You will be given a definition of a task first, then some input of the task.
In this task you will be given a passage and a yes/no question based on the passage. You should answer the question using the information from the passage.

passage: This is a list of all penalty shoot-outs that have occurred in the Finals tournament of the FIFA World Cup. Penalty shoot-outs were introduced as tie-breakers in the 1978 World Cup but did not occur before 1982. The first time a World Cup title was won by penalty shoot-out was in 1994. The only other time was in 2006. By the end of the 2018 edition, 30 shoot-outs have taken place in the World Cup. Of these, only two reached the sudden death stage after still being tied at the end of ''best of five kicks''.
question: has the world cup been won on penalties?
Output:
Yes