CRApr 30, 2023
Constructing a Knowledge Graph from Textual Descriptions of Software Vulnerabilities in the National Vulnerability DatabaseAnders Mølmen Høst, Pierre Lison, Leon Moonen
Knowledge graphs have shown promise for several cybersecurity tasks, such as vulnerability assessment and threat analysis. In this work, we present a new method for constructing a vulnerability knowledge graph from information in the National Vulnerability Database (NVD). Our approach combines named entity recognition (NER), relation extraction (RE), and entity prediction using a combination of neural models, heuristic rules, and knowledge graph embeddings. We demonstrate how our method helps to fix missing entities in knowledge graphs used for cybersecurity and evaluate the performance.
CLMay 13, 2022
Bootstrapping Text Anonymization Models with Distant SupervisionAnthi Papadopoulou, Pierre Lison, Lilja Øvrelid et al.
We propose a novel method to bootstrap text anonymization models based on distant supervision. Instead of requiring manually labeled training data, the approach relies on a knowledge graph expressing the background information assumed to be publicly available about various individuals. This knowledge graph is employed to automatically annotate text documents including personal data about a subset of those individuals. More precisely, the method determines which text spans ought to be masked in order to guarantee $k$-anonymity, assuming an adversary with access to both the text documents and the background information expressed in the knowledge graph. The resulting collection of labeled documents is then used as training data to fine-tune a pre-trained language model for text anonymization. We illustrate this approach using a knowledge graph extracted from Wikidata and short biographical texts from Wikipedia. Evaluation results with a RoBERTa-based model and a manually annotated collection of 553 summaries showcase the potential of the approach, but also unveil a number of issues that may arise if the knowledge graph is noisy or incomplete. The results also illustrate that, contrary to most sequence labeling problems, the text anonymization task may admit several alternative solutions.
CLNov 23, 2022
GraphWOZ: Dialogue Management with Conversational Knowledge GraphsNicholas Thomas Walker, Stefan Ultes, Pierre Lison
We present a new approach to dialogue management using conversational knowledge graphs as core representation of the dialogue state. To this end, we introduce a new dataset, GraphWOZ, which comprises Wizard-of-Oz dialogues in which human participants interact with a robot acting as a receptionist. In contrast to most existing work on dialogue management, GraphWOZ relies on a dialogue state explicitly represented as a dynamic knowledge graph instead of a fixed set of slots. This graph is composed of a varying number of entities (such as individuals, places, events, utterances and mentions) and relations between them (such as persons being part of a group or attending an event). The graph is then regularly updated on the basis of new observations and system actions. GraphWOZ is released along with detailed manual annotations related to the user intents, system responses, and reference relations occurring in both user and system turns. Based on GraphWOZ, we present experimental results for two dialogue management tasks, namely conversational entity linking and response ranking. For conversational entity linking, we show how to connect utterance mentions to their corresponding entity in the knowledge graph with a neural model relying on a combination of both string and graph-based features. Response ranking is then performed by summarizing the relevant content of the graph into a text, which is concatenated with the dialogue history and employed as input to score possible responses to a given dialogue state.
CLOct 22, 2023
Neural Text Sanitization with Privacy Risk Indicators: An Empirical AnalysisAnthi Papadopoulou, Pierre Lison, Mark Anderson et al.
Text sanitization is the task of redacting a document to mask all occurrences of (direct or indirect) personal identifiers, with the goal of concealing the identity of the individual(s) referred in it. In this paper, we consider a two-step approach to text sanitization and provide a detailed analysis of its empirical performance on two recently published datasets: the Text Anonymization Benchmark (Pilán et al., 2022) and a collection of Wikipedia biographies (Papadopoulou et al., 2022). The text sanitization process starts with a privacy-oriented entity recognizer that seeks to determine the text spans expressing identifiable personal information. This privacy-oriented entity recognizer is trained by combining a standard named entity recognition model with a gazetteer populated by person-related terms extracted from Wikidata. The second step of the text sanitization process consists in assessing the privacy risk associated with each detected text span, either isolated or in combination with other text spans. We present five distinct indicators of the re-identification risk, respectively based on language model probabilities, text span classification, sequence labelling, perturbations, and web search. We provide a contrastive analysis of each privacy indicator and highlight their benefits and limitations, notably in relation to the available labeled data.
CLSep 27, 2023
Conversational Feedback in Scripted versus Spontaneous Dialogues: A Comparative AnalysisIldikó Pilán, Laurent Prévot, Hendrik Buschmeier et al.
Scripted dialogues such as movie and TV subtitles constitute a widespread source of training data for conversational NLP models. However, there are notable linguistic differences between these dialogues and spontaneous interactions, especially regarding the occurrence of communicative feedback such as backchannels, acknowledgments, or clarification requests. This paper presents a quantitative analysis of such feedback phenomena in both subtitles and spontaneous conversations. Based on conversational data spanning eight languages and multiple genres, we extract lexical statistics, classifications from a dialogue act tagger, expert annotations and labels derived from a fine-tuned Large Language Model (LLM). Our main empirical findings are that (1) communicative feedback is markedly less frequent in subtitles than in spontaneous dialogues and (2) subtitles contain a higher proportion of negative feedback. We also show that dialogues generated by standard LLMs lie much closer to scripted dialogues than spontaneous interactions in terms of communicative feedback.
AIMar 15, 2023
Who's in Charge? Roles and Responsibilities of Decision-Making Components in Conversational RobotsPierre Lison, Casey Kennington
Software architectures for conversational robots typically consist of multiple modules, each designed for a particular processing task or functionality. Some of these modules are developed for the purpose of making decisions about the next action that the robot ought to perform in the current context. Those actions may relate to physical movements, such as driving forward or grasping an object, but may also correspond to communicative acts, such as asking a question to the human user. In this position paper, we reflect on the organization of those decision modules in human-robot interaction platforms. We discuss the relative benefits and limitations of modular vs. end-to-end architectures, and argue that, despite the increasing popularity of end-to-end approaches, modular architectures remain preferable when developing conversational robots designed to execute complex tasks in collaboration with human users. We also show that most practical HRI architectures tend to be either robot-centric or dialogue-centric, depending on where developers wish to place the ``command center'' of their system. While those design choices may be justified in some application domains, they also limit the robot's ability to flexibly interleave physical movements and conversational behaviours. We contend that architectures placing ``action managers'' and ``interaction managers'' on an equal footing may provide the best path forward for future human-robot interaction systems.
CLOct 20, 2023
Retrieval-Augmented Neural Response Generation Using Logical Reasoning and Relevance ScoringNicholas Thomas Walker, Stefan Ultes, Pierre Lison
Constructing responses in task-oriented dialogue systems typically relies on information sources such the current dialogue state or external databases. This paper presents a novel approach to knowledge-grounded response generation that combines retrieval-augmented language models with logical reasoning. The approach revolves around a knowledge graph representing the current dialogue state and background information, and proceeds in three steps. The knowledge graph is first enriched with logically derived facts inferred using probabilistic logical programming. A neural model is then employed at each turn to score the conversational relevance of each node and edge of this extended graph. Finally, the elements with highest relevance scores are converted to a natural language form, and are integrated into the prompt for the neural conversational model employed to generate the system response. We investigate the benefits of the proposed approach on two datasets (KVRET and GraphWOZ) along with a human evaluation. Experimental results show that the combination of (probabilistic) logical reasoning with conversational relevance scoring does increase both the factuality and fluency of the responses.
RONov 3, 2023
A Graph-to-Text Approach to Knowledge-Grounded Response Generation in Human-Robot InteractionNicholas Thomas Walker, Stefan Ultes, Pierre Lison
Knowledge graphs are often used to represent structured information in a flexible and efficient manner, but their use in situated dialogue remains under-explored. This paper presents a novel conversational model for human--robot interaction that rests upon a graph-based representation of the dialogue state. The knowledge graph representing the dialogue state is continuously updated with new observations from the robot sensors, including linguistic, situated and multimodal inputs, and is further enriched by other modules, in particular for spatial understanding. The neural conversational model employed to respond to user utterances relies on a simple but effective graph-to-text mechanism that traverses the dialogue state graph and converts the traversals into a natural language form. This conversion of the state graph into text is performed using a set of parameterized functions, and the values for those parameters are optimized based on a small set of Wizard-of-Oz interactions. After this conversion, the text representation of the dialogue state graph is included as part of the prompt of a large language model used to decode the agent response. The proposed approach is empirically evaluated through a user study with a humanoid robot that acts as conversation partner to evaluate the impact of the graph-to-text mechanism on the response generation. After moving a robot along a tour of an indoor environment, participants interacted with the robot using spoken dialogue and evaluated how well the robot was able to answer questions about what the robot observed during the tour. User scores show a statistically significant improvement in the perceived factuality of the robot responses when the graph-to-text approach is employed, compared to a baseline using inputs structured as semantic triples.
CVAug 4, 2025Code
Following Route Instructions using Large Vision-Language Models: A Comparison between Low-level and Panoramic Action SpacesVebjørn Haug Kåsene, Pierre Lison
Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in this task, most current VLM systems rely on models specifically designed and optimized for navigation, leaving the potential of off-the-shelf LVLMs underexplored. Furthermore, while older VLN approaches used low-level action spaces with egocentric views and atomic actions (such as "turn left" or "move forward"), newer models tend to favor panoramic action spaces with discrete navigable viewpoints. This paper investigates (1) whether off-the-shelf LVLMs (fine-tuned without architectural modifications or simulator-based training) can effectively support VLN tasks and (2) whether such models can support both low-level and panoramic action paradigms. To this end, we fine-tune the open-source model Qwen2.5-VL-3B-Instruct on the Room-to-Room (R2R) dataset and evaluate its empirical performance across both low-level and panoramic action spaces. The best resulting model achieves a 41% success rate on the R2R test set, demonstrating that while off-the-shelf LVLMs can learn to perform Vision-and-Language Navigation, they still lag behind models specifically designed for this task.
CLJan 25, 2022Code
The Text Anonymization Benchmark (TAB): A Dedicated Corpus and Evaluation Framework for Text AnonymizationIldikó Pilán, Pierre Lison, Lilja Øvrelid et al.
We present a novel benchmark and associated evaluation metrics for assessing the performance of text anonymization methods. Text anonymization, defined as the task of editing a text document to prevent the disclosure of personal information, currently suffers from a shortage of privacy-oriented annotated text resources, making it difficult to properly evaluate the level of privacy protection offered by various anonymization methods. This paper presents TAB (Text Anonymization Benchmark), a new, open-source annotated corpus developed to address this shortage. The corpus comprises 1,268 English-language court cases from the European Court of Human Rights (ECHR) enriched with comprehensive annotations about the personal information appearing in each document, including their semantic category, identifier type, confidential attributes, and co-reference relations. Compared to previous work, the TAB corpus is designed to go beyond traditional de-identification (which is limited to the detection of predefined semantic categories), and explicitly marks which text spans ought to be masked in order to conceal the identity of the person to be protected. Along with presenting the corpus and its annotation layers, we also propose a set of evaluation metrics that are specifically tailored towards measuring the performance of text anonymization, both in terms of privacy protection and utility preservation. We illustrate the use of the benchmark and the proposed metrics by assessing the empirical performance of several baseline text anonymization models. The full corpus along with its privacy-oriented annotation guidelines, evaluation scripts and baseline models are available on: https://github.com/NorskRegnesentral/text-anonymisation-benchmark
CLApr 19, 2021Code
skweak: Weak Supervision Made Easy for NLPPierre Lison, Jeremy Barnes, Aliaksandr Hubin
We present skweak, a versatile, Python-based software toolkit enabling NLP developers to apply weak supervision to a wide range of NLP tasks. Weak supervision is an emerging machine learning paradigm based on a simple idea: instead of labelling data points by hand, we use labelling functions derived from domain knowledge to automatically obtain annotations for a given dataset. The resulting labels are then aggregated with a generative model that estimates the accuracy (and possible confusions) of each labelling function. The skweak toolkit makes it easy to implement a large spectrum of labelling functions (such as heuristics, gazetteers, neural models or linguistic constraints) on text data, apply them on a corpus, and aggregate their results in a fully unsupervised fashion. skweak is especially designed to facilitate the use of weak supervision for NLP tasks such as text classification and sequence labelling. We illustrate the use of skweak for NER and sentiment analysis. skweak is released under an open-source license and is available at: https://github.com/NorskRegnesentral/skweak
CLDec 17, 2024
Enhancing Naturalness in LLM-Generated Utterances through Disfluency InsertionSyed Zohaib Hassan, Pierre Lison, Pål Halvorsen
Disfluencies are a natural feature of spontaneous human speech but are typically absent from the outputs of Large Language Models (LLMs). This absence can diminish the perceived naturalness of synthesized speech, which is an important criteria when building conversational agents that aim to mimick human behaviours. We show how the insertion of disfluencies can alleviate this shortcoming. The proposed approach involves (1) fine-tuning an LLM with Low-Rank Adaptation (LoRA) to incorporate various types of disfluencies into LLM-generated utterances and (2) synthesizing those utterances using a text-to-speech model that supports the generation of speech phenomena such as disfluencies. We evaluated the quality of the generated speech across two metrics: intelligibility and perceived spontaneity. We demonstrate through a user study that the insertion of disfluencies significantly increase the perceived spontaneity of the generated speech. This increase came, however, along with a slight reduction in intelligibility.
CLMay 19, 2025
Re-identification of De-identified Documents with Autoregressive InfillingLucas Georges Gabriel Charpentier, Pierre Lison
Documents revealing sensitive information about individuals must typically be de-identified. This de-identification is often done by masking all mentions of personally identifiable information (PII), thereby making it more difficult to uncover the identity of the person(s) in question. To investigate the robustness of de-identification methods, we present a novel, RAG-inspired approach that attempts the reverse process of re-identification based on a database of documents representing background knowledge. Given a text in which personal identifiers have been masked, the re-identification proceeds in two steps. A retriever first selects from the background knowledge passages deemed relevant for the re-identification. Those passages are then provided to an infilling model which seeks to infer the original content of each text span. This process is repeated until all masked spans are replaced. We evaluate the re-identification on three datasets (Wikipedia biographies, court rulings and clinical notes). Results show that (1) as many as 80% of de-identified text spans can be successfully recovered and (2) the re-identification accuracy increases along with the level of background knowledge.
CLDec 17, 2024
Truthful Text Sanitization Guided by Inference AttacksIldikó Pilán, Benet Manzanares-Salor, David Sánchez et al.
Text sanitization aims to rewrite parts of a document to prevent disclosure of personal information. The central challenge of text sanitization is to strike a balance between privacy protection (avoiding the leakage of personal information) and utility preservation (retaining as much as possible of the document's original content). To this end, we introduce a novel text sanitization method based on generalizations, that is, broader but still informative terms that subsume the semantic content of the original text spans. The approach relies on the use of instruction-tuned large language models (LLMs) and is divided into two stages. Given a document including text spans expressing personally identifiable information (PII), the LLM is first applied to obtain truth-preserving replacement candidates for each text span and rank those according to their abstraction level. Those candidates are then evaluated for their ability to protect privacy by conducting inference attacks with the LLM. Finally, the system selects the most informative replacement candidate shown to be resistant to those attacks. This two-stage process produces replacements that effectively balance privacy and utility. We also present novel metrics to evaluate these two aspects without needing to manually annotate documents. Results on the Text Anonymization Benchmark show that the proposed approach, implemented with Mistral 7B Instruct, leads to enhanced utility, with only a marginal (< 1 p.p.) increase in re-identification risk compared to fully suppressing the original spans. Furthermore, our approach is shown to be more truth-preserving than existing methods such as Microsoft Presidio's synthetic replacements.
CLOct 28, 2025
Evaluating LLMs on Generating Age-Appropriate Child-Like ConversationsSyed Zohaib Hassan, Pål Halvorsen, Miriam S. Johnson et al.
Large Language Models (LLMs), predominantly trained on adult conversational data, face significant challenges when generating authentic, child-like dialogue for specialized applications. We present a comparative study evaluating five different LLMs (GPT-4, RUTER-LLAMA-2-13b, GPTSW, NorMistral-7b, and NorBloom-7b) to generate age-appropriate Norwegian conversations for children aged 5 and 9 years. Through a blind evaluation by eleven education professionals using both real child interview data and LLM-generated text samples, we assessed authenticity and developmental appropriateness. Our results show that evaluators achieved strong inter-rater reliability (ICC=0.75) and demonstrated higher accuracy in age prediction for younger children (5-year-olds) compared to older children (9-year-olds). While GPT-4 and NorBloom-7b performed relatively well, most models generated language perceived as more linguistically advanced than the target age groups. These findings highlight critical data-related challenges in developing LLM systems for specialized applications involving children, particularly in low-resource languages where comprehensive age-appropriate lexical resources are scarce.
CLOct 10, 2025
Stronger Re-identification Attacks through Reasoning and AggregationLucas Georges Gabriel Charpentier, Pierre Lison
Text de-identification techniques are often used to mask personally identifiable information (PII) from documents. Their ability to conceal the identity of the individuals mentioned in a text is, however, hard to measure. Recent work has shown how the robustness of de-identification methods could be assessed by attempting the reverse process of _re-identification_, based on an automated adversary using its background knowledge to uncover the PIIs that have been masked. This paper presents two complementary strategies to build stronger re-identification attacks. We first show that (1) the _order_ in which the PII spans are re-identified matters, and that aggregating predictions across multiple orderings leads to improved results. We also find that (2) reasoning models can boost the re-identification performance, especially when the adversary is assumed to have access to extensive background knowledge.
CLOct 7, 2025
Protecting De-identified Documents from Search-based Linkage AttacksPierre Lison, Mark Anderson
While de-identification models can help conceal the identity of the individual(s) mentioned in a document, they fail to address linkage risks, defined as the potential to map the de-identified text back to its source. One straightforward way to perform such linkages is to extract phrases from the de-identified document and then check their presence in the original dataset. This paper presents a method to counter search-based linkage attacks while preserving the semantic integrity of the text. The method proceeds in two steps. We first construct an inverted index of the N-grams occurring in the document collection, making it possible to efficiently determine which N-grams appear in less than $k$ documents (either alone or in combination with other N-grams). An LLM-based rewriter is then iteratively queried to reformulate those spans until linkage is no longer possible. Experimental results on a collection of court cases show that the method is able to effectively prevent search-based linkages while remaining faithful to the original content.
CRAug 25, 2025
A Systematic Approach to Predict the Impact of Cybersecurity Vulnerabilities Using LLMsAnders Mølmen Høst, Pierre Lison, Leon Moonen
Vulnerability databases, such as the National Vulnerability Database (NVD), offer detailed descriptions of Common Vulnerabilities and Exposures (CVEs), but often lack information on their real-world impact, such as the tactics, techniques, and procedures (TTPs) that adversaries may use to exploit the vulnerability. However, manually linking CVEs to their corresponding TTPs is a challenging and time-consuming task, and the high volume of new vulnerabilities published annually makes automated support desirable. This paper introduces TRIAGE, a two-pronged automated approach that uses Large Language Models (LLMs) to map CVEs to relevant techniques from the ATT&CK knowledge base. We first prompt an LLM with instructions based on MITRE's CVE Mapping Methodology to predict an initial list of techniques. This list is then combined with the results from a second LLM-based module that uses in-context learning to map a CVE to relevant techniques. This hybrid approach strategically combines rule-based reasoning with data-driven inference. Our evaluation reveals that in-context learning outperforms the individual mapping methods, and the hybrid approach improves recall of exploitation techniques. We also find that GPT-4o-mini performs better than Llama3.3-70B on this task. Overall, our results show that LLMs can be used to automatically predict the impact of cybersecurity vulnerabilities and TRIAGE makes the process of mapping CVEs to ATT&CK more efficient. A replication package is available for download from https://doi.org/10.5281/zenodo.17341503. Keywords: vulnerability impact, CVE, ATT&CK techniques, large language models, automated mapping.
CLJan 1, 2025
Prior Lessons of Incremental Dialogue and Robot Action Management for the Age of Language ModelsCasey Kennington, Pierre Lison, David Schlangen
Efforts towards endowing robots with the ability to speak have benefited from recent advancements in natural language processing, in particular large language models. However, current language models are not fully incremental, as their processing is inherently monotonic and thus lack the ability to revise their interpretations or output in light of newer observations. This monotonicity has important implications for the development of dialogue systems for human--robot interaction. In this paper, we review the literature on interactive systems that operate incrementally (i.e., at the word level or below it). We motivate the need for incremental systems, survey incremental modeling of important aspects of dialogue like speech recognition and language generation. Primary focus is on the part of the system that makes decisions, known as the dialogue manager. We find that there is very little research on incremental dialogue management, offer some requirements for practical incremental dialogue management, and the implications of incremental dialogue for embodied, robotic platforms in the age of large language models.
CLApr 30, 2020
Named Entity Recognition without Labelled Data: A Weak Supervision ApproachPierre Lison, Aliaksandr Hubin, Jeremy Barnes et al.
Named Entity Recognition (NER) performance often degrades rapidly when applied to target domains that differ from the texts observed during training. When in-domain labelled data is available, transfer learning techniques can be used to adapt existing NER models to the target domain. But what should one do when there is no hand-labelled data for the target domain? This paper presents a simple but powerful approach to learn NER models in the absence of labelled data through weak supervision. The approach relies on a broad spectrum of labelling functions to automatically annotate texts from the target domain. These annotations are then merged together using a hidden Markov model which captures the varying accuracies and confusions of the labelling functions. A sequence labelling model can finally be trained on the basis of this unified annotation. We evaluate the approach on two English datasets (CoNLL 2003 and news articles from Reuters and Bloomberg) and demonstrate an improvement of about 7 percentage points in entity-level $F_1$ scores compared to an out-of-domain neural NER model.
CRSep 20, 2017
Automatic Detection of Malware-Generated Domains with Recurrent Neural ModelsPierre Lison, Vasileios Mavroeidis
Modern malware families often rely on domain-generation algorithms (DGAs) to determine rendezvous points to their command-and-control server. Traditional defence strategies (such as blacklisting domains or IP addresses) are inadequate against such techniques due to the large and continuously changing list of domains produced by these algorithms. This paper demonstrates that a machine learning approach based on recurrent neural networks is able to detect domain names generated by DGAs with high precision. The neural models are estimated on a large training set of domains generated by various malwares. Experimental results show that this data-driven approach can detect malware-generated domain names with a F_1 score of 0.971. To put it differently, the model can automatically detect 93 % of malware-generated domain names for a false positive rate of 1:100.
CLApr 28, 2017
Not All Dialogues are Created Equal: Instance Weighting for Neural Conversational ModelsPierre Lison, Serge Bibauw
Neural conversational models require substantial amounts of dialogue data for their parameter estimation and are therefore usually learned on large corpora such as chat forums or movie subtitles. These corpora are, however, often challenging to work with, notably due to their frequent lack of turn segmentation and the presence of multiple references external to the dialogue itself. This paper shows that these challenges can be mitigated by adding a weighting model into the architecture. The weighting model, which is itself estimated from dialogue data, associates each training example to a numerical weight that reflects its intrinsic quality for dialogue modelling. At training time, these sample weights are included into the empirical loss to be minimised. Evaluation results on retrieval-based models trained on movie and TV subtitles demonstrate that the inclusion of such a weighting model improves the model performance on unsupervised metrics.
CLApr 19, 2017
Redefining Context Windows for Word Embedding Models: An Experimental StudyPierre Lison, Andrey Kutuzov
Distributional semantic models learn vector representations of words through the contexts they occur in. Although the choice of context (which often takes the form of a sliding window) has a direct influence on the resulting embeddings, the exact role of this model component is still not fully understood. This paper presents a systematic analysis of context windows based on a set of four distinct hyper-parameters. We train continuous Skip-Gram models on two English-language corpora for various combinations of these hyper-parameters, and evaluate them on both lexical similarity and analogy tasks. Notable experimental results are the positive impact of cross-sentential contexts and the surprisingly good performance of right-context windows.
AIApr 5, 2013
Model-based Bayesian Reinforcement Learning for Dialogue ManagementPierre Lison
Reinforcement learning methods are increasingly used to optimise dialogue policies from experience. Most current techniques are model-free: they directly estimate the utility of various actions, without explicit model of the interaction dynamics. In this paper, we investigate an alternative strategy grounded in model-based Bayesian reinforcement learning. Bayesian inference is used to maintain a posterior distribution over the model parameters, reflecting the model uncertainty. This parameter distribution is gradually refined as more data is collected and simultaneously used to plan the agent's actions. Within this learning framework, we carried out experiments with two alternative formalisations of the transition model, one encoded with standard multinomial distributions, and one structured with probabilistic rules. We demonstrate the potential of our approach with empirical results on a user simulator constructed from Wizard-of-Oz data in a human-robot interaction scenario. The results illustrate in particular the benefits of capturing prior domain knowledge with high-level rules.