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 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]: The average classification accuracy results are summarised in Table TABREF9.
[A]: What evaluation metric is used?


[Q]: To control the quality, we ensured that a single annotator annotates maximum 120 headlines (this protects the annotators from reading too many news headlines and from dominating the annotations). Secondly, we let only annotators who geographically reside in the U.S. contribute to the task.

We test the annotators on a set of $1,100$ test questions for the first phase (about 10% of the data) and 500 for the second phase. Annotators were required to pass 95%.
[A]:
How is quality of annotation measured?