Task: Question Answering
Input (English): We compare the performance of translation approaches based on four metrics:

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As in BIBREF20 , EM is 1 if a predicted plan matches exactly the ground truth; otherwise it is 0.

The harmonic average of the precision and recall over all the test set BIBREF26 .

The minimum number of insertions, deletions or swap operations required to transform a predicted sequence of behaviors into the ground truth sequence BIBREF27 .

GM is 1 if a predicted plan reaches the ground truth destination (even if the full sequence of behaviors does not match exactly the ground truth). Otherwise, GM is 0. 
 Question: What evaluation metrics are used?
Output (English): exact match, f1 score, edit distance and goal match