Set I appears everywhere else, set II appears when:
- the pronoun refers to the topic of the same sentence
- the pronoun is in apposition with adjectives or another pronoun (serving a similar function as 'the' in the other or the red one in English)
- the pronoun can be construed to answer which one out of several options is specified.
- the pronoun is contrasted with some other NP or pronoun - they arrived, no one else did. If contrasted with another pronoun, the one to whom the contrast is considered a merit will be marked with set II.
- possibly other similar usages, but I am at a loss to come up with anything right now.
Finally, the pronouns of set II also work as relativizers: the man, his wife is beautiful, is worried about her fidelity. (A biblical proverb, iirc).
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