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]: They can answer each question with either `yes', `rather yes', `rather no', or `no'. They can supplement each answer with a comment of at most 500 characters. 
 Question: What annotations are present in dataset?
[EX A]: answer each question with either `yes', `rather yes', `rather no', or `no'. can supplement each answer with a comment of at most 500 characters

[EX Q]: 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?
[EX A]: using Amazon Mechanical Turk using simulated environments with topological maps

[EX Q]: In order to decode spatial connections between the electrodes from the channel covariance matrix, we use a CNN BIBREF19 , in particular a four-layered 2D CNN stacking two convolutional and two fully connected hidden layers. The INLINEFORM0 feature map at a given CNN layer with input INLINEFORM1 , weight matrix INLINEFORM2 and bias INLINEFORM3 is obtained as: INLINEFORM4 . At this first level of hierarchy, the network is trained with the corresponding labels as target outputs, optimizing a cross-entropy cost function. In parallel, we apply a four-layered recurrent neural network on the channel covariance matrices to explore the hidden temporal features of the electrodes. Namely, we exploit an LSTM BIBREF20 consisting of two fully connected hidden layers, stacked with two LSTM layers and trained in a similar manner as CNN. 
 Question: How was the spatial aspect of the EEG signal computed?
[EX A]:
we use a CNN BIBREF19 , in particular a four-layered 2D CNN stacking two convolutional and two fully connected hidden layers.