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.

[EX Q]: These are four conjunctively written Nguni languages (zul, xho, nbl, ssw), Afrikaans (afr) and English (eng), three disjunctively written Sotho languages (nso, sot, tsn), as well as tshiVenda (ven) and Xitsonga (tso). The Nguni languages are similar to each other and harder to distinguish. The same is true of the Sotho languages. Similar languages are to each other are:
- Nguni languages: zul, xho, nbl, ssw
- Sotho languages: nso, sot, tsn 
 Question: Which languages are similar to each other?
[EX A]: Nguni languages (zul, xho, nbl, ssw) Sotho languages (nso, sot, tsn)

[EX Q]: We evaluate our model in a simulated binning task in which the robot is tasked to place a cube into a bowl as outlined by the verbal command. Each environment contains between three and five objects differentiated by their size (small, large), shape (round, square) and color (red, green, blue, yellow, pink), totalling in 20 different objects. Depending on the generated scenario, combinations of these three features are necessary to distinguish the targets from each other, allowing for tasks of varying complexity. 
 Question: What simulations are performed by the authors to validate their approach?
[EX A]: a simulated binning task in which the robot is tasked to place a cube into a bowl as outlined by the verbal command

[EX Q]: Our baseline is TransE since that the score function of our models is based on TransE. 
 Question: What baselines are used for comparison?
[EX A]:
TransE