Task: Question Understanding
Input (English): This work also contributes a new dataset of INLINEFORM0 pairs of free-form natural language instructions and high-level navigation plans. This dataset was collected through Mechanical Turk using 100 simulated environments with a corresponding topological map and, to the best of our knowledge, it is the first of its kind for behavioral navigation.  
 Question: Did the authors use a crowdsourcing platform?
Output (English): Yes-no