In this task, you will be presented with a context from an academic paper and a question separated with a 
. You have to answer the question based on the context.

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.  We created a new dataset for the problem of following navigation instructions under the behavioral navigation framework of BIBREF5 . This dataset was created using Amazon Mechanical Turk and 100 maps of simulated indoor environments, each with 6 to 65 rooms. To the best of our knowledge, this is the first benchmark for comparing translation models in the context of behavioral robot navigation.

As shown in Table TABREF16 , the dataset consists of 8066 pairs of free-form natural language instructions and navigation plans for training. This training data was collected from 88 unique simulated environments, totaling 6064 distinct navigation plans (2002 plans have two different navigation instructions each; the rest has one). The dataset contains two test set variants:

While the dataset was collected with simulated environments, no structure was imposed on the navigation instructions while crowd-sourcing data. Thus, many instructions in our dataset are ambiguous. Moreover, the order of the behaviors in the instructions is not always the same. For instance, a person said “turn right and advance” to describe part of a route, while another person said “go straight after turning right” in a similar situation. The high variability present in the natural language descriptions of our dataset makes the problem of decoding instructions into behaviors not trivial. See Appendix A of the supplementary material for additional details on our data collection effort.

 
 Question: How were the navigation instructions collected?
using Amazon Mechanical Turk using simulated environments with topological maps

We compare our HR-VAE model with three strong baselines using VAE for text modelling:

VAE-LSTM-base: A variational autoencoder model which uses LSTM for both encoder and decoder. KL annealing is used to tackled the latent variable collapse issue BIBREF0;

VAE-CNN: A variational autoencoder model with a LSTM encoder and a dilated CNN decoder BIBREF7;

vMF-VAE: A variational autoencoder model using LSTM for both encoder and decoder where the prior distribution is the von Mises-Fisher (vMF) distribution rather than a Gaussian distribution BIBREF5. 
 Question: Do they compare against state of the art text generation?
Yes

After Korektor, there are 4262 unique sentences (including 150 seed sentences) that form the COSTRA 1.0 dataset. 
 Question: How many sentence transformations on average are available per unique sentence in dataset?

27.41 transformation on average of single seed sentence is available in dataset.