Given the task definition, example input & output, solve the new input case.
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.
Example: Questions are gathered from anonymized, aggregated queries to the Google search engine. Queries that are likely to be yes/no questions are heuristically identified: we found selecting queries where the first word is in a manually constructed set of indicator words and are of sufficient length, to be effective.

Questions are only kept if a Wikipedia page is returned as one of the first five results, in which case the question and Wikipedia page are given to a human annotator for further processing.

Annotators label question/article pairs in a three-step process. First, they decide if the question is good, meaning it is comprehensible, unambiguous, and requesting factual information. This judgment is made before the annotator sees the Wikipedia page. Next, for good questions, annotators find a passage within the document that contains enough information to answer the question. Annotators can mark questions as "not answerable" if the Wikipedia article does not contain the requested information. Finally, annotators mark whether the question's answer is "yes" or "no". Annotating data in this manner is quite expensive since annotators need to search entire Wikipedia documents for relevant evidence and read the text carefully.
Output: how was the dataset built?
This is a good question, and it is answerable based on the context.

New input case for you: This dataset was collected through Mechanical Turk using 100 simulated environments with a corresponding topological map and, to the best of our knowledge, it is the first of its kind for behavioral navigation. We created a new dataset for the problem of following navigation instructions under the behavioral navigation framework of BIBREF5 . This dataset was created using Amazon Mechanical Turk and 100 maps of simulated indoor environments, each with 6 to 65 rooms. To the best of our knowledge, this is the first benchmark for comparing translation models in the context of behavioral robot navigation.

As shown in Table TABREF16 , the dataset consists of 8066 pairs of free-form natural language instructions and navigation plans for training. This training data was collected from 88 unique simulated environments, totaling 6064 distinct navigation plans (2002 plans have two different navigation instructions each; the rest has one). The dataset contains two test set variants:

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.

Output:
How were the navigation instructions collected?