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: We cluster the embeddings with INLINEFORM0 -Means. 

A: How were the cluster extracted? 
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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.

A: What simulations are performed by the authors to validate their approach?
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Q: To fine-tune GPT2 for text generation, it is typical to concatenate the conditioning context $X = x_1 \ldots x_n$ and citing sentence $Y = y_1 \ldots y_m$ with a special separator token $\mho $. The abstract of each document is embedded into a single dense vector by averaging the contextualized embeddings provided by the SciBERT model of BIBREF11 and normalizing.

A:
Which baselines are explored?
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