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.

Ex Input:
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.

Ex Output:
What simulations are performed by the authors to validate their approach?


Ex Input:
In order to derive the discourse features, an entity grid is constructed by feeding the document through an NLP pipeline to identify salient entities. Two flavors of discourse features are created by populating the entity grid with either (i) grammatical relations (GR) or (ii) RST discourse relations (RST).  Denoting a feature as such with INLINEFORM4 , we construct the pooling vector INLINEFORM5 for the char-bigrams, and concatenate INLINEFORM6 to INLINEFORM7 before feeding the resulting vector to the softmax layer.

Ex Output:
How are discourse features incorporated into the model?


Ex Input:
We adopt a DNN-based acoustic model BIBREF0 with 11 hidden layers and the alignment used to train the model is derived from a HMM-GMM model trained with SAT criterion.

Ex Output:

What are the deep learning architectures used in the task?