In this task, you will be presented with a context from an academic paper and you have to write an answerable question based on the context. Your questions can be extractive, abstractive, or yes-no questions.

Q: This study assumes that a robot does not have any vocabularies in advance but can recognize syllables or phonemes.

A: Does their model start with any prior knowledge of words?
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Q: word embedding, input encoder, alignment, aggregation, and prediction

A: what is the architecture of the baseline model?
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Q: Compared to the in-context-parsing-based system, the combination with exact string matching yields a gain in recall of over 6%, and the combination with inflectional string matching yields an even bigger gain of almost 8%, at precision losses of 0.6% and 0.8%, respectively.

A:
What compleentary PIE extraction methods are used to increase reliability further?
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