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 find that while optimizing its reformulations to adapt to the language of the QA system, AQA diverges from well structured language in favour of less fluent, but more effective, classic information retrieval (IR) query operations. 
[A]: What is the difference in findings of Buck et al? It looks like the same conclusion was mentioned in Buck et al..


[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?


[Q]: While confirming the effectiveness of BT, our study also proposed significantly cheaper ways to improve the baseline performance, using a slightly modified copy of the target, instead of its full BT. 
[A]:
why are their techniques cheaper to implement?