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.

[Q]: We conducted the human evaluation using Amazon Mechanical Turk to assess subjective quality. We recruit master level workers (who have good prior approval rates) to perform a human comparison between generated responses from two systems (which are randomly sampled from comparison systems). The workers are required to judge each utterance from 1 (bad) to 3 (good) in terms of informativeness and naturalness. Informativeness indicates the extent to which generated utterance contains all the information specified in the dialog act. Naturalness denotes whether the utterance is as natural as a human does. To reduce judgement bias, we distribute each question to three different workers. Finally, we collected in total of 5800 judges. 
 Question: What was the criteria for human evaluation?
[A]: to judge each utterance from 1 (bad) to 3 (good) in terms of informativeness and naturalness


[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. 
 Question: What simulations are performed by the authors to validate their approach?
[A]: a simulated binning task in which the robot is tasked to place a cube into a bowl as outlined by the verbal command


[Q]: The experimental results are shown in Table 1, where it can be seen that autoencoders outperformed MLP and CNN outperformed autoencoders with the highest achieved accuracy of 82.6%. 
 Question: What was their performance on the dataset?
[A]:
accuracy of 82.6%