instruction:
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.
question:
Hence, the continuous relaxation to top-k-argmax operation can be simply implemented by iteratively using the max operation which is continuous and allows for gradient flow during backpropagation. 
 Question: Which loss metrics do they try in their new training procedure evaluated on the output of beam search?
answer:
 continuous relaxation to top-k-argmax


question:
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?
answer:
using Amazon Mechanical Turk using simulated environments with topological maps


question:
To create training data for unanswerable question generation, we use (plausible) answer spans in paragraphs as pivots to align pairs of answerable questions and unanswerable questions. In this way, we obtain the data with which the models can learn to ask unanswerable questions by editing answerable ones with word exchanges, negations, etc. 
 Question: How do they ensure the generated questions are unanswerable?
answer:

learn to ask unanswerable questions by editing answerable ones with word exchanges, negations, etc