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Embeddings for instructions have been shown to be essential for software reverse engineering and automated program analysis. However, due to the complexity of dependencies and inherent variability of instructions, instruction embeddings using models that are successful for natural language processing may not be effective. In this paper, we perform geometric analysis of instruction embeddings at the token level and instruction family level, showing much greater variability and leading to degraded performance on intrinsic analyses. Then we propose to use metric learning to improve the relationships among instructions using triplet loss. Our results on a large dataset of instruction groups shows significant improvements. We also provide a theoretical analysis of the instruction embeddings by looking at the BERT components and characteristics of inner-product matrices for attention in the transformer blocks. The code will be available publicly after the paper is accepted for publication. 

We present a new method to generate optimal grasps for brittle and fragile objects using a novel stressminimization (SM) metric. Our approach is designed for objects that are composed of homogeneous isotopic materials. Our SM metric measures the maximal resistible external wrenches that would not result in fractures in the target objects. In this paper, we propose methods to compute our new metric. We also use our SM metric to design optimal grasp planning algorithms. Finally, we compare the performance of our metric and conventional grasp metrics, including Q1, Q∞, QG11, QMSV , QV EW . Our experiments show that our SM metric takes into account the material characteristics and object shapes to indicate the fragile regions, where prior methods may not work well. We also show that the computational cost of our SM metric is on par with prior methods. Finally, we show that grasp planners guided by our metric can lower the probability of breaking target objects.