e.g. the content of the audio signal), without any labels given. Autodecompose uses two complementary augmentations, one that manipulates the context while preserving the desired property and the other that manipulates the desired property while preserving the context. The augmented variants of the data are encoded by two encoders and reconstructed by a decoder. We prove that one of the encoders embeds the desired property while the other embeds the context property. We apply Autodecompose to audio signals to encode sound source (human voice) and content. We pre-trained the model on YouTube and LibriSpeech datasets and fine-tuned in a self-supervised manner without exposing the labels. Our results showed that, using the sound source encoder of pre-trained Autodecompose, a linear classifier achieves F1 score of 97.6\% in recognizing the voice of 30 speakers using only 10 seconds of labeled samples, compared to 95.7\% for supervised models. Additionally, our experiments showed that Autodecompose is robust against overfitting even when a large model is pre-trained on a small dataset. A large Autodecompose model was pre-trained from scratch on 60 seconds of audio from 3 speakers achieved over 98.5\% F1 score in recognizing those three speakers in other unseen utterances. We finally show that the context encoder embeds information about the content of the speech and ignores the sound source information. Our sample code for training the model, as well as examples for using the pre-trained models are available here: \url{https://github.com/rezabonyadi/autodecompose}

Conditionals are generally considered the backbone of human (and AI) reasoning: the "if-then" connection between two propositions is the stepping stone of arguments and a lot of the research effort in formal logic has focused on this kind of connection. A conditional connection satisfies different properties according to the kind of arguments it is used for. The classical material implication is appropriate for modelling the "ifthen" connection as it is used in Mathematics, but the equivalence between the material implication A B and A B is not appropriate for many other contexts.

In many real-life situations that involve exchanges of arguments, individuals may differ on their assessment of which supports between the arguments are in fact justified, i.e., they put forward different support-relations. When confronted with such situations, we may wish to aggregate individuals' argumentation views on support-relations into a collective view, which is acceptable to the group. In this paper, we assume that under bipolar argumentation frameworks, individuals are equipped with a set of arguments and a set of attacks between arguments, but with possibly different support-relations. Using the methodology in social choice theory, we analyze what semantic properties of bipolar argumentation frameworks can be preserved by aggregation rules during the aggregation of support-relations.