In this task, you are given the abstract of a research paper. Your task is to generate a summary of this abstract. Your summary should not be very short, but it's better if it's not more than 30 words.

[EX Q]: This paper presents preliminary ideas of our work for auto- mated learning of Hierarchical Goal Networks in nondeter- ministic domains. We are currently implementing the ideas expressed in this paper.
[EX A]: Learning HGNs, ND domains

[EX Q]: Hierarchical label structures widely exist in many machine learning tasks, ranging from those with explicit label hierarchies such as image classification to the ones that have latent label hierarchies such as semantic segmentation. Unfortunately, state-of-the-art methods often utilize cross-entropy loss which in-explicitly assumes the independence among class labels. Motivated by the fact that class members from the same hierarchy need to be similar to each others, we design a new training diagram called Hierarchical Complement Objective Training (HCOT). In HCOT, in addition to maximizing the probability of the ground truth class, we also neutralize the probabilities of rest of the classes in a hierarchical fashion, making the model take advantage of the label hierarchy explicitly. We conduct our method on both image classification and semantic segmentation. Results show that HCOT outperforms state-of-the-art models in CIFAR100, Imagenet, and PASCAL-context. Our experiments also demonstrate that HCOT can be applied on tasks with latent label hierarchies, which is a common characteristic in many machine learning tasks.
[EX A]: We propose Hierarchical Complement Objective Training, a novel training paradigm to effectively leverage category hierarchy in the labeling space on both image classification and semantic segmentation.

[EX Q]: Neural program embeddings have shown much promise recently for a variety of program analysis tasks, including program synthesis, program repair, code completion, and fault localization. However, most existing program embeddings are based on syntactic features of programs, such as token sequences or abstract syntax trees. Unlike images and text, a program has well-defined semantics that can be difficult to capture by only considering its syntax (i.e. syntactically similar programs can exhibit vastly different run-time behavior), which makes syntax-based program embeddings fundamentally limited. We propose a novel semantic program embedding that is learned from program execution traces. Our key insight is that program states expressed as sequential tuples of live variable values not only capture program semantics more precisely, but also offer a more natural fit for Recurrent Neural Networks to model. We evaluate different syntactic and semantic program embeddings on the task of classifying the types of errors that students make in their submissions to an introductory programming class and on the CodeHunt education platform. Our evaluation results show that the semantic program embeddings significantly outperform the syntactic program embeddings based on token sequences and abstract syntax trees. In addition, we augment a search-based program repair system with predictions made from our semantic embedding and demonstrate significantly improved search efficiency.

[EX A]:
A new way of learning semantic program embedding