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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?
using Amazon Mechanical Turk using simulated environments with topological maps

 Overall, this resulted in a total of 34,432 user conversations. Together, these users gave Gunrock an average rating of 3.65 (median: 4.0), which was elicited at the end of the conversation (“On a scale from 1 to 5 stars, how do you feel about talking to this socialbot again?"). 
 Question: What is the sample size of people used to measure user satisfaction?
34,432 user conversations

In addition, we propose a new standard experimental protocol for the IBM-UB-1 dataset BIBREF25 (Sec. SECREF50 ) to enable easier comparison between approaches in the future. The IAM-OnDB dataset BIBREF42 is probably the most used evaluation dataset for online handwriting recognition. It consists of 298 523 characters in 86 272 word instances from a dictionary of 11 059 words written by 221 writers. We use the standard IAM-OnDB dataset separation: one training set, two validations sets and a test set containing 5 363, 1 438, 1 518 and 3 859 written lines, respectively. We tune the decoder weights using the validation set with 1 438 items and report error rates on the test set. We provide an evaluation of our production system trained on our in-house datasets applied to a number of publicly available benchmark datasets from the literature. Note that for all experiments presented in this section we evaluate our current live system without any tuning specifec to the tasks at hand.

The ICDAR-2013 Competition for Online Handwriting Chinese Character Recognition BIBREF45 introduced a dataset for classifying the most common Chinese characters. We report the error rates in comparison to published results from the competition and more recent work done by others in Table TABREF56 . In the ICFHR2018 Competition on Vietnamese Online Handwritten Text Recognition using VNOnDB BIBREF50 , our production system was evaluated against other systems. The system used in the competition is the one reported and described in this paper. Due to licensing restrictions we were unable to do any experiments on the competition training data, or specific tuning for the competition, which was not the case for the other systems mentioned here. 
 Question: What datasets did they use?

IBM-UB-1 dataset BIBREF25 IAM-OnDB dataset BIBREF42 The ICDAR-2013 Competition for Online Handwriting Chinese Character Recognition BIBREF45 ICFHR2018 Competition on Vietnamese Online Handwritten Text Recognition using VNOnDB BIBREF50