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: 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.

A: What language is the experiment done in?
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Q: To test if the learned representations can separate phonetic categories, we use a minimal pair ABX discrimination task BIBREF19 , BIBREF20 . For the within-speaker task, all the phones triplets belong to the same speaker (e.g. $x$3 ) Finally the scores for every pair of central phones are averaged and subtracted from 1 to yield the reported within-talker ABX error rate. For the across-speaker task, $x$4 and $x$5 belong to the same speaker, and $x$6 to a different one (e.g. $x$7 ). The scores for a given minimal pair are first averaged across all of the pairs of speakers for which this contrast can be made. As above, the resulting scores are averaged over all contexts over all pairs of central phones and converted to an error rate.

A: What is the metric that is measures in this paper?
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Q: Table TABREF16 shows the recognition performance of naive multilingual approach using BLSTMP and VGG model against a monolingual model trained with BLSTMP. The results clearly indicate that having a better architecture such as VGG-BLSTM helps in improving multilingual performance. We used a character-level RNNLM, which was trained with 2-layer LSTM on character sequences.

A:
What architectures are explored to improve the seq2seq model?
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