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.

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?
a simulated binning task in which the robot is tasked to place a cube into a bowl as outlined by the verbal command

Validated transcripts were sent to professional translators. In order to control the quality of the professional translations, we applied various sanity checks to the translations BIBREF11. We also sanity check the overlaps of train, development and test sets in terms of transcripts and voice clips (via MD5 file hashing), and confirm they are totally disjoint. 
 Question: How is the quality of the data empirically evaluated? 
Validated transcripts were sent to professional translators. various sanity checks to the translations  sanity check the overlaps of train, development and test sets

In our method, we take an image as input and generate a natural question as output. The architecture for our model is shown in Figure FIGREF4 . Our model contains three main modules, (a) Representation Module that extracts multimodal features (b) Mixture Module that fuses the multimodal representation and (c) Decoder that generates question using an LSTM-based language model. 
 Question: How/where are the natural question generated?

Decoder that generates question using an LSTM-based language model