id	sid	tid	token	lemma	pos
ajst-26743	1	1	academic	academic	ADJ
ajst-26743	1	2	journal	journal	NOUN
ajst-26743	1	3	of	of	ADP
ajst-26743	1	4	science	science	NOUN
ajst-26743	1	5	and	and	CCONJ
ajst-26743	1	6	technology	technology	NOUN
ajst-26743	1	7	issn	issn	NOUN
ajst-26743	1	8	:	:	PUNCT
ajst-26743	1	9	2771	2771	NUM
ajst-26743	1	10	-	-	SYM
ajst-26743	1	11	3032	3032	NUM
ajst-26743	1	12	|	|	NOUN
ajst-26743	1	13	vol	vol	NOUN
ajst-26743	1	14	.	.	PROPN
ajst-26743	1	15	13	13	NUM
ajst-26743	1	16	,	,	PUNCT
ajst-26743	1	17	no	no	INTJ
ajst-26743	1	18	.	.	NOUN
ajst-26743	1	19	1	1	NUM
ajst-26743	1	20	,	,	PUNCT
ajst-26743	1	21	2024	2024	NUM
ajst-26743	1	22	43	43	NUM
ajst-26743	1	23	developing	develop	VERB
ajst-26743	1	24	path	path	NOUN
ajst-26743	1	25	planning	planning	NOUN
ajst-26743	1	26	with	with	ADP
ajst-26743	1	27	behavioral	behavioral	ADJ
ajst-26743	1	28	cloning	cloning	NOUN
ajst-26743	1	29	and	and	CCONJ
ajst-26743	1	30	proximal	proximal	ADJ
ajst-26743	1	31	policy	policy	NOUN
ajst-26743	1	32	optimization	optimization	NOUN
ajst-26743	1	33	for	for	ADP
ajst-26743	1	34	path‐tracking	path‐tracking	NOUN
ajst-26743	1	35	and	and	CCONJ
ajst-26743	1	36	static	static	ADJ
ajst-26743	1	37	obstacle	obstacle	NOUN
ajst-26743	1	38	nudging	nudge	VERB
ajst-26743	1	39	mingyan	mingyan	NOUN
ajst-26743	1	40	zhou1	zhou1	NOUN
ajst-26743	1	41	,	,	PUNCT
ajst-26743	1	42	biao	biao	PROPN
ajst-26743	1	43	wang1	wang1	PROPN
ajst-26743	1	44	,	,	PUNCT
ajst-26743	1	45	tian	tian	ADJ
ajst-26743	1	46	tan1	tan1	PROPN
ajst-26743	1	47	,	,	PUNCT
ajst-26743	1	48	xiatao	xiatao	PROPN
ajst-26743	1	49	sun2	sun2	VERB
ajst-26743	1	50	1university	1university	NUM
ajst-26743	1	51	of	of	ADP
ajst-26743	1	52	pennsylvania	pennsylvania	PROPN
ajst-26743	1	53	,	,	PUNCT
ajst-26743	1	54	philadelphia	philadelphia	PROPN
ajst-26743	1	55	,	,	PUNCT
ajst-26743	1	56	pa	pa	PROPN
ajst-26743	1	57	19104	19104	NUM
ajst-26743	1	58	,	,	PUNCT
ajst-26743	1	59	usa	usa	PROPN
ajst-26743	1	60	2yale	2yale	PROPN
ajst-26743	1	61	university	university	NOUN
ajst-26743	1	62	,	,	PUNCT
ajst-26743	1	63	new	new	ADJ
ajst-26743	1	64	haven	haven	NOUN
ajst-26743	1	65	,	,	PUNCT
ajst-26743	1	66	ct	ct	PROPN
ajst-26743	1	67	06510	06510	NUM
ajst-26743	1	68	,	,	PUNCT
ajst-26743	1	69	usa	usa	PROPN
ajst-26743	1	70	abstract	abstract	NOUN
ajst-26743	1	71	:	:	PUNCT
ajst-26743	1	72	in	in	ADP
ajst-26743	1	73	autonomous	autonomous	ADJ
ajst-26743	1	74	driving	driving	NOUN
ajst-26743	1	75	,	,	PUNCT
ajst-26743	1	76	end	end	NOUN
ajst-26743	1	77	-	-	PUNCT
ajst-26743	1	78	to	to	ADP
ajst-26743	1	79	-	-	PUNCT
ajst-26743	1	80	end	end	NOUN
ajst-26743	1	81	methods	method	NOUN
ajst-26743	1	82	utilizing	utilize	VERB
ajst-26743	1	83	imitation	imitation	NOUN
ajst-26743	1	84	learning	learning	NOUN
ajst-26743	1	85	(	(	PUNCT
ajst-26743	1	86	il	il	PROPN
ajst-26743	1	87	)	)	PUNCT
ajst-26743	1	88	and	and	CCONJ
ajst-26743	1	89	reinforcement	reinforcement	NOUN
ajst-26743	1	90	learning	learning	NOUN
ajst-26743	1	91	(	(	PUNCT
ajst-26743	1	92	rl	rl	NOUN
ajst-26743	1	93	)	)	PUNCT
ajst-26743	1	94	are	be	AUX
ajst-26743	1	95	becoming	become	VERB
ajst-26743	1	96	more	more	ADV
ajst-26743	1	97	and	and	CCONJ
ajst-26743	1	98	more	more	ADV
ajst-26743	1	99	common	common	ADJ
ajst-26743	1	100	.	.	PUNCT
ajst-26743	2	1	however	however	ADV
ajst-26743	2	2	,	,	PUNCT
ajst-26743	2	3	they	they	PRON
ajst-26743	2	4	do	do	AUX
ajst-26743	2	5	not	not	PART
ajst-26743	2	6	involve	involve	VERB
ajst-26743	2	7	explicit	explicit	ADJ
ajst-26743	2	8	reasoning	reasoning	NOUN
ajst-26743	2	9	like	like	ADP
ajst-26743	2	10	classic	classic	ADJ
ajst-26743	2	11	robotics	robotic	NOUN
ajst-26743	2	12	workflow	workflow	NOUN
ajst-26743	2	13	and	and	CCONJ
ajst-26743	2	14	planning	planning	NOUN
ajst-26743	2	15	with	with	ADP
ajst-26743	2	16	horizons	horizon	NOUN
ajst-26743	2	17	,	,	PUNCT
ajst-26743	2	18	resulting	result	VERB
ajst-26743	2	19	in	in	ADP
ajst-26743	2	20	strategies	strategy	NOUN
ajst-26743	2	21	implicit	implicit	ADJ
ajst-26743	2	22	and	and	CCONJ
ajst-26743	2	23	myopic	myopic	ADJ
ajst-26743	2	24	.	.	PUNCT
ajst-26743	3	1	in	in	ADP
ajst-26743	3	2	this	this	DET
ajst-26743	3	3	paper	paper	NOUN
ajst-26743	3	4	,	,	PUNCT
ajst-26743	3	5	we	we	PRON
ajst-26743	3	6	introduce	introduce	VERB
ajst-26743	3	7	a	a	DET
ajst-26743	3	8	path	path	NOUN
ajst-26743	3	9	planning	planning	NOUN
ajst-26743	3	10	method	method	NOUN
ajst-26743	3	11	that	that	PRON
ajst-26743	3	12	uses	use	VERB
ajst-26743	3	13	behavioral	behavioral	ADJ
ajst-26743	3	14	cloning	cloning	NOUN
ajst-26743	3	15	(	(	PUNCT
ajst-26743	3	16	bc	bc	PROPN
ajst-26743	3	17	)	)	PUNCT
ajst-26743	3	18	for	for	ADP
ajst-26743	3	19	path	path	NOUN
ajst-26743	3	20	-	-	PUNCT
ajst-26743	3	21	tracking	track	VERB
ajst-26743	3	22	and	and	CCONJ
ajst-26743	3	23	proximal	proximal	ADJ
ajst-26743	3	24	policy	policy	NOUN
ajst-26743	3	25	optimization	optimization	NOUN
ajst-26743	3	26	(	(	PUNCT
ajst-26743	3	27	ppo	ppo	PROPN
ajst-26743	3	28	)	)	PUNCT
ajst-26743	3	29	for	for	ADP
ajst-26743	3	30	static	static	ADJ
ajst-26743	3	31	obstacle	obstacle	NOUN
ajst-26743	3	32	nudging	nudge	VERB
ajst-26743	3	33	.	.	PUNCT
ajst-26743	4	1	it	it	PRON
ajst-26743	4	2	outputs	output	VERB
ajst-26743	4	3	lateral	lateral	ADJ
ajst-26743	4	4	offset	offset	NOUN
ajst-26743	4	5	values	value	NOUN
ajst-26743	4	6	to	to	PART
ajst-26743	4	7	adjust	adjust	VERB
ajst-26743	4	8	the	the	DET
ajst-26743	4	9	given	give	VERB
ajst-26743	4	10	reference	reference	NOUN
ajst-26743	4	11	waypoints	waypoint	NOUN
ajst-26743	4	12	and	and	CCONJ
ajst-26743	4	13	performs	perform	VERB
ajst-26743	4	14	modified	modify	VERB
ajst-26743	4	15	path	path	NOUN
ajst-26743	4	16	for	for	ADP
ajst-26743	4	17	different	different	ADJ
ajst-26743	4	18	controllers	controller	NOUN
ajst-26743	4	19	.	.	PUNCT
ajst-26743	5	1	experimental	experimental	ADJ
ajst-26743	5	2	results	result	NOUN
ajst-26743	5	3	show	show	VERB
ajst-26743	5	4	that	that	SCONJ
ajst-26743	5	5	the	the	DET
ajst-26743	5	6	algorithm	algorithm	NOUN
ajst-26743	5	7	can	can	AUX
ajst-26743	5	8	do	do	VERB
ajst-26743	5	9	path	path	NOUN
ajst-26743	5	10	following	follow	VERB
ajst-26743	5	11	that	that	PRON
ajst-26743	5	12	mimics	mimic	VERB
ajst-26743	5	13	the	the	DET
ajst-26743	5	14	expert	expert	ADJ
ajst-26743	5	15	performance	performance	NOUN
ajst-26743	5	16	of	of	ADP
ajst-26743	5	17	path	path	NOUN
ajst-26743	5	18	-	-	PUNCT
ajst-26743	5	19	tracking	track	VERB
ajst-26743	5	20	controllers	controller	NOUN
ajst-26743	5	21	,	,	PUNCT
ajst-26743	5	22	and	and	CCONJ
ajst-26743	5	23	avoid	avoid	VERB
ajst-26743	5	24	collision	collision	NOUN
ajst-26743	5	25	to	to	ADP
ajst-26743	5	26	fixed	fix	VERB
ajst-26743	5	27	obstacles	obstacle	NOUN
ajst-26743	5	28	.	.	PUNCT
ajst-26743	6	1	the	the	DET
ajst-26743	6	2	method	method	NOUN
ajst-26743	6	3	makes	make	VERB
ajst-26743	6	4	a	a	DET
ajst-26743	6	5	good	good	ADJ
ajst-26743	6	6	attempt	attempt	NOUN
ajst-26743	6	7	at	at	ADP
ajst-26743	6	8	planning	plan	VERB
ajst-26743	6	9	with	with	ADP
ajst-26743	6	10	learning	learning	NOUN
ajst-26743	6	11	-	-	PUNCT
ajst-26743	6	12	based	base	VERB
ajst-26743	6	13	methods	method	NOUN
ajst-26743	6	14	in	in	ADP
ajst-26743	6	15	path	path	NOUN
ajst-26743	6	16	planning	planning	NOUN
ajst-26743	6	17	problems	problem	NOUN
ajst-26743	6	18	of	of	ADP
ajst-26743	6	19	autonomous	autonomous	ADJ
ajst-26743	6	20	driving	driving	NOUN
ajst-26743	6	21	.	.	PUNCT
ajst-26743	7	1	keywords	keyword	NOUN
ajst-26743	7	2	:	:	PUNCT
ajst-26743	7	3	autonomous	autonomous	ADJ
ajst-26743	7	4	driving	driving	NOUN
ajst-26743	7	5	,	,	PUNCT
ajst-26743	7	6	path	path	NOUN
ajst-26743	7	7	planning	planning	NOUN
ajst-26743	7	8	,	,	PUNCT
ajst-26743	7	9	path	path	NOUN
ajst-26743	7	10	-	-	PUNCT
ajst-26743	7	11	tracking	tracking	NOUN
ajst-26743	7	12	,	,	PUNCT
ajst-26743	7	13	nudging	nudging	NOUN
ajst-26743	7	14	.	.	PUNCT
ajst-26743	8	1	1	1	X
ajst-26743	8	2	.	.	X
ajst-26743	8	3	introduction	introduction	NOUN
ajst-26743	8	4	reinforcement	reinforcement	NOUN
ajst-26743	8	5	learning	learning	NOUN
ajst-26743	8	6	(	(	PUNCT
ajst-26743	8	7	rl	rl	NOUN
ajst-26743	8	8	)	)	PUNCT
ajst-26743	8	9	and	and	CCONJ
ajst-26743	8	10	imitation	imitation	NOUN
ajst-26743	8	11	learning	learning	NOUN
ajst-26743	8	12	(	(	PUNCT
ajst-26743	8	13	il	il	PROPN
ajst-26743	8	14	)	)	PUNCT
ajst-26743	8	15	has	have	AUX
ajst-26743	8	16	become	become	VERB
ajst-26743	8	17	more	more	ADV
ajst-26743	8	18	and	and	CCONJ
ajst-26743	8	19	more	more	ADV
ajst-26743	8	20	popular	popular	ADJ
ajst-26743	8	21	in	in	ADP
ajst-26743	8	22	the	the	DET
ajst-26743	8	23	field	field	NOUN
ajst-26743	8	24	of	of	ADP
ajst-26743	8	25	robotics	robotic	NOUN
ajst-26743	8	26	.	.	PUNCT
ajst-26743	9	1	rl	rl	PROPN
ajst-26743	9	2	is	be	AUX
ajst-26743	9	3	a	a	DET
ajst-26743	9	4	machine	machine	NOUN
ajst-26743	9	5	learning	learning	NOUN
ajst-26743	9	6	paradigm	paradigm	NOUN
ajst-26743	9	7	in	in	ADP
ajst-26743	9	8	which	which	PRON
ajst-26743	9	9	an	an	DET
ajst-26743	9	10	agent	agent	NOUN
ajst-26743	9	11	progressively	progressively	ADV
ajst-26743	9	12	learns	learn	VERB
ajst-26743	9	13	optimal	optimal	ADJ
ajst-26743	9	14	decision	decision	NOUN
ajst-26743	9	15	-	-	PUNCT
ajst-26743	9	16	making	making	NOUN
ajst-26743	9	17	strategies	strategy	NOUN
ajst-26743	9	18	through	through	ADP
ajst-26743	9	19	repeated	repeat	VERB
ajst-26743	9	20	interactions	interaction	NOUN
ajst-26743	9	21	with	with	ADP
ajst-26743	9	22	its	its	PRON
ajst-26743	9	23	environment	environment	NOUN
ajst-26743	9	24	.	.	PUNCT
ajst-26743	10	1	it	it	PRON
ajst-26743	10	2	has	have	AUX
ajst-26743	10	3	been	be	AUX
ajst-26743	10	4	improved	improve	VERB
ajst-26743	10	5	significantly	significantly	ADV
ajst-26743	10	6	in	in	ADP
ajst-26743	10	7	recent	recent	ADJ
ajst-26743	10	8	years	year	NOUN
ajst-26743	10	9	,	,	PUNCT
ajst-26743	10	10	from	from	ADP
ajst-26743	10	11	vanilla	vanilla	NOUN
ajst-26743	10	12	policy	policy	NOUN
ajst-26743	10	13	gradient	gradient	NOUN
ajst-26743	10	14	(	(	PUNCT
ajst-26743	10	15	vpg	vpg	NOUN
ajst-26743	10	16	)	)	PUNCT
ajst-26743	11	1	[	[	X
ajst-26743	11	2	1	1	X
ajst-26743	11	3	]	]	PUNCT
ajst-26743	11	4	to	to	ADP
ajst-26743	11	5	most	most	ADV
ajst-26743	11	6	widely	widely	ADV
ajst-26743	11	7	-	-	PUNCT
ajst-26743	11	8	used	use	VERB
ajst-26743	11	9	rl	rl	NOUN
ajst-26743	11	10	method	method	NOUN
ajst-26743	11	11	,	,	PUNCT
ajst-26743	11	12	proximal	proximal	ADJ
ajst-26743	11	13	policy	policy	NOUN
ajst-26743	11	14	optimization	optimization	NOUN
ajst-26743	11	15	(	(	PUNCT
ajst-26743	11	16	ppo	ppo	PROPN
ajst-26743	11	17	)	)	PUNCT
ajst-26743	12	1	[	[	X
ajst-26743	12	2	2	2	NUM
ajst-26743	12	3	]	]	PUNCT
ajst-26743	12	4	.	.	PUNCT
ajst-26743	13	1	imitation	imitation	NOUN
ajst-26743	13	2	learning	learn	VERB
ajst-26743	13	3	(	(	PUNCT
ajst-26743	13	4	il	il	PROPN
ajst-26743	13	5	)	)	PUNCT
ajst-26743	13	6	involves	involve	VERB
ajst-26743	13	7	training	train	VERB
ajst-26743	13	8	an	an	DET
ajst-26743	13	9	agent	agent	NOUN
ajst-26743	13	10	to	to	PART
ajst-26743	13	11	replicate	replicate	VERB
ajst-26743	13	12	behaviors	behavior	NOUN
ajst-26743	13	13	from	from	ADP
ajst-26743	13	14	expert	expert	ADJ
ajst-26743	13	15	demonstrations	demonstration	NOUN
ajst-26743	13	16	[	[	X
ajst-26743	13	17	3	3	X
ajst-26743	13	18	]	]	PUNCT
ajst-26743	13	19	rather	rather	ADV
ajst-26743	13	20	than	than	ADP
ajst-26743	13	21	learning	learn	VERB
ajst-26743	13	22	through	through	ADP
ajst-26743	13	23	direct	direct	ADJ
ajst-26743	13	24	interaction	interaction	NOUN
ajst-26743	13	25	with	with	ADP
ajst-26743	13	26	the	the	DET
ajst-26743	13	27	environment	environment	NOUN
ajst-26743	13	28	.	.	PUNCT
ajst-26743	14	1	behavioral	behavioral	ADJ
ajst-26743	14	2	cloning	cloning	NOUN
ajst-26743	14	3	(	(	PUNCT
ajst-26743	14	4	bc	bc	PROPN
ajst-26743	14	5	)	)	PUNCT
ajst-26743	14	6	,	,	PUNCT
ajst-26743	14	7	a	a	DET
ajst-26743	14	8	foundational	foundational	ADJ
ajst-26743	14	9	il	il	PROPN
ajst-26743	14	10	method	method	NOUN
ajst-26743	14	11	,	,	PUNCT
ajst-26743	14	12	was	be	AUX
ajst-26743	14	13	initially	initially	ADV
ajst-26743	14	14	introduced	introduce	VERB
ajst-26743	14	15	by	by	ADP
ajst-26743	14	16	[	[	X
ajst-26743	14	17	4	4	X
ajst-26743	14	18	]	]	PUNCT
ajst-26743	14	19	using	use	VERB
ajst-26743	14	20	a	a	DET
ajst-26743	14	21	supervised	supervised	ADJ
ajst-26743	14	22	learning	learning	NOUN
ajst-26743	14	23	framework	framework	NOUN
ajst-26743	14	24	.	.	PUNCT
ajst-26743	15	1	beyond	beyond	ADP
ajst-26743	15	2	theoretical	theoretical	ADJ
ajst-26743	15	3	developments	development	NOUN
ajst-26743	15	4	,	,	PUNCT
ajst-26743	15	5	numerous	numerous	ADJ
ajst-26743	15	6	robotics	robotic	NOUN
ajst-26743	15	7	applications	application	NOUN
ajst-26743	15	8	have	have	AUX
ajst-26743	15	9	demonstrated	demonstrate	VERB
ajst-26743	15	10	the	the	DET
ajst-26743	15	11	effectiveness	effectiveness	NOUN
ajst-26743	15	12	of	of	ADP
ajst-26743	15	13	both	both	DET
ajst-26743	15	14	rl	rl	X
ajst-26743	15	15	and	and	CCONJ
ajst-26743	15	16	il	il	PROPN
ajst-26743	15	17	.	.	PUNCT
ajst-26743	16	1	these	these	DET
ajst-26743	16	2	applications	application	NOUN
ajst-26743	16	3	include	include	VERB
ajst-26743	16	4	quadrotors	quadrotor	NOUN
ajst-26743	16	5	[	[	X
ajst-26743	16	6	5	5	NUM
ajst-26743	16	7	]	]	PUNCT
ajst-26743	16	8	,	,	PUNCT
ajst-26743	16	9	autonomous	autonomous	ADJ
ajst-26743	16	10	vehicles	vehicle	NOUN
ajst-26743	16	11	[	[	X
ajst-26743	16	12	6	6	NUM
ajst-26743	16	13	]	]	PUNCT
ajst-26743	16	14	,	,	PUNCT
ajst-26743	16	15	and	and	CCONJ
ajst-26743	16	16	robotic	robotic	ADJ
ajst-26743	16	17	arms	arm	NOUN
ajst-26743	17	1	[	[	X
ajst-26743	17	2	7	7	NUM
ajst-26743	17	3	]	]	PUNCT
ajst-26743	17	4	.	.	PUNCT
ajst-26743	18	1	several	several	ADJ
ajst-26743	18	2	robotics	robotic	NOUN
ajst-26743	18	3	platforms	platform	NOUN
ajst-26743	18	4	have	have	AUX
ajst-26743	18	5	been	be	AUX
ajst-26743	18	6	specifically	specifically	ADV
ajst-26743	18	7	developed	develop	VERB
ajst-26743	18	8	for	for	ADP
ajst-26743	18	9	educational	educational	ADJ
ajst-26743	18	10	and	and	CCONJ
ajst-26743	18	11	research	research	NOUN
ajst-26743	18	12	purposes	purpose	NOUN
ajst-26743	18	13	in	in	ADP
ajst-26743	18	14	autonomous	autonomous	ADJ
ajst-26743	18	15	driving	driving	NOUN
ajst-26743	18	16	,	,	PUNCT
ajst-26743	18	17	utilizing	utilize	VERB
ajst-26743	18	18	rl	rl	ADP
ajst-26743	18	19	and	and	CCONJ
ajst-26743	18	20	il	il	PROPN
ajst-26743	18	21	methods	method	NOUN
ajst-26743	18	22	,	,	PUNCT
ajst-26743	18	23	including	include	VERB
ajst-26743	18	24	autorally	autorally	ADV
ajst-26743	18	25	[	[	X
ajst-26743	18	26	8	8	NUM
ajst-26743	18	27	]	]	PUNCT
ajst-26743	18	28	for	for	ADP
ajst-26743	18	29	offroad	offroad	NOUN
ajst-26743	18	30	driving	driving	NOUN
ajst-26743	18	31	and	and	CCONJ
ajst-26743	18	32	[	[	X
ajst-26743	18	33	9	9	NUM
ajst-26743	18	34	]	]	PUNCT
ajst-26743	18	35	for	for	ADP
ajst-26743	18	36	validating	validate	VERB
ajst-26743	18	37	rl	rl	NOUN
ajst-26743	18	38	-	-	PUNCT
ajst-26743	18	39	based	base	VERB
ajst-26743	18	40	algorithms	algorithm	NOUN
ajst-26743	18	41	.	.	PUNCT
ajst-26743	19	1	among	among	ADP
ajst-26743	19	2	the	the	DET
ajst-26743	19	3	various	various	ADJ
ajst-26743	19	4	autonomous	autonomous	ADJ
ajst-26743	19	5	driving	driving	NOUN
ajst-26743	19	6	platforms	platform	NOUN
ajst-26743	19	7	,	,	PUNCT
ajst-26743	19	8	f1tenth	f1tenth	ADJ
ajst-26743	19	9	[	[	PUNCT
ajst-26743	19	10	10	10	NUM
ajst-26743	19	11	]	]	PUNCT
ajst-26743	19	12	stands	stand	VERB
ajst-26743	19	13	out	out	ADP
ajst-26743	19	14	as	as	ADP
ajst-26743	19	15	one	one	NUM
ajst-26743	19	16	of	of	ADP
ajst-26743	19	17	the	the	DET
ajst-26743	19	18	most	most	ADV
ajst-26743	19	19	promising	promising	ADJ
ajst-26743	19	20	.	.	PUNCT
ajst-26743	20	1	it	it	PRON
ajst-26743	20	2	features	feature	VERB
ajst-26743	20	3	a	a	DET
ajst-26743	20	4	reproducible	reproducible	ADJ
ajst-26743	20	5	simulation	simulation	NOUN
ajst-26743	20	6	environment	environment	NOUN
ajst-26743	20	7	for	for	ADP
ajst-26743	20	8	rapid	rapid	ADJ
ajst-26743	20	9	implementation	implementation	NOUN
ajst-26743	20	10	and	and	CCONJ
ajst-26743	20	11	a	a	DET
ajst-26743	20	12	wealth	wealth	NOUN
ajst-26743	20	13	of	of	ADP
ajst-26743	20	14	open	open	ADJ
ajst-26743	20	15	-	-	PUNCT
ajst-26743	20	16	source	source	NOUN
ajst-26743	20	17	materials	material	NOUN
ajst-26743	20	18	accumulated	accumulate	VERB
ajst-26743	20	19	from	from	ADP
ajst-26743	20	20	extensive	extensive	ADJ
ajst-26743	20	21	developer	developer	NOUN
ajst-26743	20	22	contributions	contribution	NOUN
ajst-26743	20	23	.	.	PUNCT
ajst-26743	21	1	significant	significant	ADJ
ajst-26743	21	2	research	research	NOUN
ajst-26743	21	3	have	have	AUX
ajst-26743	21	4	been	be	AUX
ajst-26743	21	5	achieved	achieve	VERB
ajst-26743	21	6	using	use	VERB
ajst-26743	21	7	f1tenth	f1tenth	PROPN
ajst-26743	21	8	,	,	PUNCT
ajst-26743	21	9	including	include	VERB
ajst-26743	21	10	high	high	ADJ
ajst-26743	21	11	-	-	PUNCT
ajst-26743	21	12	speed	speed	NOUN
ajst-26743	21	13	control	control	NOUN
ajst-26743	22	1	[	[	X
ajst-26743	22	2	11	11	NUM
ajst-26743	22	3	]	]	PUNCT
ajst-26743	22	4	,	,	PUNCT
ajst-26743	22	5	generalized	generalize	VERB
ajst-26743	22	6	rl	rl	ADP
ajst-26743	23	1	[	[	X
ajst-26743	23	2	12	12	NUM
ajst-26743	23	3	]	]	PUNCT
ajst-26743	23	4	,	,	PUNCT
ajst-26743	23	5	and	and	CCONJ
ajst-26743	23	6	safe	safe	ADJ
ajst-26743	23	7	overtaking	overtaking	NOUN
ajst-26743	23	8	[	[	X
ajst-26743	23	9	13	13	NUM
ajst-26743	23	10	]	]	PUNCT
ajst-26743	23	11	.	.	PUNCT
ajst-26743	24	1	in	in	ADP
ajst-26743	24	2	autonomous	autonomous	ADJ
ajst-26743	24	3	driving	driving	NOUN
ajst-26743	24	4	,	,	PUNCT
ajst-26743	24	5	classic	classic	ADJ
ajst-26743	24	6	software	software	NOUN
ajst-26743	24	7	pipelines	pipeline	NOUN
ajst-26743	24	8	are	be	AUX
ajst-26743	24	9	modularly	modularly	ADV
ajst-26743	24	10	developed	develop	VERB
ajst-26743	24	11	,	,	PUNCT
ajst-26743	24	12	components	component	NOUN
ajst-26743	24	13	such	such	ADJ
ajst-26743	24	14	as	as	ADP
ajst-26743	24	15	perception	perception	NOUN
ajst-26743	24	16	,	,	PUNCT
ajst-26743	24	17	planning	planning	NOUN
ajst-26743	24	18	and	and	CCONJ
ajst-26743	24	19	control	control	NOUN
ajst-26743	24	20	[	[	X
ajst-26743	24	21	14	14	NUM
ajst-26743	24	22	]	]	X
ajst-26743	25	1	[	[	X
ajst-26743	25	2	15	15	NUM
ajst-26743	25	3	]	]	PUNCT
ajst-26743	25	4	.	.	PUNCT
ajst-26743	26	1	besides	besides	SCONJ
ajst-26743	26	2	robotics	robotic	NOUN
ajst-26743	26	3	pipelines	pipeline	NOUN
ajst-26743	26	4	,	,	PUNCT
ajst-26743	26	5	end	end	NOUN
ajst-26743	26	6	-	-	PUNCT
ajst-26743	26	7	to	to	ADP
ajst-26743	26	8	-	-	PUNCT
ajst-26743	26	9	end	end	NOUN
ajst-26743	26	10	methods	method	NOUN
ajst-26743	26	11	are	be	AUX
ajst-26743	26	12	gaining	gain	VERB
ajst-26743	26	13	prominence	prominence	NOUN
ajst-26743	26	14	in	in	ADP
ajst-26743	26	15	autonomous	autonomous	ADJ
ajst-26743	26	16	driving	driving	NOUN
ajst-26743	26	17	research	research	NOUN
ajst-26743	26	18	due	due	ADP
ajst-26743	26	19	to	to	ADP
ajst-26743	26	20	their	their	PRON
ajst-26743	26	21	simplified	simplified	ADJ
ajst-26743	26	22	,	,	PUNCT
ajst-26743	26	23	efficient	efficient	ADJ
ajst-26743	26	24	design	design	NOUN
ajst-26743	26	25	and	and	CCONJ
ajst-26743	26	26	potential	potential	NOUN
ajst-26743	26	27	for	for	ADP
ajst-26743	26	28	continuous	continuous	ADJ
ajst-26743	26	29	optimization	optimization	NOUN
ajst-26743	26	30	.	.	PUNCT
ajst-26743	27	1	end	end	NOUN
ajst-26743	27	2	-	-	PUNCT
ajst-26743	27	3	to	to	ADP
ajst-26743	27	4	-	-	PUNCT
ajst-26743	27	5	end	end	NOUN
ajst-26743	27	6	approaches	approach	NOUN
ajst-26743	27	7	replace	replace	VERB
ajst-26743	27	8	either	either	CCONJ
ajst-26743	27	9	some	some	PRON
ajst-26743	27	10	or	or	CCONJ
ajst-26743	27	11	all	all	PRON
ajst-26743	27	12	of	of	ADP
ajst-26743	27	13	the	the	DET
ajst-26743	27	14	software	software	NOUN
ajst-26743	27	15	modules	module	NOUN
ajst-26743	27	16	with	with	ADP
ajst-26743	27	17	datadriven	datadriven	ADJ
ajst-26743	27	18	methods	method	NOUN
ajst-26743	27	19	,	,	PUNCT
ajst-26743	27	20	including	include	VERB
ajst-26743	27	21	various	various	ADJ
ajst-26743	27	22	rl	rl	NOUN
ajst-26743	27	23	and	and	CCONJ
ajst-26743	27	24	il	il	PROPN
ajst-26743	27	25	techniques	technique	NOUN
ajst-26743	27	26	[	[	X
ajst-26743	27	27	16	16	NUM
ajst-26743	27	28	]	]	PUNCT
ajst-26743	27	29	.	.	PUNCT
ajst-26743	28	1	for	for	ADP
ajst-26743	28	2	end	end	NOUN
ajst-26743	28	3	-	-	PUNCT
ajst-26743	28	4	to	to	ADP
ajst-26743	28	5	-	-	PUNCT
ajst-26743	28	6	end	end	NOUN
ajst-26743	28	7	approaches	approach	NOUN
ajst-26743	28	8	developed	develop	VERB
ajst-26743	28	9	on	on	ADP
ajst-26743	28	10	the	the	DET
ajst-26743	28	11	f1tenth	f1tenth	NOUN
ajst-26743	28	12	,	,	PUNCT
ajst-26743	28	13	[	[	X
ajst-26743	28	14	17	17	NUM
ajst-26743	28	15	]	]	PUNCT
ajst-26743	28	16	demonstrate	demonstrate	VERB
ajst-26743	28	17	a	a	DET
ajst-26743	28	18	successful	successful	ADJ
ajst-26743	28	19	implementation	implementation	NOUN
ajst-26743	28	20	of	of	ADP
ajst-26743	28	21	ppo	ppo	PROPN
ajst-26743	28	22	,	,	PUNCT
ajst-26743	28	23	using	use	VERB
ajst-26743	28	24	downsampled	downsample	VERB
ajst-26743	28	25	lidar	lidar	NOUN
ajst-26743	28	26	data	datum	NOUN
ajst-26743	28	27	as	as	ADP
ajst-26743	28	28	input	input	NOUN
ajst-26743	28	29	and	and	CCONJ
ajst-26743	28	30	producing	produce	VERB
ajst-26743	28	31	steering	steering	NOUN
ajst-26743	28	32	and	and	CCONJ
ajst-26743	28	33	speed	speed	NOUN
ajst-26743	28	34	commands	command	NOUN
ajst-26743	28	35	as	as	ADP
ajst-26743	28	36	output	output	NOUN
ajst-26743	28	37	.	.	PUNCT
ajst-26743	29	1	similarly	similarly	ADV
ajst-26743	29	2	,	,	PUNCT
ajst-26743	29	3	[	[	X
ajst-26743	29	4	18	18	NUM
ajst-26743	29	5	]	]	PUNCT
ajst-26743	29	6	illustrates	illustrate	VERB
ajst-26743	29	7	the	the	DET
ajst-26743	29	8	feasibility	feasibility	NOUN
ajst-26743	29	9	and	and	CCONJ
ajst-26743	29	10	the	the	DET
ajst-26743	29	11	benchmark	benchmark	ADJ
ajst-26743	29	12	comparison	comparison	NOUN
ajst-26743	29	13	of	of	ADP
ajst-26743	29	14	direct	direct	ADJ
ajst-26743	29	15	policy	policy	NOUN
ajst-26743	29	16	learning	learning	NOUN
ajst-26743	29	17	methods	method	NOUN
ajst-26743	29	18	.	.	PUNCT
ajst-26743	30	1	however	however	ADV
ajst-26743	30	2	,	,	PUNCT
ajst-26743	30	3	two	two	NUM
ajst-26743	30	4	challenges	challenge	NOUN
ajst-26743	30	5	remain	remain	VERB
ajst-26743	30	6	to	to	PART
ajst-26743	30	7	be	be	AUX
ajst-26743	30	8	addressed	address	VERB
ajst-26743	30	9	.	.	PUNCT
ajst-26743	31	1	first	first	ADV
ajst-26743	31	2	,	,	PUNCT
ajst-26743	31	3	the	the	DET
ajst-26743	31	4	explainability	explainability	NOUN
ajst-26743	31	5	of	of	ADP
ajst-26743	31	6	these	these	DET
ajst-26743	31	7	methods	method	NOUN
ajst-26743	31	8	is	be	AUX
ajst-26743	31	9	limited	limit	VERB
ajst-26743	31	10	,	,	PUNCT
ajst-26743	31	11	as	as	SCONJ
ajst-26743	31	12	deep	deep	ADJ
ajst-26743	31	13	learning	learning	NOUN
ajst-26743	31	14	models	model	NOUN
ajst-26743	31	15	often	often	ADV
ajst-26743	31	16	function	function	VERB
ajst-26743	31	17	as	as	ADP
ajst-26743	31	18	black	black	ADJ
ajst-26743	31	19	boxes	box	NOUN
ajst-26743	31	20	,	,	PUNCT
ajst-26743	31	21	making	make	VERB
ajst-26743	31	22	it	it	PRON
ajst-26743	31	23	difficult	difficult	ADJ
ajst-26743	31	24	to	to	PART
ajst-26743	31	25	interpret	interpret	VERB
ajst-26743	31	26	their	their	PRON
ajst-26743	31	27	decision	decision	NOUN
ajst-26743	31	28	-	-	PUNCT
ajst-26743	31	29	making	make	VERB
ajst-26743	31	30	processes	process	NOUN
ajst-26743	31	31	.	.	PUNCT
ajst-26743	32	1	this	this	DET
ajst-26743	32	2	lack	lack	NOUN
ajst-26743	32	3	of	of	ADP
ajst-26743	32	4	transparency	transparency	NOUN
ajst-26743	32	5	complicates	complicate	VERB
ajst-26743	32	6	reasoning	reasoning	NOUN
ajst-26743	32	7	and	and	CCONJ
ajst-26743	32	8	further	further	ADJ
ajst-26743	32	9	validation	validation	NOUN
ajst-26743	32	10	.	.	PUNCT
ajst-26743	33	1	second	second	ADJ
ajst-26743	33	2	,	,	PUNCT
ajst-26743	33	3	these	these	DET
ajst-26743	33	4	approaches	approach	NOUN
ajst-26743	33	5	tend	tend	VERB
ajst-26743	33	6	to	to	PART
ajst-26743	33	7	exhibit	exhibit	VERB
ajst-26743	33	8	myopic	myopic	ADJ
ajst-26743	33	9	behavior	behavior	NOUN
ajst-26743	33	10	,	,	PUNCT
ajst-26743	33	11	as	as	SCONJ
ajst-26743	33	12	they	they	PRON
ajst-26743	33	13	fail	fail	VERB
ajst-26743	33	14	to	to	PART
ajst-26743	33	15	adequately	adequately	ADV
ajst-26743	33	16	account	account	VERB
ajst-26743	33	17	for	for	ADP
ajst-26743	33	18	the	the	DET
ajst-26743	33	19	planning	planning	NOUN
ajst-26743	33	20	horizon	horizon	NOUN
ajst-26743	33	21	,	,	PUNCT
ajst-26743	33	22	causing	cause	VERB
ajst-26743	33	23	the	the	DET
ajst-26743	33	24	vehicle	vehicle	NOUN
ajst-26743	33	25	to	to	PART
ajst-26743	33	26	reactively	reactively	ADV
ajst-26743	33	27	respond	respond	VERB
ajst-26743	33	28	to	to	ADP
ajst-26743	33	29	inputs	input	NOUN
ajst-26743	33	30	.	.	PUNCT
ajst-26743	34	1	as	as	SCONJ
ajst-26743	34	2	observed	observe	VERB
ajst-26743	34	3	in	in	ADP
ajst-26743	34	4	[	[	X
ajst-26743	34	5	19	19	NUM
ajst-26743	34	6	]	]	PUNCT
ajst-26743	34	7	,	,	PUNCT
ajst-26743	34	8	this	this	PRON
ajst-26743	34	9	can	can	AUX
ajst-26743	34	10	lead	lead	VERB
ajst-26743	34	11	to	to	ADP
ajst-26743	34	12	problematic	problematic	ADJ
ajst-26743	34	13	situations	situation	NOUN
ajst-26743	34	14	,	,	PUNCT
ajst-26743	34	15	especially	especially	ADV
ajst-26743	34	16	on	on	ADP
ajst-26743	34	17	right	right	ADJ
ajst-26743	34	18	-	-	PUNCT
ajst-26743	34	19	angle	angle	NOUN
ajst-26743	34	20	tracks	track	NOUN
ajst-26743	34	21	and	and	CCONJ
ajst-26743	34	22	in	in	ADP
ajst-26743	34	23	real	real	ADJ
ajst-26743	34	24	-	-	PUNCT
ajst-26743	34	25	world	world	NOUN
ajst-26743	34	26	environments	environment	NOUN
ajst-26743	34	27	,	,	PUNCT
ajst-26743	34	28	despite	despite	SCONJ
ajst-26743	34	29	efforts	effort	NOUN
ajst-26743	34	30	to	to	PART
ajst-26743	34	31	mitigate	mitigate	VERB
ajst-26743	34	32	these	these	DET
ajst-26743	34	33	issues	issue	NOUN
ajst-26743	34	34	through	through	ADP
ajst-26743	34	35	various	various	ADJ
ajst-26743	34	36	adjustments	adjustment	NOUN
ajst-26743	34	37	.	.	PUNCT
ajst-26743	35	1	to	to	PART
ajst-26743	35	2	address	address	VERB
ajst-26743	35	3	the	the	DET
ajst-26743	35	4	implicit	implicit	ADJ
ajst-26743	35	5	and	and	CCONJ
ajst-26743	35	6	myopic	myopic	ADJ
ajst-26743	35	7	issue	issue	NOUN
ajst-26743	35	8	,	,	PUNCT
ajst-26743	35	9	we	we	PRON
ajst-26743	35	10	propose	propose	VERB
ajst-26743	35	11	the	the	DET
ajst-26743	35	12	”	"	PUNCT
ajst-26743	35	13	planning	planning	NOUN
ajst-26743	35	14	with	with	ADP
ajst-26743	35	15	learning	learn	VERB
ajst-26743	35	16	”	"	PUNCT
ajst-26743	35	17	method	method	NOUN
ajst-26743	35	18	in	in	ADP
ajst-26743	35	19	this	this	DET
ajst-26743	35	20	study	study	NOUN
ajst-26743	35	21	.	.	PUNCT
ajst-26743	36	1	for	for	ADP
ajst-26743	36	2	opaque	opaque	ADJ
ajst-26743	36	3	decision	decision	NOUN
ajst-26743	36	4	-	-	PUNCT
ajst-26743	36	5	making	making	NOUN
ajst-26743	36	6	,	,	PUNCT
ajst-26743	36	7	we	we	PRON
ajst-26743	36	8	replaced	replace	VERB
ajst-26743	36	9	the	the	DET
ajst-26743	36	10	planning	planning	NOUN
ajst-26743	36	11	module	module	NOUN
ajst-26743	36	12	within	within	ADP
ajst-26743	36	13	the	the	DET
ajst-26743	36	14	autonomous	autonomous	ADJ
ajst-26743	36	15	driving	drive	VERB
ajst-26743	36	16	software	software	NOUN
ajst-26743	36	17	pipeline	pipeline	NOUN
ajst-26743	36	18	similarly	similarly	ADV
ajst-26743	36	19	in	in	ADP
ajst-26743	36	20	[	[	X
ajst-26743	36	21	20	20	NUM
ajst-26743	36	22	]	]	PUNCT
ajst-26743	36	23	and	and	CCONJ
ajst-26743	37	1	[	[	X
ajst-26743	37	2	21	21	NUM
ajst-26743	37	3	]	]	PUNCT
ajst-26743	37	4	,	,	PUNCT
ajst-26743	37	5	narrowing	narrow	VERB
ajst-26743	37	6	down	down	ADP
ajst-26743	37	7	the	the	DET
ajst-26743	37	8	learning	learning	NOUN
ajst-26743	37	9	-	-	PUNCT
ajst-26743	37	10	based	base	VERB
ajst-26743	37	11	approach	approach	NOUN
ajst-26743	37	12	to	to	ADP
ajst-26743	37	13	particular	particular	ADJ
ajst-26743	37	14	tasks	task	NOUN
ajst-26743	37	15	.	.	PUNCT
ajst-26743	38	1	to	to	PART
ajst-26743	38	2	enhance	enhance	VERB
ajst-26743	38	3	path	path	NOUN
ajst-26743	38	4	planning	planning	NOUN
ajst-26743	38	5	with	with	ADP
ajst-26743	38	6	rl	rl	PROPN
ajst-26743	38	7	and	and	CCONJ
ajst-26743	38	8	il	il	PROPN
ajst-26743	38	9	to	to	PART
ajst-26743	38	10	move	move	VERB
ajst-26743	38	11	beyond	beyond	ADP
ajst-26743	38	12	reactive	reactive	ADJ
ajst-26743	38	13	performance	performance	NOUN
ajst-26743	38	14	,	,	PUNCT
ajst-26743	38	15	we	we	PRON
ajst-26743	38	16	shifted	shift	VERB
ajst-26743	38	17	outputs	output	NOUN
ajst-26743	38	18	from	from	ADP
ajst-26743	38	19	steering	steering	NOUN
ajst-26743	38	20	and	and	CCONJ
ajst-26743	38	21	speed	speed	VERB
ajst-26743	38	22	commands	command	NOUN
ajst-26743	38	23	to	to	ADP
ajst-26743	38	24	sequences	sequence	NOUN
ajst-26743	38	25	of	of	ADP
ajst-26743	38	26	data	datum	NOUN
ajst-26743	38	27	such	such	ADJ
ajst-26743	38	28	as	as	ADP
ajst-26743	38	29	lateral	lateral	ADJ
ajst-26743	38	30	offsets	offset	NOUN
ajst-26743	38	31	or	or	CCONJ
ajst-26743	38	32	a	a	DET
ajst-26743	38	33	series	series	NOUN
ajst-26743	38	34	of	of	ADP
ajst-26743	38	35	actions	action	NOUN
ajst-26743	38	36	.	.	PUNCT
ajst-26743	39	1	this	this	PRON
ajst-26743	39	2	enables	enable	VERB
ajst-26743	39	3	a	a	DET
ajst-26743	39	4	prediction	prediction	NOUN
ajst-26743	39	5	for	for	ADP
ajst-26743	39	6	motion	motion	NOUN
ajst-26743	39	7	planning	planning	NOUN
ajst-26743	39	8	in	in	ADP
ajst-26743	39	9	a	a	DET
ajst-26743	39	10	longer	long	ADJ
ajst-26743	39	11	term	term	NOUN
ajst-26743	39	12	.	.	PUNCT
ajst-26743	40	1	additionally	additionally	ADV
ajst-26743	40	2	,	,	PUNCT
ajst-26743	40	3	based	base	VERB
ajst-26743	40	4	on	on	ADP
ajst-26743	40	5	the	the	DET
ajst-26743	40	6	prior	prior	ADJ
ajst-26743	40	7	research	research	NOUN
ajst-26743	40	8	in	in	ADP
ajst-26743	40	9	[	[	X
ajst-26743	40	10	18	18	NUM
ajst-26743	40	11	]	]	PUNCT
ajst-26743	40	12	,	,	PUNCT
ajst-26743	40	13	we	we	PRON
ajst-26743	40	14	utilized	utilize	VERB
ajst-26743	40	15	the	the	DET
ajst-26743	40	16	strong	strong	ADJ
ajst-26743	40	17	bootstrapping	bootstrappe	VERB
ajst-26743	40	18	capabilities	capability	NOUN
ajst-26743	40	19	of	of	ADP
ajst-26743	40	20	il	il	PROPN
ajst-26743	40	21	methods	method	NOUN
ajst-26743	40	22	for	for	ADP
ajst-26743	40	23	achieving	achieve	VERB
ajst-26743	40	24	fast	fast	ADJ
ajst-26743	40	25	convergence	convergence	NOUN
ajst-26743	40	26	and	and	CCONJ
ajst-26743	40	27	improved	improved	ADJ
ajst-26743	40	28	performance	performance	NOUN
ajst-26743	40	29	in	in	ADP
ajst-26743	40	30	the	the	DET
ajst-26743	40	31	static	static	ADJ
ajst-26743	40	32	obstacle	obstacle	NOUN
ajst-26743	40	33	nudging	nudge	VERB
ajst-26743	40	34	.	.	PUNCT
ajst-26743	41	1	we	we	PRON
ajst-26743	41	2	showed	show	VERB
ajst-26743	41	3	that	that	SCONJ
ajst-26743	41	4	this	this	DET
ajst-26743	41	5	method	method	NOUN
ajst-26743	41	6	can	can	AUX
ajst-26743	41	7	mimic	mimic	VERB
ajst-26743	41	8	the	the	DET
ajst-26743	41	9	expert	expert	NOUN
ajst-26743	41	10	demonstration	demonstration	NOUN
ajst-26743	41	11	of	of	ADP
ajst-26743	41	12	path	path	NOUN
ajst-26743	41	13	-	-	PUNCT
ajst-26743	41	14	tracking	track	VERB
ajst-26743	41	15	controllers	controller	NOUN
ajst-26743	41	16	,	,	PUNCT
ajst-26743	41	17	and	and	CCONJ
ajst-26743	41	18	enables	enable	VERB
ajst-26743	41	19	the	the	DET
ajst-26743	41	20	controllers	controller	NOUN
ajst-26743	41	21	with	with	ADP
ajst-26743	41	22	static	static	ADJ
ajst-26743	41	23	obstacle	obstacle	NOUN
ajst-26743	41	24	nudging	nudge	VERB
ajst-26743	41	25	features	feature	NOUN
ajst-26743	41	26	.	.	PUNCT
ajst-26743	42	1	this	this	DET
ajst-26743	42	2	work	work	NOUN
ajst-26743	42	3	makes	make	VERB
ajst-26743	42	4	three	three	NUM
ajst-26743	42	5	main	main	ADJ
ajst-26743	42	6	contributions	contribution	NOUN
ajst-26743	42	7	:	:	PUNCT
ajst-26743	42	8	1	1	X
ajst-26743	42	9	)	)	PUNCT
ajst-26743	42	10	we	we	PRON
ajst-26743	42	11	proposed	propose	VERB
ajst-26743	42	12	a	a	DET
ajst-26743	42	13	novel	novel	ADJ
ajst-26743	42	14	approach	approach	NOUN
ajst-26743	42	15	that	that	PRON
ajst-26743	42	16	improves	improve	VERB
ajst-26743	42	17	planning	plan	VERB
ajst-26743	42	18	to	to	ADP
ajst-26743	42	19	”	"	PUNCT
ajst-26743	42	20	planning	plan	VERB
ajst-26743	42	21	with	with	ADP
ajst-26743	42	22	learning	learning	NOUN
ajst-26743	42	23	”	"	PUNCT
ajst-26743	42	24	as	as	ADP
ajst-26743	42	25	an	an	DET
ajst-26743	42	26	integrated	integrate	VERB
ajst-26743	42	27	component	component	NOUN
ajst-26743	42	28	of	of	ADP
ajst-26743	42	29	the	the	DET
ajst-26743	42	30	robotics	robotic	NOUN
ajst-26743	42	31	workflow	workflow	NOUN
ajst-26743	42	32	for	for	ADP
ajst-26743	42	33	autonomous	autonomous	ADJ
ajst-26743	42	34	driving	driving	NOUN
ajst-26743	42	35	;	;	PUNCT
ajst-26743	42	36	2	2	X
ajst-26743	42	37	)	)	PUNCT
ajst-26743	42	38	we	we	PRON
ajst-26743	42	39	implemented	implement	VERB
ajst-26743	42	40	the	the	DET
ajst-26743	42	41	behavioral	behavioral	ADJ
ajst-26743	42	42	cloning	cloning	NOUN
ajst-26743	42	43	(	(	PUNCT
ajst-26743	42	44	bc	bc	PROPN
ajst-26743	42	45	)	)	PUNCT
ajst-26743	42	46	algorithm	algorithm	NOUN
ajst-26743	42	47	44	44	NUM
ajst-26743	42	48	on	on	ADP
ajst-26743	42	49	path	path	NOUN
ajst-26743	42	50	planning	planning	NOUN
ajst-26743	42	51	in	in	ADP
ajst-26743	42	52	path	path	NOUN
ajst-26743	42	53	-	-	PUNCT
ajst-26743	42	54	tracking	track	VERB
ajst-26743	42	55	tasks	task	NOUN
ajst-26743	42	56	,	,	PUNCT
ajst-26743	42	57	ensuring	ensure	VERB
ajst-26743	42	58	compatibility	compatibility	NOUN
ajst-26743	42	59	with	with	ADP
ajst-26743	42	60	various	various	ADJ
ajst-26743	42	61	path	path	NOUN
ajst-26743	42	62	-	-	PUNCT
ajst-26743	42	63	tracking	track	VERB
ajst-26743	42	64	controllers	controller	NOUN
ajst-26743	42	65	(	(	PUNCT
ajst-26743	42	66	fig	fig	NOUN
ajst-26743	42	67	.	.	PUNCT
ajst-26743	42	68	1	1	NUM
ajst-26743	42	69	)	)	PUNCT
ajst-26743	42	70	;	;	PUNCT
ajst-26743	42	71	3	3	X
ajst-26743	42	72	)	)	PUNCT
ajst-26743	42	73	we	we	PRON
ajst-26743	42	74	utilized	utilize	VERB
ajst-26743	42	75	the	the	DET
ajst-26743	42	76	proximal	proximal	ADJ
ajst-26743	42	77	policy	policy	NOUN
ajst-26743	42	78	optimization	optimization	NOUN
ajst-26743	42	79	(	(	PUNCT
ajst-26743	42	80	ppo	ppo	PROPN
ajst-26743	42	81	)	)	PUNCT
ajst-26743	42	82	algorithm	algorithm	NOUN
ajst-26743	42	83	bootstrapped	bootstrappe	VERB
ajst-26743	42	84	by	by	ADP
ajst-26743	42	85	bc	bc	PROPN
ajst-26743	42	86	to	to	PART
ajst-26743	42	87	adjust	adjust	VERB
ajst-26743	42	88	reference	reference	NOUN
ajst-26743	42	89	waypoints	waypoint	NOUN
ajst-26743	42	90	with	with	ADP
ajst-26743	42	91	lateral	lateral	ADJ
ajst-26743	42	92	offsets	offset	NOUN
ajst-26743	42	93	,	,	PUNCT
ajst-26743	42	94	enabling	enable	VERB
ajst-26743	42	95	obstacle	obstacle	NOUN
ajst-26743	42	96	avoidance	avoidance	NOUN
ajst-26743	42	97	through	through	ADP
ajst-26743	42	98	nudging	nudging	NOUN
ajst-26743	42	99	(	(	PUNCT
ajst-26743	42	100	fig	fig	NOUN
ajst-26743	42	101	.	.	PUNCT
ajst-26743	43	1	2	2	NUM
ajst-26743	43	2	)	)	PUNCT
ajst-26743	43	3	.	.	PUNCT
ajst-26743	44	1	figure	figure	NOUN
ajst-26743	44	2	1	1	NUM
ajst-26743	44	3	.	.	PUNCT
ajst-26743	45	1	tracking	track	VERB
ajst-26743	45	2	path	path	NOUN
ajst-26743	45	3	through	through	ADP
ajst-26743	45	4	path	path	NOUN
ajst-26743	45	5	-	-	PUNCT
ajst-26743	45	6	planning	planning	NOUN
ajst-26743	45	7	-	-	PUNCT
ajst-26743	45	8	based	base	VERB
ajst-26743	45	9	bc	bc	PROPN
ajst-26743	45	10	.	.	PROPN
ajst-26743	45	11	given	give	VERB
ajst-26743	45	12	demonstration	demonstration	NOUN
ajst-26743	45	13	(	(	PUNCT
ajst-26743	45	14	blue	blue	ADJ
ajst-26743	45	15	trace	trace	NOUN
ajst-26743	45	16	)	)	PUNCT
ajst-26743	45	17	from	from	ADP
ajst-26743	45	18	the	the	DET
ajst-26743	45	19	expert	expert	NOUN
ajst-26743	45	20	(	(	PUNCT
ajst-26743	45	21	singletrack	singletrack	VERB
ajst-26743	45	22	model	model	NOUN
ajst-26743	45	23	in	in	ADP
ajst-26743	45	24	grey	grey	PROPN
ajst-26743	45	25	)	)	PUNCT
ajst-26743	45	26	,	,	PUNCT
ajst-26743	45	27	instead	instead	ADV
ajst-26743	45	28	of	of	ADP
ajst-26743	45	29	deviation	deviation	NOUN
ajst-26743	45	30	or	or	CCONJ
ajst-26743	45	31	collision	collision	NOUN
ajst-26743	45	32	(	(	PUNCT
ajst-26743	45	33	yellow	yellow	ADJ
ajst-26743	45	34	marks	mark	NOUN
ajst-26743	45	35	)	)	PUNCT
ajst-26743	45	36	,	,	PUNCT
ajst-26743	45	37	the	the	DET
ajst-26743	45	38	vehicle	vehicle	NOUN
ajst-26743	45	39	(	(	PUNCT
ajst-26743	45	40	single	single	ADJ
ajst-26743	45	41	-	-	PUNCT
ajst-26743	45	42	track	track	NOUN
ajst-26743	45	43	model	model	NOUN
ajst-26743	45	44	in	in	ADP
ajst-26743	45	45	black	black	NOUN
ajst-26743	45	46	)	)	PUNCT
ajst-26743	45	47	learns	learn	VERB
ajst-26743	45	48	to	to	PART
ajst-26743	45	49	mimic	mimic	VERB
ajst-26743	45	50	the	the	DET
ajst-26743	45	51	expert	expert	NOUN
ajst-26743	45	52	by	by	ADP
ajst-26743	45	53	adjusting	adjust	VERB
ajst-26743	45	54	lateral	lateral	ADJ
ajst-26743	45	55	offsets	offset	NOUN
ajst-26743	45	56	(	(	PUNCT
ajst-26743	45	57	red	red	ADJ
ajst-26743	45	58	line	line	NOUN
ajst-26743	45	59	segments	segment	NOUN
ajst-26743	45	60	)	)	PUNCT
ajst-26743	45	61	on	on	ADP
ajst-26743	45	62	the	the	DET
ajst-26743	45	63	selected	select	VERB
ajst-26743	45	64	path	path	NOUN
ajst-26743	45	65	(	(	PUNCT
ajst-26743	45	66	green	green	ADJ
ajst-26743	45	67	dots	dot	NOUN
ajst-26743	45	68	)	)	PUNCT
ajst-26743	45	69	obtained	obtain	VERB
ajst-26743	45	70	by	by	ADP
ajst-26743	45	71	current	current	ADJ
ajst-26743	45	72	state	state	NOUN
ajst-26743	45	73	(	(	PUNCT
ajst-26743	45	74	cyan	cyan	NOUN
ajst-26743	45	75	dot	dot	NOUN
ajst-26743	45	76	)	)	PUNCT
ajst-26743	45	77	,	,	PUNCT
ajst-26743	45	78	reference	reference	NOUN
ajst-26743	45	79	waypoints	waypoint	NOUN
ajst-26743	45	80	(	(	PUNCT
ajst-26743	45	81	black	black	ADJ
ajst-26743	45	82	dots	dot	NOUN
ajst-26743	45	83	)	)	PUNCT
ajst-26743	45	84	,	,	PUNCT
ajst-26743	45	85	and	and	CCONJ
ajst-26743	45	86	closest	close	ADJ
ajst-26743	45	87	waypoint	waypoint	NOUN
ajst-26743	45	88	(	(	PUNCT
ajst-26743	45	89	crimson	crimson	NOUN
ajst-26743	45	90	dot	dot	NOUN
ajst-26743	45	91	)	)	PUNCT
ajst-26743	45	92	.	.	PUNCT
ajst-26743	46	1	figure	figure	NOUN
ajst-26743	46	2	2	2	NUM
ajst-26743	46	3	.	.	PUNCT
ajst-26743	46	4	static	static	ADJ
ajst-26743	46	5	obstacle	obstacle	NOUN
ajst-26743	46	6	nudging	nudge	VERB
ajst-26743	46	7	through	through	ADP
ajst-26743	46	8	path	path	NOUN
ajst-26743	46	9	-	-	PUNCT
ajst-26743	46	10	planning	planning	NOUN
ajst-26743	46	11	-	-	PUNCT
ajst-26743	46	12	based	base	VERB
ajst-26743	46	13	ppo	ppo	PROPN
ajst-26743	46	14	.	.	PUNCT
ajst-26743	47	1	after	after	ADP
ajst-26743	47	2	bootstrapping	bootstrappe	VERB
ajst-26743	47	3	by	by	ADP
ajst-26743	47	4	bc	bc	PROPN
ajst-26743	47	5	as	as	SCONJ
ajst-26743	47	6	illustrated	illustrate	VERB
ajst-26743	47	7	in	in	ADP
ajst-26743	47	8	fig	fig	NOUN
ajst-26743	47	9	.	.	PUNCT
ajst-26743	48	1	1	1	NUM
ajst-26743	48	2	,	,	PUNCT
ajst-26743	48	3	the	the	DET
ajst-26743	48	4	vehicle	vehicle	NOUN
ajst-26743	48	5	performs	perform	VERB
ajst-26743	48	6	planning	plan	VERB
ajst-26743	48	7	similar	similar	ADJ
ajst-26743	48	8	to	to	ADP
ajst-26743	48	9	the	the	DET
ajst-26743	48	10	expert	expert	NOUN
ajst-26743	48	11	’s	’s	PART
ajst-26743	48	12	(	(	PUNCT
ajst-26743	48	13	blue	blue	ADJ
ajst-26743	48	14	trace	trace	NOUN
ajst-26743	48	15	)	)	PUNCT
ajst-26743	48	16	.	.	PUNCT
ajst-26743	49	1	to	to	PART
ajst-26743	49	2	avoid	avoid	VERB
ajst-26743	49	3	obstacles	obstacle	NOUN
ajst-26743	49	4	(	(	PUNCT
ajst-26743	49	5	grey	grey	PROPN
ajst-26743	49	6	circle	circle	PROPN
ajst-26743	49	7	)	)	PUNCT
ajst-26743	49	8	that	that	PRON
ajst-26743	49	9	may	may	AUX
ajst-26743	49	10	block	block	VERB
ajst-26743	49	11	the	the	DET
ajst-26743	49	12	path	path	NOUN
ajst-26743	49	13	,	,	PUNCT
ajst-26743	49	14	the	the	DET
ajst-26743	49	15	vehicle	vehicle	NOUN
ajst-26743	49	16	adopts	adopt	VERB
ajst-26743	49	17	ppo	ppo	PROPN
ajst-26743	49	18	to	to	PART
ajst-26743	49	19	adjust	adjust	VERB
ajst-26743	49	20	the	the	DET
ajst-26743	49	21	policy	policy	NOUN
ajst-26743	49	22	that	that	PRON
ajst-26743	49	23	outputs	output	NOUN
ajst-26743	49	24	offsets	offset	VERB
ajst-26743	49	25	to	to	PART
ajst-26743	49	26	get	get	VERB
ajst-26743	49	27	a	a	DET
ajst-26743	49	28	new	new	ADJ
ajst-26743	49	29	path	path	NOUN
ajst-26743	49	30	(	(	PUNCT
ajst-26743	49	31	purple	purple	ADJ
ajst-26743	49	32	trace	trace	NOUN
ajst-26743	49	33	)	)	PUNCT
ajst-26743	49	34	,	,	PUNCT
ajst-26743	49	35	which	which	PRON
ajst-26743	49	36	reflects	reflect	VERB
ajst-26743	49	37	as	as	ADP
ajst-26743	49	38	adding	add	VERB
ajst-26743	49	39	new	new	ADJ
ajst-26743	49	40	deviations	deviation	NOUN
ajst-26743	49	41	(	(	PUNCT
ajst-26743	49	42	yellow	yellow	ADJ
ajst-26743	49	43	line	line	NOUN
ajst-26743	49	44	segments	segment	NOUN
ajst-26743	49	45	)	)	PUNCT
ajst-26743	49	46	to	to	PART
ajst-26743	49	47	get	get	VERB
ajst-26743	49	48	new	new	ADJ
ajst-26743	49	49	waypoints	waypoint	NOUN
ajst-26743	49	50	(	(	PUNCT
ajst-26743	49	51	pink	pink	ADJ
ajst-26743	49	52	dots	dot	NOUN
ajst-26743	49	53	)	)	PUNCT
ajst-26743	49	54	.	.	PUNCT
ajst-26743	50	1	2	2	X
ajst-26743	50	2	.	.	X
ajst-26743	50	3	methodology	methodology	NOUN
ajst-26743	50	4	following	follow	VERB
ajst-26743	50	5	the	the	DET
ajst-26743	50	6	classic	classic	ADJ
ajst-26743	50	7	robotics	robotic	NOUN
ajst-26743	50	8	workflow	workflow	NOUN
ajst-26743	50	9	,	,	PUNCT
ajst-26743	50	10	we	we	PRON
ajst-26743	50	11	developed	develop	VERB
ajst-26743	50	12	processes	process	NOUN
ajst-26743	50	13	for	for	ADP
ajst-26743	50	14	path	path	NOUN
ajst-26743	50	15	-	-	PUNCT
ajst-26743	50	16	tracking	track	VERB
ajst-26743	50	17	and	and	CCONJ
ajst-26743	50	18	static	static	ADJ
ajst-26743	50	19	obstacle	obstacle	NOUN
ajst-26743	50	20	nudging	nudge	VERB
ajst-26743	50	21	,	,	PUNCT
ajst-26743	50	22	as	as	SCONJ
ajst-26743	50	23	depicted	depict	VERB
ajst-26743	50	24	in	in	ADP
ajst-26743	50	25	fig	fig	NOUN
ajst-26743	50	26	.	.	PUNCT
ajst-26743	51	1	3	3	NUM
ajst-26743	51	2	and	and	CCONJ
ajst-26743	51	3	fig	fig	NOUN
ajst-26743	51	4	.	.	PUNCT
ajst-26743	52	1	4	4	X
ajst-26743	52	2	.	.	X
ajst-26743	52	3	the	the	DET
ajst-26743	52	4	localization	localization	NOUN
ajst-26743	52	5	module	module	NOUN
ajst-26743	52	6	provided	provide	VERB
ajst-26743	52	7	the	the	DET
ajst-26743	52	8	current	current	ADJ
ajst-26743	52	9	state	state	NOUN
ajst-26743	52	10	of	of	ADP
ajst-26743	52	11	the	the	DET
ajst-26743	52	12	vehicle	vehicle	NOUN
ajst-26743	52	13	,	,	PUNCT
ajst-26743	52	14	which	which	PRON
ajst-26743	52	15	was	be	AUX
ajst-26743	52	16	then	then	ADV
ajst-26743	52	17	used	use	VERB
ajst-26743	52	18	as	as	ADP
ajst-26743	52	19	input	input	NOUN
ajst-26743	52	20	for	for	ADP
ajst-26743	52	21	other	other	ADJ
ajst-26743	52	22	modules	module	NOUN
ajst-26743	52	23	,	,	PUNCT
ajst-26743	52	24	while	while	SCONJ
ajst-26743	52	25	the	the	DET
ajst-26743	52	26	perception	perception	NOUN
ajst-26743	52	27	module	module	NOUN
ajst-26743	52	28	produced	produce	VERB
ajst-26743	52	29	lidar	lidar	NOUN
ajst-26743	52	30	scans	scan	NOUN
ajst-26743	52	31	for	for	ADP
ajst-26743	52	32	sensing	sense	VERB
ajst-26743	52	33	.	.	PUNCT
ajst-26743	53	1	the	the	DET
ajst-26743	53	2	reference	reference	NOUN
ajst-26743	53	3	waypoints	waypoint	NOUN
ajst-26743	53	4	or	or	CCONJ
ajst-26743	53	5	raceline	raceline	NOUN
ajst-26743	53	6	,	,	PUNCT
ajst-26743	53	7	was	be	AUX
ajst-26743	53	8	pre	pre	VERB
ajst-26743	53	9	-	-	VERB
ajst-26743	53	10	generated	generate	VERB
ajst-26743	53	11	as	as	ADP
ajst-26743	53	12	offline	offline	ADJ
ajst-26743	53	13	planning	planning	NOUN
ajst-26743	53	14	data	datum	NOUN
ajst-26743	53	15	to	to	PART
ajst-26743	53	16	define	define	VERB
ajst-26743	53	17	the	the	DET
ajst-26743	53	18	reference	reference	NOUN
ajst-26743	53	19	path	path	NOUN
ajst-26743	53	20	.	.	PUNCT
ajst-26743	54	1	behavioral	behavioral	ADJ
ajst-26743	54	2	cloning	cloning	NOUN
ajst-26743	54	3	(	(	PUNCT
ajst-26743	54	4	bc	bc	PROPN
ajst-26743	54	5	)	)	PUNCT
ajst-26743	54	6	and	and	CCONJ
ajst-26743	54	7	proximal	proximal	ADJ
ajst-26743	54	8	policy	policy	NOUN
ajst-26743	54	9	optimization	optimization	NOUN
ajst-26743	54	10	(	(	PUNCT
ajst-26743	54	11	ppo	ppo	PROPN
ajst-26743	54	12	)	)	PUNCT
ajst-26743	54	13	were	be	AUX
ajst-26743	54	14	employed	employ	VERB
ajst-26743	54	15	within	within	ADP
ajst-26743	54	16	a	a	DET
ajst-26743	54	17	”	"	PUNCT
ajst-26743	54	18	planning	planning	NOUN
ajst-26743	54	19	with	with	ADP
ajst-26743	54	20	learning	learn	VERB
ajst-26743	54	21	”	"	PUNCT
ajst-26743	54	22	module	module	NOUN
ajst-26743	54	23	,	,	PUNCT
ajst-26743	54	24	which	which	PRON
ajst-26743	54	25	processed	process	VERB
ajst-26743	54	26	three	three	NUM
ajst-26743	54	27	types	type	NOUN
ajst-26743	54	28	of	of	ADP
ajst-26743	54	29	input	input	NOUN
ajst-26743	54	30	data	datum	NOUN
ajst-26743	54	31	to	to	PART
ajst-26743	54	32	generate	generate	VERB
ajst-26743	54	33	lateral	lateral	ADJ
ajst-26743	54	34	offsets	offset	NOUN
ajst-26743	54	35	for	for	ADP
ajst-26743	54	36	modifying	modify	VERB
ajst-26743	54	37	the	the	DET
ajst-26743	54	38	reference	reference	NOUN
ajst-26743	54	39	path	path	NOUN
ajst-26743	54	40	.	.	PUNCT
ajst-26743	55	1	finally	finally	ADV
ajst-26743	55	2	,	,	PUNCT
ajst-26743	55	3	the	the	DET
ajst-26743	55	4	controller	controller	NOUN
ajst-26743	55	5	utilized	utilize	VERB
ajst-26743	55	6	the	the	DET
ajst-26743	55	7	modified	modified	ADJ
ajst-26743	55	8	path	path	NOUN
ajst-26743	55	9	to	to	PART
ajst-26743	55	10	compute	compute	VERB
ajst-26743	55	11	steering	steering	NOUN
ajst-26743	55	12	and	and	CCONJ
ajst-26743	55	13	speed	speed	NOUN
ajst-26743	55	14	commands	command	NOUN
ajst-26743	55	15	,	,	PUNCT
ajst-26743	55	16	allowing	allow	VERB
ajst-26743	55	17	the	the	DET
ajst-26743	55	18	vehicle	vehicle	NOUN
ajst-26743	55	19	to	to	PART
ajst-26743	55	20	perform	perform	VERB
ajst-26743	55	21	the	the	DET
ajst-26743	55	22	desired	desire	VERB
ajst-26743	55	23	maneuvers	maneuver	NOUN
ajst-26743	55	24	.	.	PUNCT
ajst-26743	56	1	figure	figure	NOUN
ajst-26743	56	2	3	3	NUM
ajst-26743	56	3	.	.	PUNCT
ajst-26743	56	4	structure	structure	NOUN
ajst-26743	56	5	of	of	ADP
ajst-26743	56	6	path	path	NOUN
ajst-26743	56	7	-	-	PUNCT
ajst-26743	56	8	tracking	tracking	NOUN
ajst-26743	56	9	with	with	ADP
ajst-26743	56	10	path	path	NOUN
ajst-26743	56	11	-	-	PUNCT
ajst-26743	56	12	planning	planning	NOUN
ajst-26743	56	13	-	-	PUNCT
ajst-26743	56	14	based	base	VERB
ajst-26743	56	15	bc	bc	PROPN
ajst-26743	56	16	.	.	PROPN
ajst-26743	56	17	45	45	NUM
ajst-26743	56	18	controller	controller	NOUN
ajst-26743	56	19	directly	directly	ADV
ajst-26743	56	20	takes	take	VERB
ajst-26743	56	21	the	the	DET
ajst-26743	56	22	path	path	NOUN
ajst-26743	56	23	from	from	ADP
ajst-26743	56	24	waypoints	waypoint	NOUN
ajst-26743	56	25	as	as	ADP
ajst-26743	56	26	reference	reference	NOUN
ajst-26743	56	27	(	(	PUNCT
ajst-26743	56	28	blue	blue	ADJ
ajst-26743	56	29	lines	line	NOUN
ajst-26743	56	30	)	)	PUNCT
ajst-26743	56	31	to	to	PART
ajst-26743	56	32	train	train	VERB
ajst-26743	56	33	the	the	DET
ajst-26743	56	34	policy	policy	NOUN
ajst-26743	56	35	.	.	PUNCT
ajst-26743	57	1	during	during	ADP
ajst-26743	57	2	validation	validation	NOUN
ajst-26743	57	3	process	process	NOUN
ajst-26743	57	4	,	,	PUNCT
ajst-26743	57	5	offsets	offset	NOUN
ajst-26743	57	6	are	be	AUX
ajst-26743	57	7	added	add	VERB
ajst-26743	57	8	up	up	ADP
ajst-26743	57	9	the	the	PRON
ajst-26743	57	10	to	to	PART
ajst-26743	57	11	get	get	VERB
ajst-26743	57	12	the	the	DET
ajst-26743	57	13	modified	modified	ADJ
ajst-26743	57	14	path	path	NOUN
ajst-26743	57	15	for	for	ADP
ajst-26743	57	16	controller	controller	NOUN
ajst-26743	57	17	(	(	PUNCT
ajst-26743	57	18	red	red	ADJ
ajst-26743	57	19	lines	line	NOUN
ajst-26743	57	20	)	)	PUNCT
ajst-26743	57	21	.	.	PUNCT
ajst-26743	58	1	figure	figure	VERB
ajst-26743	58	2	4	4	NUM
ajst-26743	58	3	.	.	PUNCT
ajst-26743	59	1	structure	structure	NOUN
ajst-26743	59	2	of	of	ADP
ajst-26743	59	3	static	static	ADJ
ajst-26743	59	4	obstacle	obstacle	NOUN
ajst-26743	59	5	nudging	nudge	VERB
ajst-26743	59	6	with	with	ADP
ajst-26743	59	7	path	path	NOUN
ajst-26743	59	8	-	-	PUNCT
ajst-26743	59	9	planning	planning	NOUN
ajst-26743	59	10	-	-	PUNCT
ajst-26743	59	11	based	base	VERB
ajst-26743	59	12	ppo	ppo	PROPN
ajst-26743	59	13	.	.	PROPN
ajst-26743	59	14	bootstrapped	bootstrappe	VERB
ajst-26743	59	15	policy	policy	NOUN
ajst-26743	59	16	by	by	ADP
ajst-26743	59	17	bc	bc	PROPN
ajst-26743	59	18	is	be	AUX
ajst-26743	59	19	trained	train	VERB
ajst-26743	59	20	and	and	CCONJ
ajst-26743	59	21	tested	test	VERB
ajst-26743	59	22	using	use	VERB
ajst-26743	59	23	ppo	ppo	PROPN
ajst-26743	59	24	to	to	PART
ajst-26743	59	25	output	output	VERB
ajst-26743	59	26	lateral	lateral	ADJ
ajst-26743	59	27	offsets	offset	NOUN
ajst-26743	59	28	for	for	ADP
ajst-26743	59	29	modifying	modify	VERB
ajst-26743	59	30	paths	path	NOUN
ajst-26743	59	31	,	,	PUNCT
ajst-26743	59	32	thereby	thereby	ADV
ajst-26743	59	33	avoiding	avoid	VERB
ajst-26743	59	34	obstacles	obstacle	NOUN
ajst-26743	59	35	.	.	PUNCT
ajst-26743	60	1	a.	a.	PROPN
ajst-26743	60	2	kinematic	kinematic	PROPN
ajst-26743	60	3	bicycle	bicycle	NOUN
ajst-26743	60	4	model	model	NOUN
ajst-26743	60	5	following	follow	VERB
ajst-26743	60	6	the	the	DET
ajst-26743	60	7	standard	standard	ADJ
ajst-26743	60	8	formalism	formalism	NOUN
ajst-26743	60	9	of	of	ADP
ajst-26743	60	10	vehicle	vehicle	NOUN
ajst-26743	60	11	modeling	modeling	NOUN
ajst-26743	60	12	,	,	PUNCT
ajst-26743	60	13	we	we	PRON
ajst-26743	60	14	simplified	simplify	VERB
ajst-26743	60	15	the	the	DET
ajst-26743	60	16	ackermann	ackermann	NOUN
ajst-26743	60	17	-	-	PUNCT
ajst-26743	60	18	steered	steered	ADJ
ajst-26743	60	19	vehicle	vehicle	NOUN
ajst-26743	60	20	as	as	ADP
ajst-26743	60	21	a	a	DET
ajst-26743	60	22	singletrack	singletrack	ADJ
ajst-26743	60	23	kinematic	kinematic	ADJ
ajst-26743	60	24	model	model	NOUN
ajst-26743	60	25	[	[	X
ajst-26743	60	26	22	22	NUM
ajst-26743	60	27	]	]	PUNCT
ajst-26743	60	28	.	.	PUNCT
ajst-26743	61	1	in	in	ADP
ajst-26743	61	2	this	this	DET
ajst-26743	61	3	model	model	NOUN
ajst-26743	61	4	,	,	PUNCT
ajst-26743	61	5	the	the	DET
ajst-26743	61	6	center	center	NOUN
ajst-26743	61	7	of	of	ADP
ajst-26743	61	8	the	the	DET
ajst-26743	61	9	rear	rear	ADJ
ajst-26743	61	10	axle	axle	NOUN
ajst-26743	61	11	represented	represent	VERB
ajst-26743	61	12	the	the	DET
ajst-26743	61	13	vehicle	vehicle	NOUN
ajst-26743	61	14	’s	’s	PART
ajst-26743	61	15	position	position	NOUN
ajst-26743	61	16	in	in	ADP
ajst-26743	61	17	2d	2d	NUM
ajst-26743	61	18	coordinates	coordinate	NOUN
ajst-26743	61	19	)	)	PUNCT
ajst-26743	61	20	,	,	PUNCT
ajst-26743	61	21	(	(	PUNCT
ajst-26743	61	22	yx	yx	INTJ
ajst-26743	61	23	,	,	PUNCT
ajst-26743	61	24	steering	steering	NOUN
ajst-26743	61	25	angle	angle	NOUN
ajst-26743	61	26			NUM
ajst-26743	61	27	,	,	PUNCT
ajst-26743	61	28	heading	head	VERB
ajst-26743	61	29	angle	angle	NOUN
ajst-26743	61	30	or	or	CCONJ
ajst-26743	61	31	orientation	orientation	NOUN
ajst-26743	61	32			NOUN
ajst-26743	61	33	,	,	PUNCT
ajst-26743	61	34	and	and	CCONJ
ajst-26743	61	35	wheelbase	wheelbase	PROPN
ajst-26743	61	36	distance	distance	NOUN
ajst-26743	61	37	wbl	wbl	PROPN
ajst-26743	61	38	.	.	PUNCT
ajst-26743	62	1	suppose	suppose	VERB
ajst-26743	62	2	no	no	DET
ajst-26743	62	3	side	side	NOUN
ajst-26743	62	4	slip	slip	NOUN
ajst-26743	62	5	,	,	PUNCT
ajst-26743	62	6	we	we	PRON
ajst-26743	62	7	denoted	denote	VERB
ajst-26743	62	8	the	the	DET
ajst-26743	62	9	car	car	NOUN
ajst-26743	62	10	’s	’s	PART
ajst-26743	62	11	longitudinal	longitudinal	ADJ
ajst-26743	62	12	velocity	velocity	NOUN
ajst-26743	62	13	as	as	ADP
ajst-26743	62	14	v	v	NOUN
ajst-26743	62	15	.	.	PUNCT
ajst-26743	63	1	therefore	therefore	ADV
ajst-26743	63	2	,	,	PUNCT
ajst-26743	63	3	we	we	PRON
ajst-26743	63	4	defined	define	VERB
ajst-26743	63	5	the	the	DET
ajst-26743	63	6	vehicle	vehicle	NOUN
ajst-26743	63	7	state	state	NOUN
ajst-26743	63	8	s	s	PROPN
ajst-26743	63	9	and	and	CCONJ
ajst-26743	63	10	desired	desire	VERB
ajst-26743	63	11	action	action	NOUN
ajst-26743	63	12	a	a	DET
ajst-26743	63	13	as	as	SCONJ
ajst-26743	63	14	follows	follow	VERB
ajst-26743	63	15	:	:	PUNCT
ajst-26743	63	16			PROPN
ajst-26743	63	17			PROPN
ajst-26743	63	18	,	,	PUNCT
ajst-26743	63	19	,	,	PUNCT
ajst-26743	63	20	,	,	PUNCT
ajst-26743	63	21	vyxs	vyxs	PROPN
ajst-26743	63	22	,	,	PUNCT
ajst-26743	63	23	]	]	X
ajst-26743	63	24	,	,	PUNCT
ajst-26743	63	25	[	[	PUNCT
ajst-26743	63	26	desdes	desde	NOUN
ajst-26743	63	27	va	va	PROPN
ajst-26743	63	28	b.	b.	PROPN
ajst-26743	63	29	lidar	lidar	NOUN
ajst-26743	63	30	scan	scan	VERB
ajst-26743	63	31	the	the	DET
ajst-26743	63	32	lidar	lidar	NOUN
ajst-26743	63	33	scan	scan	PROPN
ajst-26743	63	34	data	data	PROPN
ajst-26743	63	35	is	be	AUX
ajst-26743	63	36	defined	define	VERB
ajst-26743	63	37	as	as	ADP
ajst-26743	63	38	k	k	PROPN
ajst-26743	63	39	p	p	X
ajst-26743	63	40	rs	rs	PROPN
ajst-26743	63	41			NOUN
ajst-26743	63	42	,	,	PUNCT
ajst-26743	63	43	where	where	SCONJ
ajst-26743	63	44	k	k	PROPN
ajst-26743	63	45	denotes	denote	VERB
ajst-26743	63	46	the	the	DET
ajst-26743	63	47	number	number	NOUN
ajst-26743	63	48	of	of	ADP
ajst-26743	63	49	lidar	lidar	NOUN
ajst-26743	63	50	beams	beam	NOUN
ajst-26743	63	51	projected	project	VERB
ajst-26743	63	52	in	in	ADP
ajst-26743	63	53	the	the	DET
ajst-26743	63	54	polar	polar	ADJ
ajst-26743	63	55	coordinates	coordinate	NOUN
ajst-26743	63	56	.	.	PUNCT
ajst-26743	64	1	to	to	PART
ajst-26743	64	2	express	express	VERB
ajst-26743	64	3	the	the	DET
ajst-26743	64	4	data	datum	NOUN
ajst-26743	64	5	more	more	ADV
ajst-26743	64	6	explicitly	explicitly	ADV
ajst-26743	64	7	,	,	PUNCT
ajst-26743	64	8	we	we	PRON
ajst-26743	64	9	transformed	transform	VERB
ajst-26743	64	10	ps	ps	PROPN
ajst-26743	64	11	into	into	ADP
ajst-26743	64	12	cartesian	cartesian	ADJ
ajst-26743	64	13	frame	frame	NOUN
ajst-26743	64	14	of	of	ADP
ajst-26743	64	15	the	the	DET
ajst-26743	64	16	vehicle	vehicle	NOUN
ajst-26743	64	17	:	:	PUNCT
ajst-26743	64	18	)	)	PUNCT
ajst-26743	65	1	1(p	1(p	NUM
ajst-26743	65	2	c	c	PROPN
ajst-26743	65	3	pt	pt	INTJ
ajst-26743	65	4	ss	ss	NOUN
ajst-26743	66	1			PROPN
ajst-26743	66	2	s	s	VERB
ajst-26743	66	3	is	be	AUX
ajst-26743	66	4	the	the	DET
ajst-26743	66	5	lidar	lidar	NOUN
ajst-26743	66	6	data	datum	NOUN
ajst-26743	66	7	in	in	ADP
ajst-26743	66	8	local	local	ADJ
ajst-26743	66	9	cartesian	cartesian	ADJ
ajst-26743	66	10	frame	frame	NOUN
ajst-26743	66	11	,	,	PUNCT
ajst-26743	66	12	and	and	CCONJ
ajst-26743	66	13	c	c	PROPN
ajst-26743	66	14	pt	pt	PROPN
ajst-26743	66	15	indicates	indicate	VERB
ajst-26743	66	16	the	the	DET
ajst-26743	66	17	frame	frame	NOUN
ajst-26743	66	18	transformation	transformation	NOUN
ajst-26743	66	19	.	.	PUNCT
ajst-26743	67	1	c.	c.	PROPN
ajst-26743	67	2	waypoints	waypoints	PROPN
ajst-26743	67	3	waypoint	waypoint	NOUN
ajst-26743	67	4	data	datum	NOUN
ajst-26743	67	5	is	be	AUX
ajst-26743	67	6	defined	define	VERB
ajst-26743	67	7	as	as	ADP
ajst-26743	67	8	w	w	PROPN
ajst-26743	67	9	∈	∈	PROPN
ajst-26743	67	10	r	r	NOUN
ajst-26743	67	11	,	,	PUNCT
ajst-26743	67	12	where	where	SCONJ
ajst-26743	67	13			ADJ
ajst-26743	67	14	iiiiii	iiiiii	PROPN
ajst-26743	67	15	uyxw	uyxw	ADJ
ajst-26743	67	16			NOUN
ajst-26743	67	17	,	,	PUNCT
ajst-26743	67	18	,	,	PUNCT
ajst-26743	67	19	,	,	PUNCT
ajst-26743	67	20	,	,	PUNCT
ajst-26743	67	21			PROPN
ajst-26743	67	22	,	,	PUNCT
ajst-26743	67	23	ni	ni	PROPN
ajst-26743	67	24	...	...	PUNCT
ajst-26743	67	25	,	,	PUNCT
ajst-26743	67	26	,	,	PUNCT
ajst-26743	67	27	1	1	PROPN
ajst-26743	67	28	denotes	denote	VERB
ajst-26743	67	29	the	the	DET
ajst-26743	67	30	coordinates	coordinate	NOUN
ajst-26743	67	31	,	,	PUNCT
ajst-26743	67	32	the	the	DET
ajst-26743	67	33	reference	reference	NOUN
ajst-26743	67	34	longitudinal	longitudinal	ADJ
ajst-26743	67	35	speed	speed	NOUN
ajst-26743	67	36	,	,	PUNCT
ajst-26743	67	37	the	the	DET
ajst-26743	67	38	heading	head	VERB
ajst-26743	67	39	angle	angle	NOUN
ajst-26743	67	40	,	,	PUNCT
ajst-26743	67	41	and	and	CCONJ
ajst-26743	67	42	the	the	DET
ajst-26743	67	43	curvature	curvature	NOUN
ajst-26743	67	44	of	of	ADP
ajst-26743	67	45	the	the	DET
ajst-26743	67	46	i	i	PROPN
ajst-26743	67	47	th	th	X
ajst-26743	67	48	waypoint	waypoint	NOUN
ajst-26743	67	49	in	in	ADP
ajst-26743	67	50	n	n	DET
ajst-26743	67	51	waypoints	waypoint	NOUN
ajst-26743	67	52	.	.	PUNCT
ajst-26743	68	1	following	follow	VERB
ajst-26743	68	2	waypoints	waypoint	NOUN
ajst-26743	68	3	as	as	ADP
ajst-26743	68	4	a	a	DET
ajst-26743	68	5	reference	reference	NOUN
ajst-26743	68	6	path	path	NOUN
ajst-26743	68	7	,	,	PUNCT
ajst-26743	68	8	the	the	DET
ajst-26743	68	9	vehicle	vehicle	NOUN
ajst-26743	68	10	proceeds	proceed	VERB
ajst-26743	68	11	tracking	tracking	NOUN
ajst-26743	68	12	.	.	PUNCT
ajst-26743	69	1	in	in	ADP
ajst-26743	69	2	order	order	NOUN
ajst-26743	69	3	to	to	PART
ajst-26743	69	4	generate	generate	VERB
ajst-26743	69	5	a	a	DET
ajst-26743	69	6	global	global	ADJ
ajst-26743	69	7	raceline	raceline	NOUN
ajst-26743	69	8	for	for	ADP
ajst-26743	69	9	better	well	ADJ
ajst-26743	69	10	reference	reference	NOUN
ajst-26743	69	11	,	,	PUNCT
ajst-26743	69	12	we	we	PRON
ajst-26743	69	13	applied	apply	VERB
ajst-26743	69	14	an	an	DET
ajst-26743	69	15	algorithm	algorithm	NOUN
ajst-26743	69	16	proposed	propose	VERB
ajst-26743	69	17	in	in	ADP
ajst-26743	69	18	[	[	X
ajst-26743	69	19	23	23	NUM
ajst-26743	69	20	]	]	PUNCT
ajst-26743	69	21	as	as	ADP
ajst-26743	69	22	)	)	PUNCT
ajst-26743	69	23	3	3	NUM
ajst-26743	69	24	(	(	PUNCT
ajst-26743	69	25	]	]	X
ajst-26743	69	26	,	,	PUNCT
ajst-26743	69	27	[	[	PUNCT
ajst-26743	69	28	∈s.t	∈s.t	X
ajst-26743	69	29	.	.	PUNCT
ajst-26743	69	30	)	)	PUNCT
ajst-26743	70	1	2()(min	2()(min	PROPN
ajst-26743	70	2	max	max	PROPN
ajst-26743	70	3	,	,	PUNCT
ajst-26743	70	4	min	min	PROPN
ajst-26743	70	5	,	,	PUNCT
ajst-26743	70	6	1	1	NUM
ajst-26743	70	7	2	2	NUM
ajst-26743	70	8	]	]	PUNCT
ajst-26743	70	9	...	...	PUNCT
ajst-26743	70	10	[	[	PUNCT
ajst-26743	70	11	1	1	NUM
ajst-26743	70	12	iii	iii	X
ajst-26743	70	13	n	n	NOUN
ajst-26743	71	1	i	i	PRON
ajst-26743	71	2	i	i	PRON
ajst-26743	71	3	t	t	VERB
ajst-26743	71	4	n	n	ADV
ajst-26743	71	5			X
ajst-26743	71	6			NUM
ajst-26743	71	7			ADP
ajst-26743	71	8			X
ajst-26743	71	9			NOUN
ajst-26743	71	10	through	through	ADP
ajst-26743	71	11	optimization	optimization	NOUN
ajst-26743	71	12	parameter	parameter	NOUN
ajst-26743	71	13	i	i	PROPN
ajst-26743	71	14	that	that	PRON
ajst-26743	71	15	indicates	indicate	VERB
ajst-26743	71	16	the	the	DET
ajst-26743	71	17	relative	relative	ADJ
ajst-26743	71	18	lateral	lateral	ADJ
ajst-26743	71	19	position	position	NOUN
ajst-26743	71	20	of	of	ADP
ajst-26743	71	21	track	track	NOUN
ajst-26743	71	22	boundaries	boundary	NOUN
ajst-26743	71	23	,	,	PUNCT
ajst-26743	71	24	it	it	PRON
ajst-26743	71	25	minimizes	minimize	VERB
ajst-26743	71	26	the	the	DET
ajst-26743	71	27	squared	squared	ADJ
ajst-26743	71	28	sum	sum	NOUN
ajst-26743	71	29	of	of	ADP
ajst-26743	71	30	every	every	DET
ajst-26743	71	31	curvature	curvature	NOUN
ajst-26743	71	32	i	i	NOUN
ajst-26743	71	33	at	at	ADP
ajst-26743	71	34	time	time	NOUN
ajst-26743	71	35	t	t	PROPN
ajst-26743	71	36	of	of	ADP
ajst-26743	71	37	spline	spline	NOUN
ajst-26743	71	38	between	between	ADP
ajst-26743	71	39	every	every	DET
ajst-26743	71	40	adjacent	adjacent	ADJ
ajst-26743	71	41	waypoints	waypoint	NOUN
ajst-26743	71	42	.	.	PUNCT
ajst-26743	72	1	hence	hence	ADV
ajst-26743	72	2	,	,	PUNCT
ajst-26743	72	3	the	the	DET
ajst-26743	72	4	optimal	optimal	ADJ
ajst-26743	72	5	raceline	raceline	NOUN
ajst-26743	72	6	is	be	AUX
ajst-26743	72	7	obtained	obtain	VERB
ajst-26743	72	8	as	as	ADP
ajst-26743	72	9	reference	reference	NOUN
ajst-26743	72	10	waypoints	waypoint	NOUN
ajst-26743	72	11	.	.	PUNCT
ajst-26743	73	1	d.	d.	PROPN
ajst-26743	73	2	path	path	PROPN
ajst-26743	73	3	planning	planning	PROPN
ajst-26743	73	4	suppose	suppose	VERB
ajst-26743	73	5	h	h	NOUN
ajst-26743	73	6	is	be	AUX
ajst-26743	73	7	the	the	DET
ajst-26743	73	8	planning	planning	NOUN
ajst-26743	73	9	horizon	horizon	NOUN
ajst-26743	73	10	and	and	CCONJ
ajst-26743	73	11	t	t	NOUN
ajst-26743	73	12	is	be	AUX
ajst-26743	73	13	the	the	DET
ajst-26743	73	14	step	step	NOUN
ajst-26743	73	15	time	time	NOUN
ajst-26743	73	16	.	.	PUNCT
ajst-26743	74	1	based	base	VERB
ajst-26743	74	2	on	on	ADP
ajst-26743	74	3	vehicle	vehicle	NOUN
ajst-26743	74	4	position	position	NOUN
ajst-26743	74	5	)	)	PUNCT
ajst-26743	74	6	,	,	PUNCT
ajst-26743	74	7	(	(	PUNCT
ajst-26743	74	8	yx	yx	INTJ
ajst-26743	74	9	,	,	PUNCT
ajst-26743	74	10	we	we	PRON
ajst-26743	74	11	extracted	extract	VERB
ajst-26743	74	12	the	the	DET
ajst-26743	74	13	waypoint	waypoint	NOUN
ajst-26743	74	14	coordinates	coordinate	NOUN
ajst-26743	74	15	the	the	DET
ajst-26743	74	16	car	car	NOUN
ajst-26743	74	17	will	will	AUX
ajst-26743	74	18	go	go	VERB
ajst-26743	74	19	in	in	ADP
ajst-26743	74	20	th	th	X
ajst-26743	74	21			ADJ
ajst-26743	74	22	time	time	NOUN
ajst-26743	74	23	with	with	ADP
ajst-26743	74	24	h	h	NOUN
ajst-26743	74	25	steps	step	NOUN
ajst-26743	74	26	as	as	ADP
ajst-26743	74	27	iyx	iyx	NOUN
ajst-26743	74	28	)	)	PUNCT
ajst-26743	74	29	,	,	PUNCT
ajst-26743	74	30	(	(	PUNCT
ajst-26743	74	31	,	,	PUNCT
ajst-26743	74	32	…	…	PUNCT
ajst-26743	74	33	,	,	PUNCT
ajst-26743	74	34	jyx	jyx	PROPN
ajst-26743	74	35	)	)	PUNCT
ajst-26743	74	36	,	,	PUNCT
ajst-26743	74	37	(	(	PUNCT
ajst-26743	74	38	.	.	PUNCT
ajst-26743	75	1	we	we	PRON
ajst-26743	75	2	interpolated	interpolate	VERB
ajst-26743	75	3	these	these	DET
ajst-26743	75	4	waypoints	waypoint	NOUN
ajst-26743	75	5	and	and	CCONJ
ajst-26743	75	6	evenly	evenly	ADJ
ajst-26743	75	7	sample	sample	NOUN
ajst-26743	75	8	h	h	NOUN
ajst-26743	75	9	points	point	NOUN
ajst-26743	75	10	including	include	VERB
ajst-26743	75	11	endpoints	endpoint	NOUN
ajst-26743	75	12	,	,	PUNCT
ajst-26743	75	13	and	and	CCONJ
ajst-26743	75	14	noted	note	VERB
ajst-26743	75	15	as	as	ADP
ajst-26743	75	16	horizon	horizon	NOUN
ajst-26743	75	17	path	path	NOUN
ajst-26743	75	18	ht	ht	INTJ
ajst-26743	75	19	.	.	PUNCT
ajst-26743	76	1	through	through	ADP
ajst-26743	76	2	homogeneous	homogeneous	ADJ
ajst-26743	76	3	transformation	transformation	NOUN
ajst-26743	76	4	c	c	PROPN
ajst-26743	76	5	wt	wt	INTJ
ajst-26743	76	6	,	,	PUNCT
ajst-26743	76	7	local	local	ADJ
ajst-26743	76	8	horizon	horizon	NOUN
ajst-26743	76	9	path	path	NOUN
ajst-26743	76	10	is	be	AUX
ajst-26743	76	11	obtained	obtain	VERB
ajst-26743	76	12	.	.	PUNCT
ajst-26743	77	1	after	after	ADP
ajst-26743	77	2	adding	add	VERB
ajst-26743	77	3	offsets	offset	NOUN
ajst-26743	77	4	o	o	NOUN
ajst-26743	77	5	generated	generate	VERB
ajst-26743	77	6	by	by	ADP
ajst-26743	77	7	learning	learn	VERB
ajst-26743	77	8	methods	method	NOUN
ajst-26743	77	9	,	,	PUNCT
ajst-26743	77	10	we	we	PRON
ajst-26743	77	11	transformed	transform	VERB
ajst-26743	77	12	the	the	DET
ajst-26743	77	13	path	path	NOUN
ajst-26743	77	14	with	with	ADP
ajst-26743	77	15	offset	offset	NOUN
ajst-26743	77	16	back	back	ADV
ajst-26743	77	17	to	to	ADP
ajst-26743	77	18	the	the	DET
ajst-26743	77	19	world	world	NOUN
ajst-26743	77	20	frame	frame	VERB
ajst-26743	77	21	through	through	ADP
ajst-26743	77	22	c	c	PROPN
ajst-26743	77	23	wt	wt	NOUN
ajst-26743	77	24	to	to	PART
ajst-26743	77	25	get	get	VERB
ajst-26743	77	26	the	the	DET
ajst-26743	77	27	modified	modify	VERB
ajst-26743	77	28	path	path	NOUN
ajst-26743	77	29	mt	mt	PROPN
ajst-26743	77	30	in	in	ADP
ajst-26743	77	31	world	world	PROPN
ajst-26743	77	32	frame	frame	NOUN
ajst-26743	77	33	:	:	PUNCT
ajst-26743	77	34	)	)	PUNCT
ajst-26743	77	35	4	4	NUM
ajst-26743	77	36	(	(	PUNCT
ajst-26743	77	37	)	)	PUNCT
ajst-26743	77	38	(	(	PUNCT
ajst-26743	77	39	ott	ott	PROPN
ajst-26743	77	40			PROPN
ajst-26743	77	41	h	h	NOUN
ajst-26743	78	1	c	c	PROPN
ajst-26743	78	2	w	w	PROPN
ajst-26743	78	3	w	w	PROPN
ajst-26743	78	4	cm	cm	PROPN
ajst-26743	78	5	tt	tt	PROPN
ajst-26743	78	6	with	with	ADP
ajst-26743	78	7	the	the	DET
ajst-26743	78	8	modified	modify	VERB
ajst-26743	78	9	path	path	PROPN
ajst-26743	78	10	mt	mt	PROPN
ajst-26743	78	11	,	,	PUNCT
ajst-26743	78	12	the	the	DET
ajst-26743	78	13	path	path	NOUN
ajst-26743	78	14	-	-	PUNCT
ajst-26743	78	15	tracking	track	VERB
ajst-26743	78	16	controllers	controller	NOUN
ajst-26743	78	17	can	can	AUX
ajst-26743	78	18	take	take	VERB
ajst-26743	78	19	the	the	DET
ajst-26743	78	20	modified	modify	VERB
ajst-26743	78	21	path	path	NOUN
ajst-26743	78	22	as	as	ADP
ajst-26743	78	23	new	new	ADJ
ajst-26743	78	24	reference	reference	NOUN
ajst-26743	78	25	path	path	NOUN
ajst-26743	78	26	to	to	PART
ajst-26743	78	27	perform	perform	VERB
ajst-26743	78	28	the	the	DET
ajst-26743	78	29	obstacle	obstacle	NOUN
ajst-26743	78	30	nudging	nudge	VERB
ajst-26743	78	31	.	.	PUNCT
ajst-26743	79	1	e.	e.	PROPN
ajst-26743	79	2	bc	bc	PROPN
ajst-26743	79	3	for	for	ADP
ajst-26743	79	4	path	path	NOUN
ajst-26743	79	5	-	-	PUNCT
ajst-26743	79	6	tracking	track	VERB
ajst-26743	79	7	bc	bc	PROPN
ajst-26743	79	8	can	can	AUX
ajst-26743	79	9	be	be	AUX
ajst-26743	79	10	formulated	formulate	VERB
ajst-26743	79	11	through	through	ADP
ajst-26743	79	12	supervised	supervised	ADJ
ajst-26743	79	13	learning	learning	NOUN
ajst-26743	79	14	as	as	ADP
ajst-26743	79	15	eq	eq	NOUN
ajst-26743	79	16	.	.	PUNCT
ajst-26743	80	1	(	(	PUNCT
ajst-26743	80	2	5a	5a	NUM
ajst-26743	80	3	)	)	PUNCT
ajst-26743	80	4	,	,	PUNCT
ajst-26743	80	5	where	where	SCONJ
ajst-26743	80	6	the	the	DET
ajst-26743	80	7	difference	difference	NOUN
ajst-26743	80	8	between	between	ADP
ajst-26743	80	9	the	the	DET
ajst-26743	80	10	learned	learn	VERB
ajst-26743	80	11	policy	policy	NOUN
ajst-26743	80	12			ADJ
ajst-26743	80	13	and	and	CCONJ
ajst-26743	80	14	expert	expert	ADJ
ajst-26743	80	15	demonstrations	demonstration	NOUN
ajst-26743	80	16	generated	generate	VERB
ajst-26743	80	17	by	by	ADP
ajst-26743	80	18	the	the	DET
ajst-26743	80	19	expert	expert	NOUN
ajst-26743	80	20	policy	policy	NOUN
ajst-26743	80	21	are	be	AUX
ajst-26743	80	22	minimized	minimize	VERB
ajst-26743	80	23	through	through	ADP
ajst-26743	80	24	loss	loss	NOUN
ajst-26743	80	25	function	function	NOUN
ajst-26743	81	1	l	l	NOUN
ajst-26743	81	2	with	with	ADP
ajst-26743	81	3	respect	respect	NOUN
ajst-26743	81	4	to	to	ADP
ajst-26743	81	5	some	some	DET
ajst-26743	81	6	metric	metric	NOUN
ajst-26743	81	7	,	,	PUNCT
ajst-26743	81	8	and	and	CCONJ
ajst-26743	81	9	*	*	PUNCT
ajst-26743	81	10	̂	̂	PROPN
ajst-26743	81	11	is	be	AUX
ajst-26743	81	12	the	the	DET
ajst-26743	81	13	approximated	approximated	ADJ
ajst-26743	81	14	policy	policy	NOUN
ajst-26743	81	15	.	.	PUNCT
ajst-26743	82	1	a)5())(),((minargˆ	a)5())(),((minargˆ	X
ajst-26743	83	1	*	*	PUNCT
ajst-26743	83	2	*	*	PUNCT
ajst-26743	83	3			ADJ
ajst-26743	83	4	ss	ss	PROPN
ajst-26743	83	5			NOUN
ajst-26743	83	6			NOUN
ajst-26743	83	7	l	l	NOUN
ajst-26743	83	8	b)5(minarg	b)5(minarg	NOUN
ajst-26743	83	9	1	1	NUM
ajst-26743	83	10	1	1	NUM
ajst-26743	83	11			PRON
ajst-26743	83	12			NOUN
ajst-26743	83	13			NUM
ajst-26743	84	1			NUM
ajst-26743	84	2	t	t	NOUN
ajst-26743	85	1	j	j	NOUN
ajst-26743	86	1	h	h	NOUN
ajst-26743	87	1	i	i	PROPN
ajst-26743	87	2	io	io	PROPN
ajst-26743	87	3			PROPN
ajst-26743	87	4	here	here	ADV
ajst-26743	87	5	,	,	PUNCT
ajst-26743	87	6	agent	agent	NOUN
ajst-26743	87	7	policy	policy	NOUN
ajst-26743	87	8	is	be	AUX
ajst-26743	87	9	os	os	NOUN
ajst-26743	87	10	π	π	PROPN
ajst-26743	87	11			NUM
ajst-26743	87	12	)	)	PUNCT
ajst-26743	87	13	(	(	PUNCT
ajst-26743	87	14	,	,	PUNCT
ajst-26743	87	15	denotes	denote	VERB
ajst-26743	87	16	the	the	DET
ajst-26743	87	17	lateral	lateral	ADJ
ajst-26743	87	18	offsets	offset	NOUN
ajst-26743	87	19	corresponding	correspond	VERB
ajst-26743	87	20	to	to	ADP
ajst-26743	87	21	h	h	PROPN
ajst-26743	87	22	c	c	PROPN
ajst-26743	87	23	wt	wt	PROPN
ajst-26743	87	24	t	t	PROPN
ajst-26743	87	25	.	.	PUNCT
ajst-26743	88	1	consider	consider	VERB
ajst-26743	88	2	system	system	NOUN
ajst-26743	88	3	dynamics	dynamic	NOUN
ajst-26743	88	4	and	and	CCONJ
ajst-26743	88	5	other	other	ADJ
ajst-26743	88	6	factors	factor	NOUN
ajst-26743	88	7	,	,	PUNCT
ajst-26743	88	8	reference	reference	NOUN
ajst-26743	88	9	waypoints	waypoint	NOUN
ajst-26743	88	10	can	can	AUX
ajst-26743	88	11	not	not	PART
ajst-26743	88	12	be	be	AUX
ajst-26743	88	13	tracked	track	VERB
ajst-26743	88	14	perfectly	perfectly	ADV
ajst-26743	88	15	even	even	ADV
ajst-26743	88	16	for	for	ADP
ajst-26743	88	17	the	the	DET
ajst-26743	88	18	expert	expert	NOUN
ajst-26743	88	19	.	.	PUNCT
ajst-26743	89	1	however	however	ADV
ajst-26743	89	2	,	,	PUNCT
ajst-26743	89	3	the	the	DET
ajst-26743	89	4	deviation	deviation	NOUN
ajst-26743	89	5	is	be	AUX
ajst-26743	89	6	miscellaneous	miscellaneous	ADJ
ajst-26743	89	7	that	that	PRON
ajst-26743	89	8	can	can	AUX
ajst-26743	89	9	be	be	AUX
ajst-26743	89	10	ignored	ignore	VERB
ajst-26743	89	11	for	for	ADP
ajst-26743	89	12	simplification	simplification	NOUN
ajst-26743	89	13	.	.	PUNCT
ajst-26743	90	1	l1	l1	PROPN
ajst-26743	90	2	norm	norm	NOUN
ajst-26743	90	3	can	can	AUX
ajst-26743	90	4	be	be	AUX
ajst-26743	90	5	used	use	VERB
ajst-26743	90	6	as	as	ADP
ajst-26743	90	7	the	the	DET
ajst-26743	90	8	metric	metric	NOUN
ajst-26743	90	9	to	to	PART
ajst-26743	90	10	express	express	VERB
ajst-26743	90	11	the	the	DET
ajst-26743	90	12	deviations	deviation	NOUN
ajst-26743	90	13	,	,	PUNCT
ajst-26743	90	14	and	and	CCONJ
ajst-26743	90	15	the	the	DET
ajst-26743	90	16	norm	norm	NOUN
ajst-26743	90	17	value	value	NOUN
ajst-26743	90	18	in	in	ADP
ajst-26743	90	19	every	every	DET
ajst-26743	90	20	time	time	NOUN
ajst-26743	90	21	step	step	NOUN
ajst-26743	90	22	can	can	AUX
ajst-26743	90	23	be	be	AUX
ajst-26743	90	24	added	add	VERB
ajst-26743	90	25	up	up	ADP
ajst-26743	90	26	as	as	ADP
ajst-26743	90	27	the	the	DET
ajst-26743	90	28	loss	loss	NOUN
ajst-26743	90	29	function	function	NOUN
ajst-26743	90	30	,	,	PUNCT
ajst-26743	90	31	shown	show	VERB
ajst-26743	90	32	as	as	ADP
ajst-26743	90	33	eq	eq	ADP
ajst-26743	90	34	.	.	PUNCT
ajst-26743	91	1	(	(	PUNCT
ajst-26743	91	2	5b	5b	NUM
ajst-26743	91	3	)	)	PUNCT
ajst-26743	91	4	.	.	PUNCT
ajst-26743	92	1	by	by	ADP
ajst-26743	92	2	solving	solve	VERB
ajst-26743	92	3	this	this	DET
ajst-26743	92	4	optimization	optimization	NOUN
ajst-26743	92	5	problem	problem	NOUN
ajst-26743	92	6	,	,	PUNCT
ajst-26743	92	7	the	the	DET
ajst-26743	92	8	policy	policy	NOUN
ajst-26743	92	9	output	output	NOUN
ajst-26743	92	10	is	be	AUX
ajst-26743	92	11	trained	train	VERB
ajst-26743	92	12	from	from	ADP
ajst-26743	92	13	penalizing	penalize	VERB
ajst-26743	92	14	random	random	ADJ
ajst-26743	92	15	sampling	sampling	NOUN
ajst-26743	92	16	and	and	CCONJ
ajst-26743	92	17	large	large	ADJ
ajst-26743	92	18	deviations	deviation	NOUN
ajst-26743	92	19	to	to	ADP
ajst-26743	92	20	converging	converge	VERB
ajst-26743	92	21	to	to	ADP
ajst-26743	92	22	the	the	DET
ajst-26743	92	23	expert	expert	ADJ
ajst-26743	92	24	performance	performance	NOUN
ajst-26743	92	25	with	with	ADP
ajst-26743	92	26	waypoints	waypoint	NOUN
ajst-26743	92	27	.	.	PUNCT
ajst-26743	93	1	this	this	PRON
ajst-26743	93	2	can	can	AUX
ajst-26743	93	3	be	be	AUX
ajst-26743	93	4	used	use	VERB
ajst-26743	93	5	for	for	ADP
ajst-26743	93	6	bootstrapping	bootstrappe	VERB
ajst-26743	93	7	rl	rl	PROPN
ajst-26743	93	8	methods	method	NOUN
ajst-26743	93	9	46	46	NUM
ajst-26743	93	10	with	with	ADP
ajst-26743	93	11	rapid	rapid	ADJ
ajst-26743	93	12	convergence	convergence	NOUN
ajst-26743	93	13	and	and	CCONJ
ajst-26743	93	14	enhanced	enhanced	ADJ
ajst-26743	93	15	performance	performance	NOUN
ajst-26743	93	16	.	.	PUNCT
ajst-26743	94	1	f.	f.	PROPN
ajst-26743	94	2	ppo	ppo	PROPN
ajst-26743	94	3	for	for	ADP
ajst-26743	94	4	static	static	ADJ
ajst-26743	94	5	obstacle	obstacle	NOUN
ajst-26743	94	6	nudging	nudge	VERB
ajst-26743	94	7	to	to	PART
ajst-26743	94	8	achieve	achieve	VERB
ajst-26743	94	9	static	static	ADJ
ajst-26743	94	10	obstacle	obstacle	NOUN
ajst-26743	94	11	nudging	nudge	VERB
ajst-26743	94	12	using	use	VERB
ajst-26743	94	13	waypoint	waypoint	NOUN
ajst-26743	94	14	data	datum	NOUN
ajst-26743	94	15	,	,	PUNCT
ajst-26743	94	16	lidar	lidar	NOUN
ajst-26743	94	17	scans	scan	NOUN
ajst-26743	94	18	,	,	PUNCT
ajst-26743	94	19	and	and	CCONJ
ajst-26743	94	20	the	the	DET
ajst-26743	94	21	current	current	ADJ
ajst-26743	94	22	state	state	NOUN
ajst-26743	94	23	with	with	ADP
ajst-26743	94	24	a	a	DET
ajst-26743	94	25	bootstrapped	bootstrappe	VERB
ajst-26743	94	26	model	model	NOUN
ajst-26743	94	27	,	,	PUNCT
ajst-26743	94	28	we	we	PRON
ajst-26743	94	29	moved	move	VERB
ajst-26743	94	30	away	away	ADV
ajst-26743	94	31	from	from	ADP
ajst-26743	94	32	bc	bc	PROPN
ajst-26743	94	33	and	and	CCONJ
ajst-26743	94	34	other	other	ADJ
ajst-26743	94	35	il	il	PROPN
ajst-26743	94	36	methods	method	NOUN
ajst-26743	94	37	,	,	PUNCT
ajst-26743	94	38	because	because	SCONJ
ajst-26743	94	39	even	even	ADV
ajst-26743	94	40	expert	expert	ADJ
ajst-26743	94	41	demonstrations	demonstration	NOUN
ajst-26743	94	42	fall	fall	VERB
ajst-26743	94	43	short	short	ADJ
ajst-26743	94	44	for	for	ADP
ajst-26743	94	45	these	these	DET
ajst-26743	94	46	tasks	task	NOUN
ajst-26743	94	47	.	.	PUNCT
ajst-26743	95	1	instead	instead	ADV
ajst-26743	95	2	,	,	PUNCT
ajst-26743	95	3	we	we	PRON
ajst-26743	95	4	used	use	VERB
ajst-26743	95	5	ppo	ppo	PROPN
ajst-26743	95	6	to	to	PART
ajst-26743	95	7	train	train	VERB
ajst-26743	95	8	the	the	DET
ajst-26743	95	9	policy	policy	NOUN
ajst-26743	95	10	through	through	ADP
ajst-26743	95	11	balancing	balance	VERB
ajst-26743	95	12	exploration	exploration	NOUN
ajst-26743	95	13	and	and	CCONJ
ajst-26743	95	14	exploitation	exploitation	NOUN
ajst-26743	95	15	.	.	PUNCT
ajst-26743	96	1	by	by	ADP
ajst-26743	96	2	focusing	focus	VERB
ajst-26743	96	3	on	on	ADP
ajst-26743	96	4	policy	policy	NOUN
ajst-26743	96	5	performance	performance	NOUN
ajst-26743	96	6	without	without	ADP
ajst-26743	96	7	direct	direct	ADJ
ajst-26743	96	8	access	access	NOUN
ajst-26743	96	9	to	to	ADP
ajst-26743	96	10	the	the	DET
ajst-26743	96	11	environment	environment	NOUN
ajst-26743	96	12	,	,	PUNCT
ajst-26743	96	13	we	we	PRON
ajst-26743	96	14	chose	choose	VERB
ajst-26743	96	15	policy	policy	NOUN
ajst-26743	96	16	optimization	optimization	NOUN
ajst-26743	96	17	methods	method	NOUN
ajst-26743	96	18	,	,	PUNCT
ajst-26743	96	19	specifically	specifically	ADV
ajst-26743	96	20	ppo	ppo	PROPN
ajst-26743	96	21	,	,	PUNCT
ajst-26743	96	22	due	due	ADP
ajst-26743	96	23	to	to	ADP
ajst-26743	96	24	its	its	PRON
ajst-26743	96	25	proven	prove	VERB
ajst-26743	96	26	performance	performance	NOUN
ajst-26743	96	27	and	and	CCONJ
ajst-26743	96	28	mature	mature	ADJ
ajst-26743	96	29	development	development	NOUN
ajst-26743	96	30	.	.	PUNCT
ajst-26743	97	1	in	in	ADP
ajst-26743	97	2	general	general	ADJ
ajst-26743	97	3	,	,	PUNCT
ajst-26743	97	4	ppo	ppo	PROPN
ajst-26743	97	5	optimizes	optimize	VERB
ajst-26743	97	6	the	the	DET
ajst-26743	97	7	policy	policy	NOUN
ajst-26743	97	8	through	through	ADP
ajst-26743	97	9	)	)	PUNCT
ajst-26743	97	10	6()],[min(maxarg1	6()],[min(maxarg1	X
ajst-26743	98	1	gae	gae	PROPN
ajst-26743	98	2	k	k	PROPN
ajst-26743	98	3	k	k	PROPN
ajst-26743	98	4			X
ajst-26743	98	5			X
ajst-26743	98	6			X
ajst-26743	98	7			PROPN
ajst-26743	98	8			PROPN
ajst-26743	98	9			NOUN
ajst-26743	98	10	where	where	SCONJ
ajst-26743	98	11	k	k	PROPN
ajst-26743	98	12	denotes	denote	VERB
ajst-26743	98	13	the	the	DET
ajst-26743	98	14	policy	policy	NOUN
ajst-26743	98	15	parameters	parameter	NOUN
ajst-26743	98	16	during	during	ADP
ajst-26743	98	17	iteration	iteration	PROPN
ajst-26743	98	18	k	k	PROPN
ajst-26743	98	19	,	,	PUNCT
ajst-26743	98	20	a	a	PRON
ajst-26743	98	21	is	be	AUX
ajst-26743	98	22	the	the	DET
ajst-26743	98	23	advantage	advantage	NOUN
ajst-26743	98	24	for	for	ADP
ajst-26743	98	25	the	the	DET
ajst-26743	98	26	current	current	ADJ
ajst-26743	98	27	policy	policy	NOUN
ajst-26743	98	28	k	k	PROPN
ajst-26743	98	29			PROPN
ajst-26743	98	30	,	,	PUNCT
ajst-26743	98	31	and	and	CCONJ
ajst-26743	98	32	g	g	NOUN
ajst-26743	98	33	is	be	AUX
ajst-26743	98	34	the	the	DET
ajst-26743	98	35	clipping	clip	VERB
ajst-26743	98	36	function	function	NOUN
ajst-26743	98	37	.	.	PUNCT
ajst-26743	99	1	we	we	PRON
ajst-26743	99	2	referred	refer	VERB
ajst-26743	99	3	to	to	ADP
ajst-26743	99	4	the	the	DET
ajst-26743	99	5	implementation	implementation	NOUN
ajst-26743	99	6	of	of	ADP
ajst-26743	99	7	cleanrl	cleanrl	NOUN
ajst-26743	99	8	[	[	X
ajst-26743	99	9	24	24	NUM
ajst-26743	99	10	]	]	PUNCT
ajst-26743	99	11	with	with	ADP
ajst-26743	99	12	further	further	ADJ
ajst-26743	99	13	details	detail	NOUN
ajst-26743	99	14	.	.	PUNCT
ajst-26743	100	1	optimizing	optimize	VERB
ajst-26743	100	2	the	the	DET
ajst-26743	100	3	policy	policy	NOUN
ajst-26743	100	4	through	through	ADP
ajst-26743	100	5	ppo	ppo	PROPN
ajst-26743	100	6	,	,	PUNCT
ajst-26743	100	7	instead	instead	ADV
ajst-26743	100	8	of	of	ADP
ajst-26743	100	9	generating	generate	VERB
ajst-26743	100	10	steering	steering	NOUN
ajst-26743	100	11	and	and	CCONJ
ajst-26743	100	12	speed	speed	NOUN
ajst-26743	100	13	commands	command	NOUN
ajst-26743	100	14	like	like	ADP
ajst-26743	100	15	[	[	X
ajst-26743	100	16	18	18	NUM
ajst-26743	100	17	]	]	PUNCT
ajst-26743	100	18	,	,	PUNCT
ajst-26743	100	19	the	the	DET
ajst-26743	100	20	policy	policy	NOUN
ajst-26743	100	21	outputs	output	NOUN
ajst-26743	100	22	o	o	PROPN
ajst-26743	100	23	,	,	PUNCT
ajst-26743	100	24	which	which	PRON
ajst-26743	100	25	deviate	deviate	VERB
ajst-26743	100	26	ht	ht	PROPN
ajst-26743	100	27	to	to	PART
ajst-26743	100	28	be	be	AUX
ajst-26743	100	29	the	the	DET
ajst-26743	100	30	modified	modified	ADJ
ajst-26743	100	31	path	path	NOUN
ajst-26743	100	32	mt	mt	PROPN
ajst-26743	100	33	.	.	PUNCT
ajst-26743	101	1	mt	mt	PROPN
ajst-26743	101	2	are	be	AUX
ajst-26743	101	3	then	then	ADV
ajst-26743	101	4	executed	execute	VERB
ajst-26743	101	5	by	by	ADP
ajst-26743	101	6	pure	pure	ADJ
ajst-26743	101	7	pursuit	pursuit	NOUN
ajst-26743	101	8	,	,	PUNCT
ajst-26743	101	9	a	a	DET
ajst-26743	101	10	path	path	NOUN
ajst-26743	101	11	-	-	PUNCT
ajst-26743	101	12	tracking	tracking	NOUN
ajst-26743	101	13	method	method	NOUN
ajst-26743	101	14	,	,	PUNCT
ajst-26743	101	15	thus	thus	ADV
ajst-26743	101	16	achieving	achieve	VERB
ajst-26743	101	17	fixed	fix	VERB
ajst-26743	101	18	obstacle	obstacle	NOUN
ajst-26743	101	19	nudging	nudge	VERB
ajst-26743	101	20	.	.	PUNCT
ajst-26743	102	1	g.	g.	PROPN
ajst-26743	102	2	path	path	NOUN
ajst-26743	102	3	-	-	PUNCT
ajst-26743	102	4	tracking	track	VERB
ajst-26743	102	5	controllers	controller	NOUN
ajst-26743	102	6	pure	pure	ADJ
ajst-26743	102	7	-	-	PUNCT
ajst-26743	102	8	pursuit	pursuit	NOUN
ajst-26743	102	9	to	to	PART
ajst-26743	102	10	pursuit	pursuit	VERB
ajst-26743	102	11	the	the	DET
ajst-26743	102	12	goal	goal	NOUN
ajst-26743	102	13	,	,	PUNCT
ajst-26743	102	14	a	a	DET
ajst-26743	102	15	lookahead	lookahead	NOUN
ajst-26743	102	16	point	point	NOUN
ajst-26743	102	17	is	be	AUX
ajst-26743	102	18	determined	determine	VERB
ajst-26743	102	19	from	from	ADP
ajst-26743	102	20	a	a	DET
ajst-26743	102	21	fixed	fix	VERB
ajst-26743	102	22	lookahead	lookahead	NOUN
ajst-26743	102	23	distance	distance	NOUN
ajst-26743	102	24	l	l	NOUN
ajst-26743	102	25	towards	towards	ADP
ajst-26743	102	26	the	the	DET
ajst-26743	102	27	desired	desire	VERB
ajst-26743	102	28	path	path	NOUN
ajst-26743	102	29	.	.	PUNCT
ajst-26743	103	1	based	base	VERB
ajst-26743	103	2	on	on	ADP
ajst-26743	103	3	the	the	DET
ajst-26743	103	4	kinematic	kinematic	PROPN
ajst-26743	103	5	bicycle	bicycle	NOUN
ajst-26743	103	6	model	model	NOUN
ajst-26743	103	7	,	,	PUNCT
ajst-26743	103	8	the	the	DET
ajst-26743	103	9	geometric	geometric	ADJ
ajst-26743	103	10	relationship	relationship	NOUN
ajst-26743	103	11	between	between	ADP
ajst-26743	103	12			NUM
ajst-26743	103	13	and	and	CCONJ
ajst-26743	103	14	the	the	DET
ajst-26743	103	15	turning	turn	VERB
ajst-26743	103	16	radius	radius	NOUN
ajst-26743	103	17	r	r	NOUN
ajst-26743	103	18	,	,	PUNCT
ajst-26743	103	19	and	and	CCONJ
ajst-26743	103	20	the	the	DET
ajst-26743	103	21	arc	arc	NOUN
ajst-26743	103	22	curvature	curvature	NOUN
ajst-26743	103	23			NUM
ajst-26743	103	24	can	can	AUX
ajst-26743	103	25	be	be	AUX
ajst-26743	103	26	derived	derive	VERB
ajst-26743	103	27	as	as	ADP
ajst-26743	103	28	:	:	PUNCT
ajst-26743	103	29	)	)	PUNCT
ajst-26743	103	30	7	7	NUM
ajst-26743	103	31	(	(	PUNCT
ajst-26743	103	32	2tan1	2tan1	NUM
ajst-26743	103	33	2l	2l	NOUN
ajst-26743	103	34	e	e	AUX
ajst-26743	103	35	lr	lr	X
ajst-26743	103	36	wb	wb	PROPN
ajst-26743	103	37			VERB
ajst-26743	103	38			NUM
ajst-26743	103	39	where	where	SCONJ
ajst-26743	103	40	||	||	NOUN
ajst-26743	103	41	e	e	NOUN
ajst-26743	103	42	is	be	AUX
ajst-26743	103	43	the	the	DET
ajst-26743	103	44	cross	cross	ADJ
ajst-26743	103	45	-	-	ADJ
ajst-26743	103	46	track	track	ADJ
ajst-26743	103	47	error	error	NOUN
ajst-26743	103	48	from	from	ADP
ajst-26743	103	49	the	the	DET
ajst-26743	103	50	vehicle	vehicle	NOUN
ajst-26743	103	51	to	to	ADP
ajst-26743	103	52	the	the	DET
ajst-26743	103	53	lookahead	lookahead	NOUN
ajst-26743	103	54	point	point	NOUN
ajst-26743	103	55	,	,	PUNCT
ajst-26743	103	56	which	which	DET
ajst-26743	103	57	coordinates	coordinate	NOUN
ajst-26743	103	58	are	be	AUX
ajst-26743	103	59	provided	provide	VERB
ajst-26743	103	60	by	by	ADP
ajst-26743	103	61	the	the	DET
ajst-26743	103	62	reference	reference	NOUN
ajst-26743	103	63	path	path	NOUN
ajst-26743	103	64	.	.	PUNCT
ajst-26743	104	1	therefore	therefore	ADV
ajst-26743	104	2	,	,	PUNCT
ajst-26743	104	3			PROPN
ajst-26743	104	4	can	can	AUX
ajst-26743	104	5	be	be	AUX
ajst-26743	104	6	solved	solve	VERB
ajst-26743	104	7	to	to	PART
ajst-26743	104	8	achieve	achieve	VERB
ajst-26743	104	9	tracking	tracking	NOUN
ajst-26743	104	10	waypoints	waypoint	NOUN
ajst-26743	104	11	.	.	PUNCT
ajst-26743	105	1	model	model	NOUN
ajst-26743	105	2	predictive	predictive	ADJ
ajst-26743	105	3	control	control	NOUN
ajst-26743	105	4	by	by	ADP
ajst-26743	105	5	building	build	VERB
ajst-26743	105	6	up	up	ADP
ajst-26743	105	7	a	a	DET
ajst-26743	105	8	optimization	optimization	NOUN
ajst-26743	105	9	problem	problem	NOUN
ajst-26743	105	10	with	with	ADP
ajst-26743	105	11	physical	physical	ADJ
ajst-26743	105	12	constraints	constraint	NOUN
ajst-26743	105	13	and	and	CCONJ
ajst-26743	105	14	state	state	NOUN
ajst-26743	105	15	dynamics	dynamic	NOUN
ajst-26743	105	16	,	,	PUNCT
ajst-26743	105	17	mpc	mpc	PROPN
ajst-26743	105	18	can	can	AUX
ajst-26743	105	19	solve	solve	VERB
ajst-26743	105	20	for	for	ADP
ajst-26743	105	21	a	a	DET
ajst-26743	105	22	sequence	sequence	NOUN
ajst-26743	105	23	of	of	ADP
ajst-26743	105	24	action	action	NOUN
ajst-26743	105	25	.	.	PUNCT
ajst-26743	106	1	define	define	VERB
ajst-26743	106	2	the	the	DET
ajst-26743	106	3	state	state	NOUN
ajst-26743	106	4	z	z	PROPN
ajst-26743	106	5	and	and	CCONJ
ajst-26743	106	6	the	the	DET
ajst-26743	106	7	input	input	NOUN
ajst-26743	106	8	u	u	NOUN
ajst-26743	106	9	based	base	VERB
ajst-26743	106	10	on	on	ADP
ajst-26743	106	11	the	the	DET
ajst-26743	106	12	single	single	ADJ
ajst-26743	106	13	-	-	PUNCT
ajst-26743	106	14	track	track	NOUN
ajst-26743	106	15	kinematic	kinematic	ADJ
ajst-26743	106	16	model	model	NOUN
ajst-26743	106	17	as	as	SCONJ
ajst-26743	106	18	tt	tt	PRON
ajst-26743	106	19	auvyxz	auvyxz	VERB
ajst-26743	106	20	]	]	PUNCT
ajst-26743	107	1	[	[	X
ajst-26743	107	2	,	,	PUNCT
ajst-26743	107	3	]	]	X
ajst-26743	107	4	[	[	PUNCT
ajst-26743	107	5			NOUN
ajst-26743	107	6			NUM
ajst-26743	107	7	where	where	SCONJ
ajst-26743	107	8	a	a	PRON
ajst-26743	107	9	is	be	AUX
ajst-26743	107	10	the	the	DET
ajst-26743	107	11	desired	desire	VERB
ajst-26743	107	12	vehicle	vehicle	NOUN
ajst-26743	107	13	acceleration	acceleration	NOUN
ajst-26743	107	14	.	.	PUNCT
ajst-26743	108	1	by	by	ADP
ajst-26743	108	2	discretization	discretization	NOUN
ajst-26743	108	3	and	and	CCONJ
ajst-26743	108	4	linearization	linearization	NOUN
ajst-26743	108	5	,	,	PUNCT
ajst-26743	108	6	system	system	NOUN
ajst-26743	108	7	dynamics	dynamic	NOUN
ajst-26743	108	8	is	be	AUX
ajst-26743	108	9	derived	derive	VERB
ajst-26743	108	10	,	,	PUNCT
ajst-26743	108	11	and	and	CCONJ
ajst-26743	108	12	objective	objective	ADJ
ajst-26743	108	13	along	along	ADP
ajst-26743	108	14	constraints	constraint	NOUN
ajst-26743	108	15	are	be	AUX
ajst-26743	108	16	formulated	formulate	VERB
ajst-26743	108	17	as	as	ADP
ajst-26743	108	18	(	(	PUNCT
ajst-26743	108	19	8))()()()()()(min	8))()()()()()(min	X
ajst-26743	108	20	0	0	NUM
ajst-26743	108	21	1	1	NUM
ajst-26743	108	22	0	0	NUM
ajst-26743	108	23	1	1	NUM
ajst-26743	108	24	0	0	NUM
ajst-26743	108	25	td	td	NOUN
ajst-26743	108	26	h	h	NOUN
ajst-26743	108	27	t	t	PROPN
ajst-26743	108	28	t	t	PROPN
ajst-26743	108	29	t	t	PROPN
ajst-26743	108	30	r	r	NOUN
ajst-26743	108	31	ttt	ttt	PROPN
ajst-26743	108	32	t	t	PROPN
ajst-26743	109	1	h	h	NOUN
ajst-26743	110	1	t	t	PROPN
ajst-26743	111	1	r	r	NOUN
ajst-26743	111	2	tt	tt	PROPN
ajst-26743	111	3	r	r	PROPN
ajst-26743	111	4	hhh	hhh	PROPN
ajst-26743	111	5	tr	tr	VERB
ajst-26743	111	6	hh	hh	ADV
ajst-26743	111	7	r	r	NOUN
ajst-26743	111	8	ttt	ttt	PROPN
ajst-26743	111	9	t	t	PROPN
ajst-26743	112	1	h	h	NOUN
ajst-26743	112	2	t	t	PROPN
ajst-26743	112	3	r	r	NOUN
ajst-26743	112	4	tt	tt	PROPN
ajst-26743	112	5	uruuuruuzzqzzzzqzz	uruuuruuzzqzzzzqzz	PROPN
ajst-26743	113	1			PROPN
ajst-26743	113	2			NUM
ajst-26743	113	3			PROPN
ajst-26743	113	4			PROPN
ajst-26743	113	5			PROPN
ajst-26743	113	6			PROPN
ajst-26743	113	7			NUM
ajst-26743	113	8	)	)	PUNCT
ajst-26743	113	9	9,9	9,9	NUM
ajst-26743	113	10	(	(	PUNCT
ajst-26743	113	11	,	,	PUNCT
ajst-26743	113	12	)	)	PUNCT
ajst-26743	113	13	9,9	9,9	NUM
ajst-26743	113	14	(	(	PUNCT
ajst-26743	113	15	,	,	PUNCT
ajst-26743	113	16	)	)	PUNCT
ajst-26743	113	17	9(.t.s	9(.t.s	NOUN
ajst-26743	113	18	'	'	PART
ajst-26743	113	19	max	max	PROPN
ajst-26743	113	20	''	''	PUNCT
ajst-26743	113	21	minmaxmin	minmaxmin	PROPN
ajst-26743	113	22	maxmin0	maxmin0	NOUN
ajst-26743	113	23	1	1	NUM
ajst-26743	113	24	eduuuuuu	eduuuuuu	NOUN
ajst-26743	113	25	cbzzzzz	cbzzzzz	NOUN
ajst-26743	113	26	acbuaxz	acbuaxz	ADP
ajst-26743	113	27	tt	tt	PROPN
ajst-26743	113	28	tcur	tcur	PROPN
ajst-26743	113	29	ttt	ttt	PROPN
ajst-26743	113	30			PROPN
ajst-26743	113	31			PROPN
ajst-26743	113	32			NUM
ajst-26743	113	33	in	in	ADP
ajst-26743	113	34	(	(	PUNCT
ajst-26743	113	35	8)	8)	NUM
ajst-26743	113	36	,	,	PUNCT
ajst-26743	113	37	tq	tq	INTJ
ajst-26743	113	38	,	,	PUNCT
ajst-26743	113	39	hq	hq	PROPN
ajst-26743	113	40	stand	stand	VERB
ajst-26743	113	41	for	for	ADP
ajst-26743	113	42	step	step	NOUN
ajst-26743	113	43	and	and	CCONJ
ajst-26743	113	44	final	final	ADJ
ajst-26743	113	45	penalty	penalty	NOUN
ajst-26743	113	46	matrix	matrix	NOUN
ajst-26743	113	47	of	of	ADP
ajst-26743	113	48	z	z	NOUN
ajst-26743	113	49	,	,	PUNCT
ajst-26743	113	50	tr	tr	VERB
ajst-26743	113	51	,	,	PUNCT
ajst-26743	113	52	dr	dr	PROPN
ajst-26743	113	53	are	be	AUX
ajst-26743	113	54	step	step	NOUN
ajst-26743	113	55	and	and	CCONJ
ajst-26743	113	56	differential	differential	ADJ
ajst-26743	113	57	penalty	penalty	NOUN
ajst-26743	113	58	matrix	matrix	NOUN
ajst-26743	113	59	of	of	ADP
ajst-26743	113	60	u	u	PROPN
ajst-26743	113	61	.	.	PUNCT
ajst-26743	114	1	(	(	PUNCT
ajst-26743	114	2	9a	9a	NOUN
ajst-26743	114	3	)	)	PUNCT
ajst-26743	114	4	indicates	indicate	VERB
ajst-26743	114	5	the	the	DET
ajst-26743	114	6	system	system	NOUN
ajst-26743	114	7	dynamics	dynamic	NOUN
ajst-26743	114	8	with	with	ADP
ajst-26743	114	9	system	system	NOUN
ajst-26743	114	10	matrices	matrice	VERB
ajst-26743	114	11	a	a	DET
ajst-26743	114	12	,	,	PUNCT
ajst-26743	114	13	b	b	NOUN
ajst-26743	114	14	,	,	PUNCT
ajst-26743	114	15	c	c	PROPN
ajst-26743	115	1	[	[	X
ajst-26743	115	2	25	25	NUM
ajst-26743	115	3	]	]	PUNCT
ajst-26743	115	4	.	.	PUNCT
ajst-26743	116	1	(	(	PUNCT
ajst-26743	116	2	9b	9b	NOUN
ajst-26743	116	3	)	)	PUNCT
ajst-26743	116	4	requires	require	VERB
ajst-26743	116	5	the	the	DET
ajst-26743	116	6	initial	initial	ADJ
ajst-26743	116	7	condition	condition	NOUN
ajst-26743	116	8	is	be	AUX
ajst-26743	116	9	the	the	DET
ajst-26743	116	10	current	current	ADJ
ajst-26743	116	11	state	state	NOUN
ajst-26743	116	12	curz	curz	NOUN
ajst-26743	116	13	,	,	PUNCT
ajst-26743	116	14	(	(	PUNCT
ajst-26743	116	15	9c	9c	NUM
ajst-26743	116	16	,	,	PUNCT
ajst-26743	116	17	9d	9d	NUM
ajst-26743	116	18	)	)	PUNCT
ajst-26743	116	19	limit	limit	NOUN
ajst-26743	116	20	tz	tz	NOUN
ajst-26743	116	21	,	,	PUNCT
ajst-26743	116	22	tu	tu	PROPN
ajst-26743	116	23	respectively	respectively	ADV
ajst-26743	116	24	,	,	PUNCT
ajst-26743	116	25	and	and	CCONJ
ajst-26743	116	26	(	(	PUNCT
ajst-26743	116	27	9e	9e	NOUN
ajst-26743	116	28	)	)	PUNCT
ajst-26743	116	29	constrains	constrain	VERB
ajst-26743	116	30	the	the	DET
ajst-26743	116	31	difference	difference	NOUN
ajst-26743	116	32	of	of	ADP
ajst-26743	116	33	tu	tu	PROPN
ajst-26743	116	34	.	.	PUNCT
ajst-26743	117	1	the	the	DET
ajst-26743	117	2	vehicle	vehicle	NOUN
ajst-26743	117	3	executes	execute	NOUN
ajst-26743	117	4	solved	solve	VERB
ajst-26743	117	5	tu	tu	PROPN
ajst-26743	117	6	,	,	PUNCT
ajst-26743	117	7	which	which	PRON
ajst-26743	117	8	is	be	AUX
ajst-26743	117	9	a	a	PRON
ajst-26743	117	10	and	and	CCONJ
ajst-26743	117	11			NUM
ajst-26743	117	12	for	for	ADP
ajst-26743	117	13	tracking	tracking	NOUN
ajst-26743	117	14	.	.	PUNCT
ajst-26743	118	1	3	3	X
ajst-26743	118	2	.	.	X
ajst-26743	118	3	experiments	experiment	NOUN
ajst-26743	118	4	in	in	ADP
ajst-26743	118	5	this	this	DET
ajst-26743	118	6	section	section	NOUN
ajst-26743	118	7	,	,	PUNCT
ajst-26743	118	8	we	we	PRON
ajst-26743	118	9	present	present	VERB
ajst-26743	118	10	detailed	detailed	ADJ
ajst-26743	118	11	implementation	implementation	NOUN
ajst-26743	118	12	and	and	CCONJ
ajst-26743	118	13	verification	verification	NOUN
ajst-26743	118	14	through	through	ADP
ajst-26743	118	15	experiments	experiment	NOUN
ajst-26743	118	16	in	in	ADP
ajst-26743	118	17	simulation	simulation	NOUN
ajst-26743	118	18	scenarios	scenario	NOUN
ajst-26743	118	19	.	.	PUNCT
ajst-26743	119	1	we	we	PRON
ajst-26743	119	2	demonstrate	demonstrate	VERB
ajst-26743	119	3	that	that	SCONJ
ajst-26743	119	4	the	the	DET
ajst-26743	119	5	path	path	NOUN
ajst-26743	119	6	-	-	PUNCT
ajst-26743	119	7	planning	planning	NOUN
ajst-26743	119	8	-	-	PUNCT
ajst-26743	119	9	based	base	VERB
ajst-26743	119	10	bc	bc	PROPN
ajst-26743	119	11	and	and	CCONJ
ajst-26743	119	12	ppo	ppo	PROPN
ajst-26743	119	13	bootstrapped	bootstrappe	VERB
ajst-26743	119	14	by	by	ADP
ajst-26743	119	15	bc	bc	PROPN
ajst-26743	119	16	achieve	achieve	VERB
ajst-26743	119	17	great	great	ADJ
ajst-26743	119	18	performance	performance	NOUN
ajst-26743	119	19	in	in	ADP
ajst-26743	119	20	pathtracking	pathtracke	VERB
ajst-26743	119	21	and	and	CCONJ
ajst-26743	119	22	static	static	ADJ
ajst-26743	119	23	obstacle	obstacle	NOUN
ajst-26743	119	24	nudging	nudge	VERB
ajst-26743	119	25	respectively	respectively	ADV
ajst-26743	119	26	.	.	PUNCT
ajst-26743	120	1	the	the	DET
ajst-26743	120	2	implementation	implementation	NOUN
ajst-26743	120	3	of	of	ADP
ajst-26743	120	4	code	code	NOUN
ajst-26743	120	5	,	,	PUNCT
ajst-26743	120	6	video	video	NOUN
ajst-26743	120	7	links	link	NOUN
ajst-26743	120	8	,	,	PUNCT
ajst-26743	120	9	instructions	instruction	NOUN
ajst-26743	120	10	,	,	PUNCT
ajst-26743	120	11	and	and	CCONJ
ajst-26743	120	12	additional	additional	ADJ
ajst-26743	120	13	resources	resource	NOUN
ajst-26743	120	14	are	be	AUX
ajst-26743	120	15	available	available	ADJ
ajst-26743	120	16	at	at	ADP
ajst-26743	120	17	https://github.com/derekhanbaliq/planning-with-learning	https://github.com/derekhanbaliq/planning-with-learne	VERB
ajst-26743	120	18	.	.	PUNCT
ajst-26743	121	1	a.	a.	NOUN
ajst-26743	121	2	experimental	experimental	ADJ
ajst-26743	121	3	setup	setup	NOUN
ajst-26743	121	4	we	we	PRON
ajst-26743	121	5	conducted	conduct	VERB
ajst-26743	121	6	development	development	NOUN
ajst-26743	121	7	and	and	CCONJ
ajst-26743	121	8	verification	verification	NOUN
ajst-26743	121	9	on	on	ADP
ajst-26743	121	10	f1tenth_gym	f1tenth_gym	PROPN
ajst-26743	121	11	,	,	PUNCT
ajst-26743	121	12	a	a	DET
ajst-26743	121	13	simulation	simulation	NOUN
ajst-26743	121	14	environment	environment	NOUN
ajst-26743	121	15	of	of	ADP
ajst-26743	121	16	f1tenth	f1tenth	PROPN
ajst-26743	121	17	based	base	VERB
ajst-26743	121	18	on	on	ADP
ajst-26743	121	19	gym	gym	PROPN
ajst-26743	121	20	.	.	PUNCT
ajst-26743	122	1	f1tenth_gym	f1tenth_gym	PROPN
ajst-26743	122	2	offers	offer	VERB
ajst-26743	122	3	a	a	DET
ajst-26743	122	4	robust	robust	ADJ
ajst-26743	122	5	closed	closed	ADJ
ajst-26743	122	6	-	-	PUNCT
ajst-26743	122	7	loop	loop	NOUN
ajst-26743	122	8	simulation	simulation	NOUN
ajst-26743	122	9	framework	framework	NOUN
ajst-26743	122	10	facilitating	facilitate	VERB
ajst-26743	122	11	rapid	rapid	ADJ
ajst-26743	122	12	implementation	implementation	NOUN
ajst-26743	122	13	.	.	PUNCT
ajst-26743	123	1	to	to	PART
ajst-26743	123	2	incorporate	incorporate	VERB
ajst-26743	123	3	learning	learning	NOUN
ajst-26743	123	4	-	-	PUNCT
ajst-26743	123	5	based	base	VERB
ajst-26743	123	6	methods	method	NOUN
ajst-26743	123	7	,	,	PUNCT
ajst-26743	123	8	we	we	PRON
ajst-26743	123	9	integrated	integrate	VERB
ajst-26743	123	10	the	the	DET
ajst-26743	123	11	single	single	ADJ
ajst-26743	123	12	-	-	PUNCT
ajst-26743	123	13	file	file	NOUN
ajst-26743	123	14	ppo	ppo	PROPN
ajst-26743	123	15	implementation	implementation	NOUN
ajst-26743	123	16	from	from	ADP
ajst-26743	123	17	cleanrl	cleanrl	VERB
ajst-26743	123	18	[	[	X
ajst-26743	123	19	24	24	NUM
ajst-26743	123	20	]	]	PUNCT
ajst-26743	123	21	into	into	ADP
ajst-26743	123	22	f1tenth_gym	f1tenth_gym	NOUN
ajst-26743	123	23	,	,	PUNCT
ajst-26743	123	24	enabling	enable	VERB
ajst-26743	123	25	the	the	DET
ajst-26743	123	26	use	use	NOUN
ajst-26743	123	27	of	of	ADP
ajst-26743	123	28	ppo	ppo	PROPN
ajst-26743	123	29	.	.	PUNCT
ajst-26743	124	1	the	the	DET
ajst-26743	124	2	experimental	experimental	ADJ
ajst-26743	124	3	setup	setup	NOUN
ajst-26743	124	4	was	be	AUX
ajst-26743	124	5	deployed	deploy	VERB
ajst-26743	124	6	following	follow	VERB
ajst-26743	124	7	various	various	ADJ
ajst-26743	124	8	considerations	consideration	NOUN
ajst-26743	124	9	.	.	PUNCT
ajst-26743	125	1	hokuyo	hokuyo	PROPN
ajst-26743	125	2	lidar	lidar	PROPN
ajst-26743	125	3	scan	scan	PROPN
ajst-26743	125	4	data	data	PROPN
ajst-26743	125	5	is	be	AUX
ajst-26743	125	6	downsampled	downsample	VERB
ajst-26743	125	7	from	from	ADP
ajst-26743	125	8	1080	1080	NUM
ajst-26743	125	9	to	to	ADP
ajst-26743	125	10	108	108	NUM
ajst-26743	125	11	beams	beam	NOUN
ajst-26743	125	12	,	,	PUNCT
ajst-26743	125	13	as	as	SCONJ
ajst-26743	125	14	described	describe	VERB
ajst-26743	125	15	in	in	ADP
ajst-26743	125	16	[	[	X
ajst-26743	125	17	18	18	NUM
ajst-26743	125	18	]	]	PUNCT
ajst-26743	125	19	,	,	PUNCT
ajst-26743	125	20	to	to	PART
ajst-26743	125	21	reduce	reduce	VERB
ajst-26743	125	22	the	the	DET
ajst-26743	125	23	model	model	NOUN
ajst-26743	125	24	’s	’s	PART
ajst-26743	125	25	input	input	NOUN
ajst-26743	125	26	dimension	dimension	NOUN
ajst-26743	125	27	.	.	PUNCT
ajst-26743	126	1	the	the	DET
ajst-26743	126	2	path	path	NOUN
ajst-26743	126	3	prediction	prediction	NOUN
ajst-26743	126	4	time	time	NOUN
ajst-26743	126	5	is	be	AUX
ajst-26743	126	6	set	set	VERB
ajst-26743	126	7	to	to	ADP
ajst-26743	126	8	1	1	NUM
ajst-26743	126	9	second	second	NOUN
ajst-26743	126	10	for	for	ADP
ajst-26743	126	11	path	path	NOUN
ajst-26743	126	12	-	-	PUNCT
ajst-26743	126	13	tracking	tracking	NOUN
ajst-26743	126	14	and	and	CCONJ
ajst-26743	126	15	2	2	NUM
ajst-26743	126	16	seconds	second	NOUN
ajst-26743	126	17	for	for	ADP
ajst-26743	126	18	bootstrapping	bootstrappe	VERB
ajst-26743	126	19	to	to	ADP
ajst-26743	126	20	static	static	ADJ
ajst-26743	126	21	obstacle	obstacle	NOUN
ajst-26743	126	22	nudging	nudge	VERB
ajst-26743	126	23	.	.	PUNCT
ajst-26743	127	1	the	the	DET
ajst-26743	127	2	planning	planning	NOUN
ajst-26743	127	3	horizon	horizon	NOUN
ajst-26743	127	4	was	be	AUX
ajst-26743	127	5	defined	define	VERB
ajst-26743	127	6	as	as	ADP
ajst-26743	127	7	10h	10h	ADJ
ajst-26743	127	8	.	.	PUNCT
ajst-26743	128	1	the	the	DET
ajst-26743	128	2	vehicle	vehicle	NOUN
ajst-26743	128	3	’s	’s	PART
ajst-26743	128	4	initial	initial	ADJ
ajst-26743	128	5	pose	pose	NOUN
ajst-26743	128	6	was	be	AUX
ajst-26743	128	7	randomized	randomize	VERB
ajst-26743	128	8	along	along	ADP
ajst-26743	128	9	the	the	DET
ajst-26743	128	10	reference	reference	NOUN
ajst-26743	128	11	waypoints	waypoint	NOUN
ajst-26743	128	12	while	while	SCONJ
ajst-26743	128	13	maintaining	maintain	VERB
ajst-26743	128	14	the	the	DET
ajst-26743	128	15	same	same	ADJ
ajst-26743	128	16	orientation	orientation	NOUN
ajst-26743	128	17	and	and	CCONJ
ajst-26743	128	18	avoiding	avoid	VERB
ajst-26743	128	19	collisions	collision	NOUN
ajst-26743	128	20	.	.	PUNCT
ajst-26743	129	1	for	for	ADP
ajst-26743	129	2	pure	pure	ADJ
ajst-26743	129	3	pursuit	pursuit	NOUN
ajst-26743	129	4	,	,	PUNCT
ajst-26743	129	5	the	the	DET
ajst-26743	129	6	vehicle	vehicle	NOUN
ajst-26743	129	7	was	be	AUX
ajst-26743	129	8	configured	configure	VERB
ajst-26743	129	9	with	with	ADP
ajst-26743	129	10	a	a	DET
ajst-26743	129	11	fixed	fix	VERB
ajst-26743	129	12	lookahead	lookahead	NOUN
ajst-26743	129	13	distance	distance	NOUN
ajst-26743	129	14	of	of	ADP
ajst-26743	129	15	m8.0l	m8.0l	PUNCT
ajst-26743	129	16	and	and	CCONJ
ajst-26743	129	17	a	a	DET
ajst-26743	129	18	constant	constant	ADJ
ajst-26743	129	19	speed	speed	NOUN
ajst-26743	129	20	of	of	ADP
ajst-26743	129	21	2	2	NUM
ajst-26743	129	22	m	m	NOUN
ajst-26743	129	23	/	/	SYM
ajst-26743	129	24	s	s	VERB
ajst-26743	129	25	to	to	PART
ajst-26743	129	26	ensure	ensure	VERB
ajst-26743	129	27	stable	stable	ADJ
ajst-26743	129	28	performance	performance	NOUN
ajst-26743	129	29	.	.	PUNCT
ajst-26743	130	1	correspondingly	correspondingly	ADV
ajst-26743	130	2	,	,	PUNCT
ajst-26743	130	3	the	the	DET
ajst-26743	130	4	speed	speed	NOUN
ajst-26743	130	5	of	of	ADP
ajst-26743	130	6	the	the	DET
ajst-26743	130	7	mpc	mpc	NOUN
ajst-26743	130	8	was	be	AUX
ajst-26743	130	9	capped	cap	VERB
ajst-26743	130	10	at	at	ADP
ajst-26743	130	11	a	a	DET
ajst-26743	130	12	maximum	maximum	NOUN
ajst-26743	130	13	of	of	ADP
ajst-26743	130	14	2	2	NUM
ajst-26743	130	15	m	m	NOUN
ajst-26743	130	16	/	/	SYM
ajst-26743	130	17	s.	s.	PROPN
ajst-26743	130	18	additionally	additionally	ADV
ajst-26743	130	19	,	,	PUNCT
ajst-26743	130	20	the	the	DET
ajst-26743	130	21	control	control	NOUN
ajst-26743	130	22	frequency	frequency	NOUN
ajst-26743	130	23	was	be	AUX
ajst-26743	130	24	set	set	VERB
ajst-26743	130	25	to	to	ADP
ajst-26743	130	26	10	10	NUM
ajst-26743	130	27	hz	hz	NOUN
ajst-26743	130	28	.	.	PUNCT
ajst-26743	131	1	the	the	DET
ajst-26743	131	2	agent	agent	NOUN
ajst-26743	131	3	model	model	NOUN
ajst-26743	131	4	was	be	AUX
ajst-26743	131	5	actor	actor	NOUN
ajst-26743	131	6	-	-	PUNCT
ajst-26743	131	7	critic	critic	NOUN
ajst-26743	131	8	,	,	PUNCT
ajst-26743	131	9	compatible	compatible	ADJ
ajst-26743	131	10	with	with	ADP
ajst-26743	131	11	the	the	DET
ajst-26743	131	12	ppo	ppo	PROPN
ajst-26743	131	13	design	design	NOUN
ajst-26743	131	14	.	.	PUNCT
ajst-26743	132	1	the	the	DET
ajst-26743	132	2	critic	critic	PROPN
ajst-26743	132	3	network	network	NOUN
ajst-26743	132	4	learned	learn	VERB
ajst-26743	132	5	the	the	DET
ajst-26743	132	6	value	value	NOUN
ajst-26743	132	7	function	function	NOUN
ajst-26743	132	8	,	,	PUNCT
ajst-26743	132	9	which	which	PRON
ajst-26743	132	10	estimates	estimate	VERB
ajst-26743	132	11	the	the	DET
ajst-26743	132	12	expected	expect	VERB
ajst-26743	132	13	reward	reward	NOUN
ajst-26743	132	14	of	of	ADP
ajst-26743	132	15	being	be	AUX
ajst-26743	132	16	in	in	ADP
ajst-26743	132	17	a	a	DET
ajst-26743	132	18	particular	particular	ADJ
ajst-26743	132	19	state	state	NOUN
ajst-26743	132	20	;	;	PUNCT
ajst-26743	132	21	while	while	SCONJ
ajst-26743	132	22	the	the	DET
ajst-26743	132	23	actor	actor	NOUN
ajst-26743	132	24	network	network	NOUN
ajst-26743	132	25	outputted	output	VERB
ajst-26743	132	26	the	the	DET
ajst-26743	132	27	mean	mean	NOUN
ajst-26743	132	28	of	of	ADP
ajst-26743	132	29	the	the	DET
ajst-26743	132	30	action	action	NOUN
ajst-26743	132	31	distribution	distribution	NOUN
ajst-26743	132	32	.	.	PUNCT
ajst-26743	133	1	both	both	DET
ajst-26743	133	2	networks	network	NOUN
ajst-26743	133	3	shared	share	VERB
ajst-26743	133	4	the	the	DET
ajst-26743	133	5	same	same	ADJ
ajst-26743	133	6	structure	structure	NOUN
ajst-26743	133	7	,	,	PUNCT
ajst-26743	133	8	consisting	consist	VERB
ajst-26743	133	9	of	of	ADP
ajst-26743	133	10	a	a	DET
ajst-26743	133	11	4	4	NUM
ajst-26743	133	12	×	×	NOUN
ajst-26743	133	13	256	256	NUM
ajst-26743	133	14	multi	multi	ADJ
ajst-26743	133	15	-	-	ADJ
ajst-26743	133	16	layer	layer	ADJ
ajst-26743	133	17	perceptron	perceptron	NOUN
ajst-26743	133	18	.	.	PUNCT
ajst-26743	134	1	the	the	DET
ajst-26743	134	2	learning	learning	NOUN
ajst-26743	134	3	rate	rate	NOUN
ajst-26743	134	4	was	be	AUX
ajst-26743	134	5	set	set	VERB
ajst-26743	134	6	to	to	ADP
ajst-26743	134	7	3×10−4	3×10−4	NUM
ajst-26743	134	8	,	,	PUNCT
ajst-26743	134	9	the	the	DET
ajst-26743	134	10	generalized	generalized	ADJ
ajst-26743	134	11	advantage	advantage	NOUN
ajst-26743	134	12	estimation	estimation	NOUN
ajst-26743	134	13	was	be	AUX
ajst-26743	134	14	set	set	VERB
ajst-26743	134	15	to	to	ADP
ajst-26743	134	16	0.95	0.95	NUM
ajst-26743	134	17	,	,	PUNCT
ajst-26743	134	18	and	and	CCONJ
ajst-26743	134	19	the	the	DET
ajst-26743	134	20	discount	discount	NOUN
ajst-26743	134	21	factor	factor	NOUN
ajst-26743	134	22	was	be	AUX
ajst-26743	134	23	set	set	VERB
ajst-26743	134	24	to	to	ADP
ajst-26743	134	25	0.99	0.99	NUM
ajst-26743	134	26	.	.	PUNCT
ajst-26743	135	1	the	the	DET
ajst-26743	135	2	maximum	maximum	PROPN
ajst-26743	135	3	gradient	gradient	NOUN
ajst-26743	135	4	norm	norm	NOUN
ajst-26743	135	5	was	be	AUX
ajst-26743	135	6	established	establish	VERB
ajst-26743	135	7	at	at	ADP
ajst-26743	135	8	0.5	0.5	NUM
ajst-26743	135	9	to	to	PART
ajst-26743	135	10	prevent	prevent	VERB
ajst-26743	135	11	gradient	gradient	ADJ
ajst-26743	135	12	explosions	explosion	NOUN
ajst-26743	135	13	.	.	PUNCT
ajst-26743	136	1	to	to	PART
ajst-26743	136	2	design	design	VERB
ajst-26743	136	3	the	the	DET
ajst-26743	136	4	reward	reward	NOUN
ajst-26743	136	5	function	function	NOUN
ajst-26743	136	6	,	,	PUNCT
ajst-26743	136	7	we	we	PRON
ajst-26743	136	8	calculated	calculate	VERB
ajst-26743	136	9	the	the	DET
ajst-26743	136	10	reward	reward	NOUN
ajst-26743	136	11	r	r	NOUN
ajst-26743	136	12	based	base	VERB
ajst-26743	136	13	on	on	ADP
ajst-26743	136	14	the	the	DET
ajst-26743	136	15	following	follow	VERB
ajst-26743	136	16	values	value	NOUN
ajst-26743	136	17	:	:	PUNCT
ajst-26743	136	18	the	the	DET
ajst-26743	136	19	longevity	longevity	NOUN
ajst-26743	136	20	of	of	ADP
ajst-26743	136	21	the	the	DET
ajst-26743	136	22	vehicle	vehicle	NOUN
ajst-26743	136	23	,	,	PUNCT
ajst-26743	136	24	which	which	PRON
ajst-26743	136	25	was	be	AUX
ajst-26743	136	26	accumulated	accumulate	VERB
ajst-26743	136	27	through	through	ADP
ajst-26743	136	28	the	the	DET
ajst-26743	136	29	number	number	NOUN
ajst-26743	136	30	of	of	ADP
ajst-26743	136	31	steps	step	NOUN
ajst-26743	136	32	n	n	X
ajst-26743	136	33	(	(	PUNCT
ajst-26743	136	34	0.01	0.01	NUM
ajst-26743	136	35	s	s	NOUN
ajst-26743	136	36	each	each	PRON
ajst-26743	136	37	)	)	PUNCT
ajst-26743	136	38	without	without	ADP
ajst-26743	136	39	crashing	crash	VERB
ajst-26743	136	40	or	or	CCONJ
ajst-26743	136	41	finishing	finish	VERB
ajst-26743	136	42	laps	lap	NOUN
ajst-26743	136	43	,	,	PUNCT
ajst-26743	136	44	the	the	DET
ajst-26743	136	45	2	2	NUM
ajst-26743	136	46	-	-	PUNCT
ajst-26743	136	47	norm	norm	NOUN
ajst-26743	136	48	penalty	penalty	NOUN
ajst-26743	136	49	of	of	ADP
ajst-26743	136	50	offsets	offset	NOUN
ajst-26743	136	51	o	o	X
ajst-26743	136	52	,	,	PUNCT
ajst-26743	136	53	and	and	CCONJ
ajst-26743	136	54	a	a	DET
ajst-26743	136	55	47	47	NUM
ajst-26743	136	56	collision	collision	NOUN
ajst-26743	136	57	penalty	penalty	NOUN
ajst-26743	136	58	1000c	1000c	NUM
ajst-26743	136	59	.	.	PUNCT
ajst-26743	137	1	the	the	DET
ajst-26743	137	2	reward	reward	NOUN
ajst-26743	137	3	function	function	NOUN
ajst-26743	137	4	was	be	AUX
ajst-26743	137	5	formulated	formulate	VERB
ajst-26743	137	6	as	as	SCONJ
ajst-26743	137	7	follows	follow	VERB
ajst-26743	137	8	:	:	PUNCT
ajst-26743	137	9	100	100	NUM
ajst-26743	137	10	2	2	NUM
ajst-26743	137	11	o	o	NOUN
ajst-26743	137	12	cnr	cnr	PROPN
ajst-26743	137	13			PROPN
ajst-26743	137	14	(	(	PUNCT
ajst-26743	137	15	10	10	NUM
ajst-26743	137	16	)	)	PUNCT
ajst-26743	137	17	b.	b.	PROPN
ajst-26743	137	18	path	path	NOUN
ajst-26743	137	19	-	-	PUNCT
ajst-26743	137	20	tracking	tracking	NOUN
ajst-26743	137	21	with	with	ADP
ajst-26743	137	22	bc	bc	PROPN
ajst-26743	137	23	we	we	PRON
ajst-26743	137	24	trained	train	VERB
ajst-26743	137	25	agents	agent	NOUN
ajst-26743	137	26	using	use	VERB
ajst-26743	137	27	demonstration	demonstration	NOUN
ajst-26743	137	28	data	datum	NOUN
ajst-26743	137	29	that	that	PRON
ajst-26743	137	30	utilized	utilize	VERB
ajst-26743	137	31	pure	pure	ADJ
ajst-26743	137	32	pursuit	pursuit	NOUN
ajst-26743	137	33	and	and	CCONJ
ajst-26743	137	34	mpc	mpc	NOUN
ajst-26743	137	35	controllers	controller	NOUN
ajst-26743	137	36	separately	separately	ADV
ajst-26743	137	37	.	.	PUNCT
ajst-26743	138	1	to	to	PART
ajst-26743	138	2	compare	compare	VERB
ajst-26743	138	3	the	the	DET
ajst-26743	138	4	performance	performance	NOUN
ajst-26743	138	5	of	of	ADP
ajst-26743	138	6	the	the	DET
ajst-26743	138	7	two	two	NUM
ajst-26743	138	8	experiments	experiment	NOUN
ajst-26743	138	9	,	,	PUNCT
ajst-26743	138	10	we	we	PRON
ajst-26743	138	11	set	set	VERB
ajst-26743	138	12	the	the	DET
ajst-26743	138	13	prediction	prediction	NOUN
ajst-26743	138	14	time	time	NOUN
ajst-26743	138	15	to	to	ADP
ajst-26743	138	16	1	1	NUM
ajst-26743	138	17	second	second	ADJ
ajst-26743	138	18	,	,	PUNCT
ajst-26743	138	19	consistent	consistent	ADJ
ajst-26743	138	20	with	with	ADP
ajst-26743	138	21	the	the	DET
ajst-26743	138	22	mpc	mpc	NOUN
ajst-26743	138	23	setup	setup	NOUN
ajst-26743	138	24	,	,	PUNCT
ajst-26743	138	25	consistent	consistent	ADJ
ajst-26743	138	26	with	with	ADP
ajst-26743	138	27	the	the	DET
ajst-26743	138	28	mpc	mpc	NOUN
ajst-26743	138	29	setup	setup	NOUN
ajst-26743	138	30	.	.	PUNCT
ajst-26743	139	1	the	the	DET
ajst-26743	139	2	total	total	ADJ
ajst-26743	139	3	number	number	NOUN
ajst-26743	139	4	of	of	ADP
ajst-26743	139	5	training	training	NOUN
ajst-26743	139	6	time	time	NOUN
ajst-26743	139	7	steps	step	NOUN
ajst-26743	139	8	for	for	ADP
ajst-26743	139	9	bc	bc	PROPN
ajst-26743	139	10	was	be	AUX
ajst-26743	139	11	set	set	VERB
ajst-26743	139	12	to	to	ADP
ajst-26743	139	13	1	1	NUM
ajst-26743	139	14	million	million	NUM
ajst-26743	139	15	,	,	PUNCT
ajst-26743	139	16	while	while	SCONJ
ajst-26743	139	17	2	2	NUM
ajst-26743	139	18	million	million	NUM
ajst-26743	139	19	steps	step	NOUN
ajst-26743	139	20	were	be	AUX
ajst-26743	139	21	used	use	VERB
ajst-26743	139	22	for	for	ADP
ajst-26743	139	23	comparative	comparative	ADJ
ajst-26743	139	24	analysis	analysis	NOUN
ajst-26743	139	25	.	.	PUNCT
ajst-26743	140	1	(	(	PUNCT
ajst-26743	140	2	a	a	X
ajst-26743	140	3	)	)	PUNCT
ajst-26743	140	4	pure	pure	ADJ
ajst-26743	140	5	pursuit	pursuit	NOUN
ajst-26743	140	6	1	1	NUM
ajst-26743	140	7	m	m	NOUN
ajst-26743	140	8	(	(	PUNCT
ajst-26743	140	9	b	b	NOUN
ajst-26743	140	10	)	)	PUNCT
ajst-26743	140	11	pure	pure	ADJ
ajst-26743	140	12	pursuit	pursuit	NOUN
ajst-26743	140	13	2	2	NUM
ajst-26743	140	14	m	m	NOUN
ajst-26743	140	15	(	(	PUNCT
ajst-26743	140	16	c	c	NOUN
ajst-26743	140	17	)	)	PUNCT
ajst-26743	140	18	mpc	mpc	NOUN
ajst-26743	140	19	1	1	NUM
ajst-26743	140	20	m	m	VERB
ajst-26743	140	21	(	(	PUNCT
ajst-26743	140	22	d	d	NOUN
ajst-26743	140	23	)	)	PUNCT
ajst-26743	140	24	mpc	mpc	NOUN
ajst-26743	140	25	2	2	NUM
ajst-26743	140	26	m	m	NOUN
ajst-26743	140	27	figure	figure	NOUN
ajst-26743	140	28	5	5	NUM
ajst-26743	140	29	.	.	PUNCT
ajst-26743	141	1	the	the	DET
ajst-26743	141	2	bc	bc	PROPN
ajst-26743	141	3	performance	performance	NOUN
ajst-26743	141	4	for	for	ADP
ajst-26743	141	5	path	path	NOUN
ajst-26743	141	6	-	-	PUNCT
ajst-26743	141	7	tracking	tracking	NOUN
ajst-26743	141	8	with	with	ADP
ajst-26743	141	9	pure	pure	ADJ
ajst-26743	141	10	pursuit	pursuit	NOUN
ajst-26743	141	11	and	and	CCONJ
ajst-26743	141	12	mpc	mpc	NOUN
ajst-26743	141	13	using	use	VERB
ajst-26743	141	14	different	different	ADJ
ajst-26743	141	15	total	total	ADJ
ajst-26743	141	16	timesteps	timestep	NOUN
ajst-26743	141	17	.	.	PUNCT
ajst-26743	142	1	modified	modify	VERB
ajst-26743	142	2	paths	path	NOUN
ajst-26743	142	3	and	and	CCONJ
ajst-26743	142	4	horizon	horizon	NOUN
ajst-26743	142	5	paths	path	NOUN
ajst-26743	142	6	are	be	AUX
ajst-26743	142	7	marked	mark	VERB
ajst-26743	142	8	in	in	ADP
ajst-26743	142	9	red	red	ADJ
ajst-26743	142	10	and	and	CCONJ
ajst-26743	142	11	yellow	yellow	ADJ
ajst-26743	142	12	.	.	PUNCT
ajst-26743	143	1	lookahead	lookahead	NOUN
ajst-26743	143	2	points	point	NOUN
ajst-26743	143	3	are	be	AUX
ajst-26743	143	4	shown	show	VERB
ajst-26743	143	5	in	in	ADP
ajst-26743	143	6	cyan	cyan	PROPN
ajst-26743	143	7	.	.	PUNCT
ajst-26743	144	1	figure	figure	NOUN
ajst-26743	144	2	6	6	NUM
ajst-26743	144	3	.	.	PUNCT
ajst-26743	145	1	episodic	episodic	ADJ
ajst-26743	145	2	returns	return	NOUN
ajst-26743	145	3	of	of	ADP
ajst-26743	145	4	bc	bc	PROPN
ajst-26743	145	5	for	for	ADP
ajst-26743	145	6	path	path	NOUN
ajst-26743	145	7	-	-	PUNCT
ajst-26743	145	8	tracking	tracking	NOUN
ajst-26743	145	9	with	with	ADP
ajst-26743	145	10	pure	pure	ADJ
ajst-26743	145	11	pursuit	pursuit	NOUN
ajst-26743	145	12	and	and	CCONJ
ajst-26743	145	13	mpc	mpc	NOUN
ajst-26743	145	14	for	for	ADP
ajst-26743	145	15	different	different	ADJ
ajst-26743	145	16	training	training	NOUN
ajst-26743	145	17	timesteps	timestep	NOUN
ajst-26743	145	18	.	.	PUNCT
ajst-26743	146	1	for	for	ADP
ajst-26743	146	2	the	the	DET
ajst-26743	146	3	training	training	NOUN
ajst-26743	146	4	result	result	NOUN
ajst-26743	146	5	,	,	PUNCT
ajst-26743	146	6	the	the	DET
ajst-26743	146	7	episodic	episodic	ADJ
ajst-26743	146	8	returns	return	NOUN
ajst-26743	146	9	,	,	PUNCT
ajst-26743	146	10	shown	show	VERB
ajst-26743	146	11	in	in	ADP
ajst-26743	146	12	fig	fig	NOUN
ajst-26743	146	13	.	.	PUNCT
ajst-26743	147	1	6	6	NUM
ajst-26743	147	2	,	,	PUNCT
ajst-26743	147	3	illustrate	illustrate	VERB
ajst-26743	147	4	the	the	DET
ajst-26743	147	5	rapid	rapid	ADJ
ajst-26743	147	6	convergence	convergence	NOUN
ajst-26743	147	7	and	and	CCONJ
ajst-26743	147	8	learning	learn	VERB
ajst-26743	147	9	efficiency	efficiency	NOUN
ajst-26743	147	10	of	of	ADP
ajst-26743	147	11	bc	bc	PROPN
ajst-26743	147	12	.	.	PROPN
ajst-26743	147	13	with	with	ADP
ajst-26743	147	14	additional	additional	ADJ
ajst-26743	147	15	training	training	NOUN
ajst-26743	147	16	,	,	PUNCT
ajst-26743	147	17	the	the	DET
ajst-26743	147	18	models	model	NOUN
ajst-26743	147	19	have	have	VERB
ajst-26743	147	20	higher	high	ADJ
ajst-26743	147	21	return	return	NOUN
ajst-26743	147	22	values	value	NOUN
ajst-26743	147	23	than	than	ADP
ajst-26743	147	24	the	the	DET
ajst-26743	147	25	models	model	NOUN
ajst-26743	147	26	trained	train	VERB
ajst-26743	147	27	with	with	ADP
ajst-26743	147	28	1	1	NUM
ajst-26743	147	29	million	million	NUM
ajst-26743	147	30	.	.	PUNCT
ajst-26743	148	1	besides	besides	SCONJ
ajst-26743	148	2	,	,	PUNCT
ajst-26743	148	3	the	the	DET
ajst-26743	148	4	2	2	NUM
ajst-26743	148	5	million	million	NUM
ajst-26743	148	6	models	model	NOUN
ajst-26743	148	7	reach	reach	VERB
ajst-26743	148	8	to	to	ADP
ajst-26743	148	9	nearly	nearly	ADV
ajst-26743	148	10	the	the	DET
ajst-26743	148	11	same	same	ADJ
ajst-26743	148	12	return	return	NOUN
ajst-26743	148	13	value	value	NOUN
ajst-26743	148	14	,	,	PUNCT
ajst-26743	148	15	indicating	indicate	VERB
ajst-26743	148	16	the	the	DET
ajst-26743	148	17	method	method	NOUN
ajst-26743	148	18	is	be	AUX
ajst-26743	148	19	compatible	compatible	ADJ
ajst-26743	148	20	with	with	ADP
ajst-26743	148	21	different	different	ADJ
ajst-26743	148	22	pathtracking	pathtracking	ADJ
ajst-26743	148	23	controllers	controller	NOUN
ajst-26743	148	24	.	.	PUNCT
ajst-26743	149	1	fig	fig	NOUN
ajst-26743	149	2	.	.	PUNCT
ajst-26743	150	1	5	5	NUM
ajst-26743	150	2	illustrates	illustrate	VERB
ajst-26743	150	3	the	the	DET
ajst-26743	150	4	modified	modify	VERB
ajst-26743	150	5	paths	path	NOUN
ajst-26743	150	6	are	be	AUX
ajst-26743	150	7	close	close	ADJ
ajst-26743	150	8	to	to	PART
ajst-26743	150	9	reference	reference	VERB
ajst-26743	150	10	waypoints	waypoint	NOUN
ajst-26743	150	11	,	,	PUNCT
ajst-26743	150	12	showing	show	VERB
ajst-26743	150	13	the	the	DET
ajst-26743	150	14	great	great	ADJ
ajst-26743	150	15	performance	performance	NOUN
ajst-26743	150	16	of	of	ADP
ajst-26743	150	17	path	path	NOUN
ajst-26743	150	18	-	-	PUNCT
ajst-26743	150	19	tracking	tracking	NOUN
ajst-26743	150	20	through	through	ADP
ajst-26743	150	21	bc	bc	PROPN
ajst-26743	150	22	.	.	PROPN
ajst-26743	150	23	with	with	ADP
ajst-26743	150	24	extended	extended	ADJ
ajst-26743	150	25	training	training	NOUN
ajst-26743	150	26	,	,	PUNCT
ajst-26743	150	27	the	the	DET
ajst-26743	150	28	paths	path	NOUN
ajst-26743	150	29	predicted	predict	VERB
ajst-26743	150	30	by	by	ADP
ajst-26743	150	31	agents	agent	NOUN
ajst-26743	150	32	become	become	VERB
ajst-26743	150	33	smoother	smooth	ADJ
ajst-26743	150	34	with	with	ADP
ajst-26743	150	35	less	less	ADJ
ajst-26743	150	36	deviation	deviation	NOUN
ajst-26743	150	37	,	,	PUNCT
ajst-26743	150	38	which	which	PRON
ajst-26743	150	39	is	be	AUX
ajst-26743	150	40	also	also	ADV
ajst-26743	150	41	evident	evident	ADJ
ajst-26743	150	42	depicted	depict	VERB
ajst-26743	150	43	in	in	ADP
ajst-26743	150	44	fig	fig	NOUN
ajst-26743	150	45	.	.	PUNCT
ajst-26743	151	1	6	6	NUM
ajst-26743	151	2	.	.	X
ajst-26743	151	3	(	(	PUNCT
ajst-26743	151	4	a	a	X
ajst-26743	151	5	)	)	PUNCT
ajst-26743	151	6	2s	2s	NOUN
ajst-26743	151	7	prediction	prediction	NOUN
ajst-26743	151	8	1	1	NUM
ajst-26743	151	9	m	m	NOUN
ajst-26743	151	10	(	(	PUNCT
ajst-26743	151	11	b	b	X
ajst-26743	151	12	)	)	PUNCT
ajst-26743	151	13	2s	2s	NOUN
ajst-26743	151	14	prediction	prediction	NOUN
ajst-26743	151	15	2	2	NUM
ajst-26743	151	16	m	m	NOUN
ajst-26743	151	17	figure	figure	NOUN
ajst-26743	151	18	7	7	NUM
ajst-26743	151	19	.	.	PUNCT
ajst-26743	152	1	the	the	DET
ajst-26743	152	2	bc	bc	PROPN
ajst-26743	152	3	performance	performance	NOUN
ajst-26743	152	4	for	for	ADP
ajst-26743	152	5	bootstrapping	bootstrappe	VERB
ajst-26743	152	6	static	static	ADJ
ajst-26743	152	7	obstacle	obstacle	NOUN
ajst-26743	152	8	nudging	nudge	VERB
ajst-26743	152	9	with	with	ADP
ajst-26743	152	10	ppo	ppo	PROPN
ajst-26743	152	11	in	in	ADP
ajst-26743	152	12	the	the	DET
ajst-26743	152	13	obstacle	obstacle	NOUN
ajst-26743	152	14	-	-	PUNCT
ajst-26743	152	15	free	free	ADJ
ajst-26743	152	16	map	map	NOUN
ajst-26743	152	17	.	.	PUNCT
ajst-26743	153	1	48	48	NUM
ajst-26743	153	2	c.	c.	PROPN
ajst-26743	153	3	static	static	PROPN
ajst-26743	153	4	obstacle	obstacle	NOUN
ajst-26743	153	5	nudging	nudge	VERB
ajst-26743	153	6	with	with	ADP
ajst-26743	153	7	ppo	ppo	PROPN
ajst-26743	153	8	static	static	ADJ
ajst-26743	153	9	obstacle	obstacle	NOUN
ajst-26743	153	10	nudging	nudging	NOUN
ajst-26743	153	11	was	be	AUX
ajst-26743	153	12	achieved	achieve	VERB
ajst-26743	153	13	by	by	ADP
ajst-26743	153	14	adjusting	adjust	VERB
ajst-26743	153	15	selected	select	VERB
ajst-26743	153	16	reference	reference	NOUN
ajst-26743	153	17	waypoints	waypoint	NOUN
ajst-26743	153	18	through	through	ADP
ajst-26743	153	19	lateral	lateral	ADJ
ajst-26743	153	20	offsets	offset	NOUN
ajst-26743	153	21	o	o	X
ajst-26743	153	22	.	.	PUNCT
ajst-26743	154	1	to	to	PART
ajst-26743	154	2	illustrate	illustrate	VERB
ajst-26743	154	3	path	path	NOUN
ajst-26743	154	4	deviations	deviation	NOUN
ajst-26743	154	5	from	from	ADP
ajst-26743	154	6	the	the	DET
ajst-26743	154	7	horizon	horizon	NOUN
ajst-26743	154	8	path	path	NOUN
ajst-26743	154	9	,	,	PUNCT
ajst-26743	154	10	we	we	PRON
ajst-26743	154	11	bootstrapped	bootstrappe	VERB
ajst-26743	154	12	models	model	NOUN
ajst-26743	154	13	using	use	VERB
ajst-26743	154	14	bc	bc	PROPN
ajst-26743	154	15	with	with	ADP
ajst-26743	154	16	pure	pure	ADJ
ajst-26743	154	17	pursuit	pursuit	NOUN
ajst-26743	154	18	demonstrations	demonstration	NOUN
ajst-26743	154	19	.	.	PUNCT
ajst-26743	155	1	the	the	DET
ajst-26743	155	2	models	model	NOUN
ajst-26743	155	3	are	be	AUX
ajst-26743	155	4	configured	configure	VERB
ajst-26743	155	5	with	with	ADP
ajst-26743	155	6	a	a	DET
ajst-26743	155	7	2	2	NUM
ajst-26743	155	8	s	s	NOUN
ajst-26743	155	9	prediction	prediction	NOUN
ajst-26743	155	10	time	time	NOUN
ajst-26743	155	11	and	and	CCONJ
ajst-26743	155	12	trained	train	VERB
ajst-26743	155	13	over	over	ADP
ajst-26743	155	14	a	a	DET
ajst-26743	155	15	total	total	NOUN
ajst-26743	155	16	of	of	ADP
ajst-26743	155	17	1	1	NUM
ajst-26743	155	18	and	and	CCONJ
ajst-26743	155	19	2	2	NUM
ajst-26743	155	20	million	million	NUM
ajst-26743	155	21	timesteps	timestep	NOUN
ajst-26743	155	22	respectively	respectively	ADV
ajst-26743	155	23	.	.	PUNCT
ajst-26743	156	1	the	the	DET
ajst-26743	156	2	training	training	NOUN
ajst-26743	156	3	results	result	NOUN
ajst-26743	156	4	are	be	AUX
ajst-26743	156	5	depicted	depict	VERB
ajst-26743	156	6	as	as	ADP
ajst-26743	156	7	fig	fig	NOUN
ajst-26743	156	8	.	.	PUNCT
ajst-26743	157	1	7	7	NUM
ajst-26743	157	2	,	,	PUNCT
ajst-26743	157	3	which	which	PRON
ajst-26743	157	4	shows	show	VERB
ajst-26743	157	5	that	that	SCONJ
ajst-26743	157	6	both	both	DET
ajst-26743	157	7	two	two	NUM
ajst-26743	157	8	models	model	NOUN
ajst-26743	157	9	provide	provide	VERB
ajst-26743	157	10	stable	stable	ADJ
ajst-26743	157	11	performance	performance	NOUN
ajst-26743	157	12	.	.	PUNCT
ajst-26743	158	1	we	we	PRON
ajst-26743	158	2	used	use	VERB
ajst-26743	158	3	1	1	NUM
ajst-26743	158	4	m	m	NOUN
ajst-26743	158	5	model	model	NOUN
ajst-26743	158	6	for	for	ADP
ajst-26743	158	7	the	the	DET
ajst-26743	158	8	following	follow	VERB
ajst-26743	158	9	nudging	nudge	VERB
ajst-26743	158	10	experiments	experiment	NOUN
ajst-26743	158	11	.	.	PUNCT
ajst-26743	159	1	to	to	PART
ajst-26743	159	2	create	create	VERB
ajst-26743	159	3	an	an	DET
ajst-26743	159	4	obstacle	obstacle	NOUN
ajst-26743	159	5	map	map	NOUN
ajst-26743	159	6	,	,	PUNCT
ajst-26743	159	7	we	we	PRON
ajst-26743	159	8	modified	modify	VERB
ajst-26743	159	9	the	the	DET
ajst-26743	159	10	original	original	ADJ
ajst-26743	159	11	obstacle	obstacle	NOUN
ajst-26743	159	12	-	-	PUNCT
ajst-26743	159	13	free	free	ADJ
ajst-26743	159	14	map	map	NOUN
ajst-26743	159	15	by	by	ADP
ajst-26743	159	16	adding	add	VERB
ajst-26743	159	17	2	2	NUM
ajst-26743	159	18	,	,	PUNCT
ajst-26743	159	19	3	3	NUM
ajst-26743	159	20	,	,	PUNCT
ajst-26743	159	21	and	and	CCONJ
ajst-26743	159	22	4	4	NUM
ajst-26743	159	23	static	static	ADJ
ajst-26743	159	24	obstacles	obstacle	NOUN
ajst-26743	159	25	respectively	respectively	ADV
ajst-26743	159	26	.	.	PUNCT
ajst-26743	160	1	each	each	DET
ajst-26743	160	2	obstacle	obstacle	NOUN
ajst-26743	160	3	box	box	NOUN
ajst-26743	160	4	measures	measure	NOUN
ajst-26743	160	5	7	7	NUM
ajst-26743	160	6	×	×	NOUN
ajst-26743	160	7	7	7	NUM
ajst-26743	160	8	pixels	pixel	NOUN
ajst-26743	160	9	,	,	PUNCT
ajst-26743	160	10	approximately	approximately	ADV
ajst-26743	160	11	35	35	NUM
ajst-26743	160	12	×	×	NOUN
ajst-26743	160	13	35	35	NUM
ajst-26743	160	14	cm	cm	NOUN
ajst-26743	160	15	,	,	PUNCT
ajst-26743	160	16	which	which	DET
ajst-26743	160	17	side	side	NOUN
ajst-26743	160	18	length	length	NOUN
ajst-26743	160	19	is	be	AUX
ajst-26743	160	20	a	a	DET
ajst-26743	160	21	full	full	ADJ
ajst-26743	160	22	width	width	NOUN
ajst-26743	160	23	of	of	ADP
ajst-26743	160	24	an	an	DET
ajst-26743	160	25	f1tenth	f1tenth	ADJ
ajst-26743	160	26	car	car	NOUN
ajst-26743	160	27	in	in	ADP
ajst-26743	160	28	real	real	ADJ
ajst-26743	160	29	scenarios	scenario	NOUN
ajst-26743	160	30	.	.	PUNCT
ajst-26743	161	1	the	the	DET
ajst-26743	161	2	obstacles	obstacle	NOUN
ajst-26743	161	3	are	be	AUX
ajst-26743	161	4	strategically	strategically	ADV
ajst-26743	161	5	placed	place	VERB
ajst-26743	161	6	along	along	ADP
ajst-26743	161	7	the	the	DET
ajst-26743	161	8	waypoints	waypoint	NOUN
ajst-26743	161	9	to	to	PART
ajst-26743	161	10	evaluate	evaluate	VERB
ajst-26743	161	11	the	the	DET
ajst-26743	161	12	vehicle	vehicle	NOUN
ajst-26743	161	13	’s	’s	PART
ajst-26743	161	14	nudging	nudging	NOUN
ajst-26743	161	15	performance	performance	NOUN
ajst-26743	161	16	.	.	PUNCT
ajst-26743	162	1	(	(	PUNCT
ajst-26743	162	2	a	a	X
ajst-26743	162	3	)	)	PUNCT
ajst-26743	162	4	nudging	nudge	VERB
ajst-26743	162	5	2	2	NUM
ajst-26743	162	6	static	static	ADJ
ajst-26743	162	7	obstacles	obstacle	NOUN
ajst-26743	162	8	(	(	PUNCT
ajst-26743	162	9	b	b	NOUN
ajst-26743	162	10	)	)	PUNCT
ajst-26743	162	11	nudging	nudge	VERB
ajst-26743	162	12	3	3	NUM
ajst-26743	162	13	fixed	fix	VERB
ajst-26743	162	14	obstacles	obstacle	NOUN
ajst-26743	162	15	(	(	PUNCT
ajst-26743	162	16	c	c	NOUN
ajst-26743	162	17	)	)	PUNCT
ajst-26743	162	18	nudging	nudge	VERB
ajst-26743	162	19	4	4	NUM
ajst-26743	162	20	fixed	fix	VERB
ajst-26743	162	21	obstacles	obstacle	NOUN
ajst-26743	162	22	figure	figure	VERB
ajst-26743	162	23	8	8	NUM
ajst-26743	162	24	.	.	PUNCT
ajst-26743	163	1	static	static	ADJ
ajst-26743	163	2	obstacle	obstacle	NOUN
ajst-26743	163	3	nudging	nudge	VERB
ajst-26743	163	4	and	and	CCONJ
ajst-26743	163	5	corresponding	corresponding	ADJ
ajst-26743	163	6	episodic	episodic	ADJ
ajst-26743	163	7	returns	return	NOUN
ajst-26743	163	8	using	use	VERB
ajst-26743	163	9	bc	bc	PROPN
ajst-26743	163	10	-	-	PUNCT
ajst-26743	163	11	bootstrapped	bootstrappe	VERB
ajst-26743	163	12	ppo	ppo	PROPN
ajst-26743	163	13	with	with	ADP
ajst-26743	163	14	pure	pure	ADJ
ajst-26743	163	15	pursuit	pursuit	NOUN
ajst-26743	163	16	validated	validate	VERB
ajst-26743	163	17	with	with	ADP
ajst-26743	163	18	different	different	ADJ
ajst-26743	163	19	fixed	fix	VERB
ajst-26743	163	20	obstacle	obstacle	NOUN
ajst-26743	163	21	setups	setup	NOUN
ajst-26743	163	22	.	.	PUNCT
ajst-26743	164	1	modified	modify	VERB
ajst-26743	164	2	paths	path	NOUN
ajst-26743	164	3	are	be	AUX
ajst-26743	164	4	marked	mark	VERB
ajst-26743	164	5	in	in	ADP
ajst-26743	164	6	red	red	ADJ
ajst-26743	164	7	triangles	triangle	NOUN
ajst-26743	164	8	and	and	CCONJ
ajst-26743	164	9	yellow	yellow	ADJ
ajst-26743	164	10	lines	line	NOUN
ajst-26743	164	11	,	,	PUNCT
ajst-26743	164	12	and	and	CCONJ
ajst-26743	164	13	cyan	cyan	PROPN
ajst-26743	164	14	triangles	triangle	NOUN
ajst-26743	164	15	denote	denote	VERB
ajst-26743	164	16	the	the	DET
ajst-26743	164	17	lookahead	lookahead	NOUN
ajst-26743	164	18	points	point	NOUN
ajst-26743	164	19	.	.	PUNCT
ajst-26743	165	1	we	we	PRON
ajst-26743	165	2	used	use	VERB
ajst-26743	165	3	a	a	DET
ajst-26743	165	4	total	total	NOUN
ajst-26743	165	5	of	of	ADP
ajst-26743	165	6	10	10	NUM
ajst-26743	165	7	million	million	NUM
ajst-26743	165	8	timesteps	timestep	NOUN
ajst-26743	165	9	to	to	PART
ajst-26743	165	10	train	train	VERB
ajst-26743	165	11	the	the	DET
ajst-26743	165	12	aforementioned	aforementioned	ADJ
ajst-26743	165	13	model	model	NOUN
ajst-26743	165	14	.	.	PUNCT
ajst-26743	166	1	the	the	DET
ajst-26743	166	2	reward	reward	NOUN
ajst-26743	166	3	function	function	NOUN
ajst-26743	166	4	was	be	AUX
ajst-26743	166	5	also	also	ADV
ajst-26743	166	6	modified	modify	VERB
ajst-26743	166	7	with	with	ADP
ajst-26743	166	8	extra	extra	ADJ
ajst-26743	166	9	1||||	1||||	NUM
ajst-26743	166	10	o	o	NOUN
ajst-26743	166	11	term	term	NOUN
ajst-26743	166	12	for	for	ADP
ajst-26743	166	13	extra	extra	ADJ
ajst-26743	166	14	penalty	penalty	NOUN
ajst-26743	166	15	.	.	PUNCT
ajst-26743	167	1	the	the	DET
ajst-26743	167	2	actual	actual	ADJ
ajst-26743	167	3	performances	performance	NOUN
ajst-26743	167	4	are	be	AUX
ajst-26743	167	5	depicted	depict	VERB
ajst-26743	167	6	in	in	ADP
ajst-26743	167	7	fig	fig	NOUN
ajst-26743	167	8	.	.	PUNCT
ajst-26743	168	1	8	8	NUM
ajst-26743	168	2	.	.	PUNCT
ajst-26743	169	1	the	the	DET
ajst-26743	169	2	lateral	lateral	ADJ
ajst-26743	169	3	offsets	offset	NOUN
ajst-26743	169	4	o	o	NOUN
ajst-26743	169	5	successfully	successfully	ADV
ajst-26743	169	6	modified	modify	VERB
ajst-26743	169	7	the	the	DET
ajst-26743	169	8	horizon	horizon	NOUN
ajst-26743	169	9	path	path	NOUN
ajst-26743	169	10	ht	ht	PROPN
ajst-26743	169	11	which	which	PRON
ajst-26743	169	12	was	be	AUX
ajst-26743	169	13	truncated	truncate	VERB
ajst-26743	169	14	from	from	ADP
ajst-26743	169	15	reference	reference	NOUN
ajst-26743	169	16	waypoints	waypoint	NOUN
ajst-26743	169	17	to	to	PART
ajst-26743	169	18	obtain	obtain	VERB
ajst-26743	169	19	a	a	DET
ajst-26743	169	20	modified	modified	ADJ
ajst-26743	169	21	path	path	NOUN
ajst-26743	169	22	mt	mt	PROPN
ajst-26743	169	23	.	.	PUNCT
ajst-26743	170	1	this	this	DET
ajst-26743	170	2	modified	modify	VERB
ajst-26743	170	3	path	path	NOUN
ajst-26743	170	4	was	be	AUX
ajst-26743	170	5	then	then	ADV
ajst-26743	170	6	employed	employ	VERB
ajst-26743	170	7	by	by	ADP
ajst-26743	170	8	pure	pure	ADJ
ajst-26743	170	9	pursuit	pursuit	NOUN
ajst-26743	170	10	,	,	PUNCT
ajst-26743	170	11	the	the	DET
ajst-26743	170	12	path	path	NOUN
ajst-26743	170	13	-	-	PUNCT
ajst-26743	170	14	tracking	track	VERB
ajst-26743	170	15	controller	controller	NOUN
ajst-26743	170	16	,	,	PUNCT
ajst-26743	170	17	to	to	PART
ajst-26743	170	18	execute	execute	VERB
ajst-26743	170	19	actual	actual	ADJ
ajst-26743	170	20	maneuvers	maneuver	NOUN
ajst-26743	170	21	.	.	PUNCT
ajst-26743	171	1	in	in	ADP
ajst-26743	171	2	this	this	DET
ajst-26743	171	3	context	context	NOUN
ajst-26743	171	4	,	,	PUNCT
ajst-26743	171	5	pure	pure	ADJ
ajst-26743	171	6	pursuit	pursuit	NOUN
ajst-26743	171	7	calculates	calculate	VERB
ajst-26743	171	8	a	a	DET
ajst-26743	171	9	lookahead	lookahead	NOUN
ajst-26743	171	10	point	point	NOUN
ajst-26743	171	11	to	to	PART
ajst-26743	171	12	guide	guide	VERB
ajst-26743	171	13	the	the	DET
ajst-26743	171	14	vehicle	vehicle	NOUN
ajst-26743	171	15	in	in	ADP
ajst-26743	171	16	avoiding	avoid	VERB
ajst-26743	171	17	obstacles	obstacle	NOUN
ajst-26743	171	18	using	use	VERB
ajst-26743	171	19	mt	mt	PROPN
ajst-26743	171	20	.	.	PUNCT
ajst-26743	172	1	the	the	DET
ajst-26743	172	2	corresponding	corresponding	ADJ
ajst-26743	172	3	episodic	episodic	ADJ
ajst-26743	172	4	returns	return	NOUN
ajst-26743	172	5	shown	show	VERB
ajst-26743	172	6	in	in	ADP
ajst-26743	172	7	fig	fig	NOUN
ajst-26743	172	8	.	.	PUNCT
ajst-26743	172	9	8	8	NUM
ajst-26743	172	10	increased	increase	VERB
ajst-26743	172	11	throughout	throughout	ADP
ajst-26743	172	12	the	the	DET
ajst-26743	172	13	training	training	NOUN
ajst-26743	172	14	process	process	NOUN
ajst-26743	172	15	,	,	PUNCT
ajst-26743	172	16	illustrating	illustrate	VERB
ajst-26743	172	17	the	the	DET
ajst-26743	172	18	convergence	convergence	NOUN
ajst-26743	172	19	of	of	ADP
ajst-26743	172	20	the	the	DET
ajst-26743	172	21	policies	policy	NOUN
ajst-26743	172	22	.	.	PUNCT
ajst-26743	173	1	49	49	NUM
ajst-26743	173	2	4	4	NUM
ajst-26743	173	3	.	.	PUNCT
ajst-26743	173	4	conclusion	conclusion	NOUN
ajst-26743	173	5	in	in	ADP
ajst-26743	173	6	this	this	DET
ajst-26743	173	7	work	work	NOUN
ajst-26743	173	8	,	,	PUNCT
ajst-26743	173	9	we	we	PRON
ajst-26743	173	10	introduced	introduce	VERB
ajst-26743	173	11	a	a	DET
ajst-26743	173	12	method	method	NOUN
ajst-26743	173	13	that	that	PRON
ajst-26743	173	14	uses	use	VERB
ajst-26743	173	15	bc	bc	PROPN
ajst-26743	173	16	and	and	CCONJ
ajst-26743	173	17	ppo	ppo	PROPN
ajst-26743	173	18	algorithms	algorithm	NOUN
ajst-26743	173	19	for	for	ADP
ajst-26743	173	20	path	path	NOUN
ajst-26743	173	21	planning	planning	NOUN
ajst-26743	173	22	tasks	task	NOUN
ajst-26743	173	23	,	,	PUNCT
ajst-26743	173	24	specifically	specifically	ADV
ajst-26743	173	25	pathtracking	pathtracking	ADJ
ajst-26743	173	26	and	and	CCONJ
ajst-26743	173	27	static	static	ADJ
ajst-26743	173	28	obstacle	obstacle	NOUN
ajst-26743	173	29	nudging	nudge	VERB
ajst-26743	173	30	.	.	PUNCT
ajst-26743	174	1	the	the	DET
ajst-26743	174	2	experiments	experiment	NOUN
ajst-26743	174	3	in	in	ADP
ajst-26743	174	4	the	the	DET
ajst-26743	174	5	f1tenth	f1tenth	ADJ
ajst-26743	174	6	gym	gym	NOUN
ajst-26743	174	7	environment	environment	NOUN
ajst-26743	174	8	validated	validate	VERB
ajst-26743	174	9	that	that	SCONJ
ajst-26743	174	10	this	this	DET
ajst-26743	174	11	method	method	NOUN
ajst-26743	174	12	effectively	effectively	ADV
ajst-26743	174	13	performs	perform	VERB
ajst-26743	174	14	both	both	DET
ajst-26743	174	15	path	path	NOUN
ajst-26743	174	16	-	-	PUNCT
ajst-26743	174	17	tracking	tracking	NOUN
ajst-26743	174	18	using	use	VERB
ajst-26743	174	19	bc	bc	PROPN
ajst-26743	174	20	and	and	CCONJ
ajst-26743	174	21	fixed	fix	VERB
ajst-26743	174	22	obstacle	obstacle	NOUN
ajst-26743	174	23	nudging	nudge	VERB
ajst-26743	174	24	using	use	VERB
ajst-26743	174	25	ppo	ppo	PROPN
ajst-26743	174	26	bootstrapped	bootstrappe	VERB
ajst-26743	174	27	by	by	ADP
ajst-26743	174	28	bc	bc	PROPN
ajst-26743	174	29	.	.	PUNCT
ajst-26743	175	1	the	the	DET
ajst-26743	175	2	development	development	NOUN
ajst-26743	175	3	demonstrated	demonstrate	VERB
ajst-26743	175	4	the	the	DET
ajst-26743	175	5	efficacy	efficacy	NOUN
ajst-26743	175	6	of	of	ADP
ajst-26743	175	7	integrating	integrate	VERB
ajst-26743	175	8	learning	learn	VERB
ajst-26743	175	9	into	into	ADP
ajst-26743	175	10	planning	planning	NOUN
ajst-26743	175	11	and	and	CCONJ
ajst-26743	175	12	highlights	highlight	NOUN
ajst-26743	175	13	the	the	DET
ajst-26743	175	14	practical	practical	ADJ
ajst-26743	175	15	benefits	benefit	NOUN
ajst-26743	175	16	of	of	ADP
ajst-26743	175	17	combining	combine	VERB
ajst-26743	175	18	rl	rl	PRON
ajst-26743	175	19	with	with	ADP
ajst-26743	175	20	il	il	PROPN
ajst-26743	175	21	in	in	ADP
ajst-26743	175	22	the	the	DET
ajst-26743	175	23	field	field	NOUN
ajst-26743	175	24	of	of	ADP
ajst-26743	175	25	autonomous	autonomous	ADJ
ajst-26743	175	26	driving	driving	NOUN
ajst-26743	175	27	.	.	PUNCT
ajst-26743	176	1	future	future	NOUN
ajst-26743	176	2	could	could	AUX
ajst-26743	176	3	focus	focus	VERB
ajst-26743	176	4	on	on	ADP
ajst-26743	176	5	reducing	reduce	VERB
ajst-26743	176	6	the	the	DET
ajst-26743	176	7	sim	sim	NOUN
ajst-26743	176	8	-	-	PUNCT
ajst-26743	176	9	to	to	ADP
ajst-26743	176	10	-	-	PUNCT
ajst-26743	176	11	real	real	ADJ
ajst-26743	176	12	gap	gap	NOUN
ajst-26743	176	13	for	for	ADP
ajst-26743	176	14	robust	robust	ADJ
ajst-26743	176	15	deployment	deployment	NOUN
ajst-26743	176	16	,	,	PUNCT
ajst-26743	176	17	stronger	strong	ADJ
ajst-26743	176	18	generalizability	generalizability	NOUN
ajst-26743	176	19	to	to	ADP
ajst-26743	176	20	various	various	ADJ
ajst-26743	176	21	kinds	kind	NOUN
ajst-26743	176	22	of	of	ADP
ajst-26743	176	23	dynamic	dynamic	ADJ
ajst-26743	176	24	obstacles	obstacle	NOUN
ajst-26743	176	25	,	,	PUNCT
ajst-26743	176	26	and	and	CCONJ
ajst-26743	176	27	decoupling	decouple	VERB
ajst-26743	176	28	the	the	DET
ajst-26743	176	29	planning	planning	NOUN
ajst-26743	176	30	from	from	ADP
ajst-26743	176	31	decision	decision	NOUN
ajst-26743	176	32	-	-	PUNCT
ajst-26743	176	33	making	making	NOUN
ajst-26743	176	34	to	to	ADP
ajst-26743	176	35	physics	physics	NOUN
ajst-26743	176	36	-	-	PUNCT
ajst-26743	176	37	constrained	constrain	VERB
ajst-26743	176	38	motion	motion	NOUN
ajst-26743	176	39	planning	planning	NOUN
ajst-26743	176	40	.	.	PUNCT
ajst-26743	177	1	acknowledgement	acknowledgement	NOUN
ajst-26743	177	2	the	the	DET
ajst-26743	177	3	authors	author	NOUN
ajst-26743	177	4	express	express	VERB
ajst-26743	177	5	their	their	PRON
ajst-26743	177	6	sincere	sincere	ADJ
ajst-26743	177	7	gratitude	gratitude	NOUN
ajst-26743	177	8	to	to	ADP
ajst-26743	177	9	yi	yi	PROPN
ajst-26743	177	10	shen	shen	PROPN
ajst-26743	177	11	from	from	ADP
ajst-26743	177	12	the	the	DET
ajst-26743	177	13	robotics	robotic	NOUN
ajst-26743	177	14	department	department	NOUN
ajst-26743	177	15	at	at	ADP
ajst-26743	177	16	the	the	DET
ajst-26743	177	17	university	university	PROPN
ajst-26743	177	18	of	of	ADP
ajst-26743	177	19	michigan	michigan	PROPN
ajst-26743	177	20	for	for	ADP
ajst-26743	177	21	his	his	PRON
ajst-26743	177	22	helpful	helpful	ADJ
ajst-26743	177	23	discussions	discussion	NOUN
ajst-26743	177	24	and	and	CCONJ
ajst-26743	177	25	advice	advice	NOUN
ajst-26743	177	26	.	.	PUNCT
ajst-26743	178	1	references	reference	NOUN
ajst-26743	178	2	[	[	X
ajst-26743	178	3	1	1	NUM
ajst-26743	178	4	]	]	PUNCT
ajst-26743	178	5	r.	r.	PROPN
ajst-26743	178	6	s.	s.	PROPN
ajst-26743	178	7	sutton	sutton	PROPN
ajst-26743	178	8	,	,	PUNCT
ajst-26743	178	9	d.	d.	PROPN
ajst-26743	178	10	mcallester	mcallester	PROPN
ajst-26743	178	11	,	,	PUNCT
ajst-26743	178	12	s.	s.	PROPN
ajst-26743	178	13	singh	singh	PROPN
ajst-26743	178	14	,	,	PUNCT
ajst-26743	178	15	and	and	CCONJ
ajst-26743	178	16	y.	y.	PROPN
ajst-26743	178	17	mansour	mansour	PROPN
ajst-26743	178	18	,	,	PUNCT
ajst-26743	178	19	“	"	PUNCT
ajst-26743	178	20	policy	policy	NOUN
ajst-26743	178	21	gradient	gradient	NOUN
ajst-26743	178	22	methods	method	NOUN
ajst-26743	178	23	for	for	ADP
ajst-26743	178	24	reinforcement	reinforcement	NOUN
ajst-26743	178	25	learning	learning	NOUN
ajst-26743	178	26	with	with	ADP
ajst-26743	178	27	function	function	NOUN
ajst-26743	178	28	approximation	approximation	NOUN
ajst-26743	178	29	,	,	PUNCT
ajst-26743	178	30	”	"	PUNCT
ajst-26743	178	31	advances	advance	NOUN
ajst-26743	178	32	in	in	ADP
ajst-26743	178	33	neural	neural	ADJ
ajst-26743	178	34	information	information	NOUN
ajst-26743	178	35	processing	processing	NOUN
ajst-26743	178	36	systems	system	NOUN
ajst-26743	178	37	,	,	PUNCT
ajst-26743	178	38	vol	vol	NOUN
ajst-26743	178	39	.	.	PROPN
ajst-26743	178	40	12	12	NUM
ajst-26743	178	41	,	,	PUNCT
ajst-26743	178	42	1999	1999	NUM
ajst-26743	178	43	.	.	PUNCT
ajst-26743	179	1	[	[	X
ajst-26743	179	2	2	2	X
ajst-26743	179	3	]	]	PUNCT
ajst-26743	179	4	j.	j.	PROPN
ajst-26743	179	5	schulman	schulman	PROPN
ajst-26743	179	6	,	,	PUNCT
ajst-26743	179	7	f.	f.	PROPN
ajst-26743	179	8	wolski	wolski	PROPN
ajst-26743	179	9	,	,	PUNCT
ajst-26743	179	10	p.	p.	NOUN
ajst-26743	179	11	dhariwal	dhariwal	NOUN
ajst-26743	179	12	,	,	PUNCT
ajst-26743	179	13	a.	a.	PROPN
ajst-26743	179	14	radford	radford	PROPN
ajst-26743	179	15	,	,	PUNCT
ajst-26743	179	16	and	and	CCONJ
ajst-26743	179	17	o.	o.	PROPN
ajst-26743	179	18	klimov	klimov	PROPN
ajst-26743	179	19	,	,	PUNCT
ajst-26743	179	20	“	"	PUNCT
ajst-26743	179	21	proximal	proximal	ADJ
ajst-26743	179	22	policy	policy	NOUN
ajst-26743	179	23	optimization	optimization	NOUN
ajst-26743	179	24	algorithms	algorithm	NOUN
ajst-26743	179	25	,	,	PUNCT
ajst-26743	179	26	”	"	PUNCT
ajst-26743	179	27	arxiv	arxiv	PROPN
ajst-26743	179	28	preprint	preprint	NOUN
ajst-26743	179	29	arxiv:1707.06347	arxiv:1707.06347	PROPN
ajst-26743	179	30	,	,	PUNCT
ajst-26743	179	31	2017	2017	NUM
ajst-26743	179	32	.	.	PUNCT
ajst-26743	180	1	[	[	X
ajst-26743	180	2	3	3	NUM
ajst-26743	180	3	]	]	PUNCT
ajst-26743	180	4	a.	a.	NOUN
ajst-26743	180	5	hussein	hussein	PROPN
ajst-26743	180	6	,	,	PUNCT
ajst-26743	180	7	m.	m.	NOUN
ajst-26743	180	8	m.	m.	PROPN
ajst-26743	180	9	gaber	gaber	PROPN
ajst-26743	180	10	,	,	PUNCT
ajst-26743	180	11	e.	e.	PROPN
ajst-26743	180	12	elyan	elyan	PROPN
ajst-26743	180	13	,	,	PUNCT
ajst-26743	180	14	and	and	CCONJ
ajst-26743	180	15	c.	c.	PROPN
ajst-26743	180	16	jayne	jayne	PROPN
ajst-26743	180	17	,	,	PUNCT
ajst-26743	180	18	“	"	PUNCT
ajst-26743	180	19	imitation	imitation	NOUN
ajst-26743	180	20	learning	learning	NOUN
ajst-26743	180	21	:	:	PUNCT
ajst-26743	180	22	a	a	DET
ajst-26743	180	23	survey	survey	NOUN
ajst-26743	180	24	of	of	ADP
ajst-26743	180	25	learning	learn	VERB
ajst-26743	180	26	methods	method	NOUN
ajst-26743	180	27	,	,	PUNCT
ajst-26743	180	28	”	"	PUNCT
ajst-26743	180	29	acm	acm	PROPN
ajst-26743	180	30	computing	computing	NOUN
ajst-26743	180	31	surveys	survey	NOUN
ajst-26743	180	32	(	(	PUNCT
ajst-26743	180	33	csur	csur	NOUN
ajst-26743	180	34	)	)	PUNCT
ajst-26743	180	35	,	,	PUNCT
ajst-26743	180	36	vol	vol	NOUN
ajst-26743	180	37	.	.	PROPN
ajst-26743	180	38	50	50	NUM
ajst-26743	180	39	,	,	PUNCT
ajst-26743	180	40	no	no	INTJ
ajst-26743	180	41	.	.	NOUN
ajst-26743	180	42	2	2	NUM
ajst-26743	180	43	,	,	PUNCT
ajst-26743	180	44	pp	pp	ADJ
ajst-26743	180	45	.	.	PUNCT
ajst-26743	181	1	1–35	1–35	PROPN
ajst-26743	181	2	,	,	PUNCT
ajst-26743	181	3	2017	2017	NUM
ajst-26743	181	4	.	.	PUNCT
ajst-26743	182	1	[	[	X
ajst-26743	182	2	4	4	NUM
ajst-26743	182	3	]	]	X
ajst-26743	182	4	c.	c.	NOUN
ajst-26743	182	5	sammut	sammut	NOUN
ajst-26743	182	6	,	,	PUNCT
ajst-26743	182	7	behavioral	behavioral	ADJ
ajst-26743	182	8	cloning	cloning	NOUN
ajst-26743	182	9	.	.	PUNCT
ajst-26743	183	1	boston	boston	PROPN
ajst-26743	183	2	,	,	PUNCT
ajst-26743	183	3	ma	ma	PROPN
ajst-26743	183	4	:	:	PUNCT
ajst-26743	183	5	springer	springer	NOUN
ajst-26743	183	6	us	we	PRON
ajst-26743	183	7	,	,	PUNCT
ajst-26743	183	8	2010	2010	NUM
ajst-26743	183	9	,	,	PUNCT
ajst-26743	183	10	pp	pp	ADJ
ajst-26743	183	11	.	.	PUNCT
ajst-26743	184	1	93–97	93–97	NUM
ajst-26743	184	2	.	.	PUNCT
ajst-26743	185	1	[	[	X
ajst-26743	185	2	online	online	X
ajst-26743	185	3	]	]	X
ajst-26743	185	4	.	.	PUNCT
ajst-26743	186	1	available	available	ADJ
ajst-26743	186	2	:	:	PUNCT
ajst-26743	187	1	https://doi.org/10.1007/978-0-387-30164-8-69	https://doi.org/10.1007/978-0-387-30164-8-69	X
ajst-26743	187	2	[	[	X
ajst-26743	187	3	5	5	NUM
ajst-26743	187	4	]	]	PUNCT
ajst-26743	187	5	x.	x.	NOUN
ajst-26743	187	6	sun	sun	PROPN
ajst-26743	187	7	,	,	PUNCT
ajst-26743	187	8	y.	y.	PROPN
ajst-26743	187	9	wu	wu	PROPN
ajst-26743	187	10	,	,	PUNCT
ajst-26743	187	11	s.	s.	PROPN
ajst-26743	187	12	bhattacharya	bhattacharya	PROPN
ajst-26743	187	13	,	,	PUNCT
ajst-26743	187	14	and	and	CCONJ
ajst-26743	187	15	v.	v.	ADP
ajst-26743	187	16	kumar	kumar	PROPN
ajst-26743	187	17	,	,	PUNCT
ajst-26743	187	18	“	"	PUNCT
ajst-26743	187	19	multi	multi	ADJ
ajst-26743	187	20	-	-	ADJ
ajst-26743	187	21	agent	agent	ADJ
ajst-26743	187	22	exploration	exploration	NOUN
ajst-26743	187	23	of	of	ADP
ajst-26743	187	24	an	an	DET
ajst-26743	187	25	unknown	unknown	ADJ
ajst-26743	187	26	sparse	sparse	ADJ
ajst-26743	187	27	landmark	landmark	NOUN
ajst-26743	187	28	complex	complex	NOUN
ajst-26743	187	29	via	via	ADP
ajst-26743	187	30	deep	deep	ADJ
ajst-26743	187	31	reinforcement	reinforcement	NOUN
ajst-26743	187	32	learning	learning	NOUN
ajst-26743	187	33	,	,	PUNCT
ajst-26743	187	34	”	"	PUNCT
ajst-26743	187	35	2022	2022	NUM
ajst-26743	187	36	.	.	PUNCT
ajst-26743	188	1	[	[	X
ajst-26743	188	2	online	online	X
ajst-26743	188	3	]	]	X
ajst-26743	188	4	.	.	PUNCT
ajst-26743	189	1	available	available	ADJ
ajst-26743	189	2	:	:	PUNCT
ajst-26743	189	3	https://arxiv.org/abs/2209.11794	https://arxiv.org/abs/2209.11794	X
ajst-26743	190	1	[	[	X
ajst-26743	190	2	6	6	NUM
ajst-26743	190	3	]	]	PUNCT
ajst-26743	190	4	h.	h.	PROPN
ajst-26743	190	5	liu	liu	PROPN
ajst-26743	190	6	,	,	PUNCT
ajst-26743	190	7	y.	y.	PROPN
ajst-26743	190	8	shen	shen	PROPN
ajst-26743	190	9	,	,	PUNCT
ajst-26743	190	10	w.	w.	PROPN
ajst-26743	190	11	zhou	zhou	PROPN
ajst-26743	190	12	,	,	PUNCT
ajst-26743	190	13	y.	y.	PROPN
ajst-26743	190	14	zou	zou	PROPN
ajst-26743	190	15	,	,	PUNCT
ajst-26743	190	16	c.	c.	PROPN
ajst-26743	190	17	zhou	zhou	PROPN
ajst-26743	190	18	,	,	PUNCT
ajst-26743	190	19	and	and	CCONJ
ajst-26743	190	20	s.	s.	PROPN
ajst-26743	190	21	he	he	PRON
ajst-26743	190	22	,	,	PUNCT
ajst-26743	190	23	“	"	PUNCT
ajst-26743	190	24	adaptive	adaptive	ADJ
ajst-26743	190	25	speed	speed	NOUN
ajst-26743	190	26	planning	planning	NOUN
ajst-26743	190	27	for	for	ADP
ajst-26743	190	28	unmanned	unmanned	ADJ
ajst-26743	190	29	vehicle	vehicle	NOUN
ajst-26743	190	30	based	base	VERB
ajst-26743	190	31	on	on	ADP
ajst-26743	190	32	deep	deep	ADJ
ajst-26743	190	33	reinforcement	reinforcement	NOUN
ajst-26743	190	34	learning	learning	NOUN
ajst-26743	190	35	,	,	PUNCT
ajst-26743	190	36	”	"	PUNCT
ajst-26743	190	37	2024	2024	NUM
ajst-26743	190	38	.	.	PUNCT
ajst-26743	191	1	[	[	X
ajst-26743	191	2	online	online	X
ajst-26743	191	3	]	]	X
ajst-26743	191	4	.	.	PUNCT
ajst-26743	192	1	available	available	ADJ
ajst-26743	192	2	:	:	PUNCT
ajst-26743	192	3	https://arxiv.org/abs/2404.17379	https://arxiv.org/abs/2404.17379	PROPN
ajst-26743	193	1	[	[	X
ajst-26743	193	2	7	7	NUM
ajst-26743	193	3	]	]	X
ajst-26743	193	4	zhang	zhang	PROPN
ajst-26743	193	5	,	,	PUNCT
ajst-26743	193	6	k.	k.	PROPN
ajst-26743	193	7	mo	mo	PROPN
ajst-26743	193	8	,	,	PUNCT
ajst-26743	193	9	f.	f.	PROPN
ajst-26743	193	10	shen	shen	PROPN
ajst-26743	193	11	,	,	PUNCT
ajst-26743	193	12	x.	x.	PROPN
ajst-26743	193	13	xu	xu	PROPN
ajst-26743	193	14	,	,	PUNCT
ajst-26743	193	15	x.	x.	PROPN
ajst-26743	193	16	zhang	zhang	PROPN
ajst-26743	193	17	,	,	PUNCT
ajst-26743	193	18	j.	j.	PROPN
ajst-26743	193	19	yu	yu	PROPN
ajst-26743	193	20	,	,	PUNCT
ajst-26743	193	21	and	and	CCONJ
ajst-26743	193	22	c.	c.	PROPN
ajst-26743	193	23	yu	yu	PROPN
ajst-26743	193	24	,	,	PUNCT
ajst-26743	193	25	“	"	PUNCT
ajst-26743	193	26	self	self	NOUN
ajst-26743	193	27	-	-	PUNCT
ajst-26743	193	28	adaptive	adaptive	ADJ
ajst-26743	193	29	robust	robust	ADJ
ajst-26743	193	30	motion	motion	NOUN
ajst-26743	193	31	planning	planning	NOUN
ajst-26743	193	32	for	for	ADP
ajst-26743	193	33	high	high	ADJ
ajst-26743	193	34	dof	dof	NOUN
ajst-26743	193	35	robot	robot	NOUN
ajst-26743	193	36	manipulator	manipulator	NOUN
ajst-26743	193	37	using	use	VERB
ajst-26743	193	38	deep	deep	ADJ
ajst-26743	193	39	mpc	mpc	NOUN
ajst-26743	193	40	,	,	PUNCT
ajst-26743	193	41	”	"	PUNCT
ajst-26743	193	42	arxiv	arxiv	PROPN
ajst-26743	193	43	preprint	preprint	NOUN
ajst-26743	193	44	arxiv:2407.12887	arxiv:2407.12887	VERB
ajst-26743	193	45	,	,	PUNCT
ajst-26743	193	46	2024	2024	NUM
ajst-26743	193	47	.	.	PUNCT
ajst-26743	194	1	[	[	X
ajst-26743	194	2	8	8	NUM
ajst-26743	194	3	]	]	X
ajst-26743	194	4	y.	y.	PROPN
ajst-26743	194	5	pan	pan	PROPN
ajst-26743	194	6	,	,	PUNCT
ajst-26743	194	7	c.a	c.a	PROPN
ajst-26743	194	8	.	.	PROPN
ajst-26743	194	9	cheng	cheng	PROPN
ajst-26743	194	10	,	,	PUNCT
ajst-26743	194	11	k.	k.	PROPN
ajst-26743	194	12	saigol	saigol	PROPN
ajst-26743	194	13	,	,	PUNCT
ajst-26743	194	14	k.	k.	PROPN
ajst-26743	194	15	lee	lee	PROPN
ajst-26743	194	16	,	,	PUNCT
ajst-26743	194	17	x.	x.	PROPN
ajst-26743	194	18	yan	yan	PROPN
ajst-26743	194	19	,	,	PUNCT
ajst-26743	194	20	e.	e.	PROPN
ajst-26743	194	21	theodorou	theodorou	PROPN
ajst-26743	194	22	,	,	PUNCT
ajst-26743	194	23	and	and	CCONJ
ajst-26743	194	24	b.	b.	PROPN
ajst-26743	194	25	boots	boot	NOUN
ajst-26743	194	26	,	,	PUNCT
ajst-26743	194	27	“	"	PUNCT
ajst-26743	194	28	agile	agile	ADJ
ajst-26743	194	29	autonomous	autonomous	ADJ
ajst-26743	194	30	driving	driving	NOUN
ajst-26743	194	31	using	use	VERB
ajst-26743	194	32	end	end	NOUN
ajst-26743	194	33	-	-	PUNCT
ajst-26743	194	34	to	to	ADP
ajst-26743	194	35	-	-	PUNCT
ajst-26743	194	36	end	end	NOUN
ajst-26743	194	37	deep	deep	ADJ
ajst-26743	194	38	imitation	imitation	NOUN
ajst-26743	194	39	learning	learning	NOUN
ajst-26743	194	40	,	,	PUNCT
ajst-26743	194	41	”	"	PUNCT
ajst-26743	194	42	in	in	ADP
ajst-26743	194	43	robotics	robotic	NOUN
ajst-26743	194	44	:	:	PUNCT
ajst-26743	194	45	science	science	NOUN
ajst-26743	194	46	and	and	CCONJ
ajst-26743	194	47	systems	system	NOUN
ajst-26743	194	48	xiv	xiv	PROPN
ajst-26743	194	49	.	.	PUNCT
ajst-26743	195	1	robotics	robotic	NOUN
ajst-26743	195	2	:	:	PUNCT
ajst-26743	195	3	science	science	NOUN
ajst-26743	195	4	and	and	CCONJ
ajst-26743	195	5	systems	systems	PROPN
ajst-26743	195	6	foundation	foundation	PROPN
ajst-26743	195	7	,	,	PUNCT
ajst-26743	195	8	june	june	PROPN
ajst-26743	195	9	2018	2018	NUM
ajst-26743	195	10	.	.	PUNCT
ajst-26743	196	1	[	[	X
ajst-26743	196	2	online	online	X
ajst-26743	196	3	]	]	X
ajst-26743	196	4	.	.	PUNCT
ajst-26743	197	1	available	available	ADJ
ajst-26743	197	2	:	:	PUNCT
ajst-26743	197	3	https://doi.org/10.15607/rss.2018.xiv.056	https://doi.org/10.15607/rss.2018.xiv.056	PROPN
ajst-26743	197	4	[	[	X
ajst-26743	197	5	9	9	NUM
ajst-26743	197	6	]	]	PUNCT
ajst-26743	197	7	p.	p.	NOUN
ajst-26743	197	8	cai	cai	PROPN
ajst-26743	197	9	,	,	PUNCT
ajst-26743	197	10	h.	h.	PROPN
ajst-26743	197	11	wang	wang	PROPN
ajst-26743	197	12	,	,	PUNCT
ajst-26743	197	13	h.	h.	PROPN
ajst-26743	197	14	huang	huang	PROPN
ajst-26743	197	15	,	,	PUNCT
ajst-26743	197	16	y.	y.	PROPN
ajst-26743	197	17	liu	liu	PROPN
ajst-26743	197	18	,	,	PUNCT
ajst-26743	197	19	and	and	CCONJ
ajst-26743	197	20	m.	m.	PROPN
ajst-26743	197	21	liu	liu	PROPN
ajst-26743	197	22	,	,	PUNCT
ajst-26743	197	23	“	"	PUNCT
ajst-26743	197	24	vision	vision	NOUN
ajst-26743	197	25	-	-	PUNCT
ajst-26743	197	26	based	base	VERB
ajst-26743	197	27	autonomous	autonomous	ADJ
ajst-26743	197	28	car	car	NOUN
ajst-26743	197	29	racing	racing	NOUN
ajst-26743	197	30	using	use	VERB
ajst-26743	197	31	deep	deep	ADJ
ajst-26743	197	32	imitative	imitative	ADJ
ajst-26743	197	33	reinforcement	reinforcement	NOUN
ajst-26743	197	34	learning	learning	NOUN
ajst-26743	197	35	,	,	PUNCT
ajst-26743	197	36	”	"	PUNCT
ajst-26743	197	37	ieee	ieee	NOUN
ajst-26743	197	38	robotics	robotic	NOUN
ajst-26743	197	39	and	and	CCONJ
ajst-26743	197	40	automation	automation	NOUN
ajst-26743	197	41	letters	letter	NOUN
ajst-26743	197	42	,	,	PUNCT
ajst-26743	197	43	pp	pp	ADV
ajst-26743	197	44	.	.	PUNCT
ajst-26743	198	1	1–1	1–1	NUM
ajst-26743	198	2	,	,	PUNCT
ajst-26743	198	3	2021	2021	NUM
ajst-26743	198	4	.	.	PUNCT
ajst-26743	199	1	[	[	X
ajst-26743	199	2	10	10	NUM
ajst-26743	199	3	]	]	PUNCT
ajst-26743	199	4	m.	m.	NOUN
ajst-26743	199	5	okelly	okelly	ADV
ajst-26743	199	6	,	,	PUNCT
ajst-26743	199	7	h.	h.	PROPN
ajst-26743	199	8	zheng	zheng	PROPN
ajst-26743	199	9	,	,	PUNCT
ajst-26743	199	10	d.	d.	PROPN
ajst-26743	199	11	karthik	karthik	PROPN
ajst-26743	199	12	,	,	PUNCT
ajst-26743	199	13	and	and	CCONJ
ajst-26743	199	14	r.	r.	PROPN
ajst-26743	199	15	mangharam	mangharam	PROPN
ajst-26743	199	16	,	,	PUNCT
ajst-26743	199	17	“	"	PUNCT
ajst-26743	199	18	f1tenth	f1tenth	PROPN
ajst-26743	199	19	:	:	PUNCT
ajst-26743	199	20	an	an	DET
ajst-26743	199	21	open	open	ADJ
ajst-26743	199	22	-	-	PUNCT
ajst-26743	199	23	source	source	NOUN
ajst-26743	199	24	evaluation	evaluation	NOUN
ajst-26743	199	25	environment	environment	NOUN
ajst-26743	199	26	for	for	ADP
ajst-26743	199	27	continuous	continuous	ADJ
ajst-26743	199	28	control	control	NOUN
ajst-26743	199	29	and	and	CCONJ
ajst-26743	199	30	reinforcement	reinforcement	NOUN
ajst-26743	199	31	learning	learning	NOUN
ajst-26743	199	32	,	,	PUNCT
ajst-26743	199	33	”	"	PUNCT
ajst-26743	199	34	in	in	ADP
ajst-26743	199	35	proceedings	proceeding	NOUN
ajst-26743	199	36	of	of	ADP
ajst-26743	199	37	the	the	DET
ajst-26743	199	38	neurips	neurip	NOUN
ajst-26743	199	39	2019	2019	NUM
ajst-26743	199	40	competition	competition	NOUN
ajst-26743	199	41	and	and	CCONJ
ajst-26743	199	42	demonstration	demonstration	NOUN
ajst-26743	199	43	track	track	NOUN
ajst-26743	199	44	,	,	PUNCT
ajst-26743	199	45	ser	ser	NOUN
ajst-26743	199	46	.	.	PUNCT
ajst-26743	200	1	proceedings	proceeding	NOUN
ajst-26743	200	2	of	of	ADP
ajst-26743	200	3	machine	machine	NOUN
ajst-26743	200	4	learning	learn	VERB
ajst-26743	200	5	research	research	NOUN
ajst-26743	200	6	,	,	PUNCT
ajst-26743	200	7	vol	vol	NOUN
ajst-26743	200	8	.	.	PUNCT
ajst-26743	200	9	123	123	NUM
ajst-26743	200	10	.	.	PUNCT
ajst-26743	201	1	pmlr	pmlr	NOUN
ajst-26743	201	2	,	,	PUNCT
ajst-26743	201	3	2020	2020	NUM
ajst-26743	201	4	,	,	PUNCT
ajst-26743	201	5	pp	pp	ADV
ajst-26743	201	6	.	.	PUNCT
ajst-26743	202	1	77	77	NUM
ajst-26743	202	2	–	–	SYM
ajst-26743	202	3	89	89	NUM
ajst-26743	202	4	.	.	PUNCT
ajst-26743	203	1	[	[	X
ajst-26743	203	2	online	online	X
ajst-26743	203	3	]	]	X
ajst-26743	203	4	.	.	PUNCT
ajst-26743	204	1	available	available	ADJ
ajst-26743	204	2	:	:	PUNCT
ajst-26743	204	3	http://proceedings.mlr.press/v123/okelly20a.html	http://proceedings.mlr.press/v123/okelly20a.html	PROPN
ajst-26743	205	1	[	[	X
ajst-26743	205	2	11	11	NUM
ajst-26743	205	3	]	]	PUNCT
ajst-26743	205	4	j.	j.	PROPN
ajst-26743	205	5	becker	becker	PROPN
ajst-26743	205	6	,	,	PUNCT
ajst-26743	205	7	n.	n.	PROPN
ajst-26743	205	8	imholz	imholz	PROPN
ajst-26743	205	9	,	,	PUNCT
ajst-26743	205	10	l.	l.	PROPN
ajst-26743	205	11	schwarzenbach	schwarzenbach	PROPN
ajst-26743	205	12	,	,	PUNCT
ajst-26743	205	13	e.	e.	PROPN
ajst-26743	205	14	ghignone	ghignone	PROPN
ajst-26743	205	15	,	,	PUNCT
ajst-26743	205	16	n.	n.	PROPN
ajst-26743	205	17	baumann	baumann	PROPN
ajst-26743	205	18	,	,	PUNCT
ajst-26743	205	19	and	and	CCONJ
ajst-26743	205	20	m.	m.	PROPN
ajst-26743	205	21	magno	magno	PROPN
ajst-26743	205	22	,	,	PUNCT
ajst-26743	205	23	“	"	PUNCT
ajst-26743	205	24	model	model	NOUN
ajst-26743	205	25	and	and	CCONJ
ajst-26743	205	26	acceleration	acceleration	NOUN
ajst-26743	205	27	-	-	PUNCT
ajst-26743	205	28	based	base	VERB
ajst-26743	205	29	pursuit	pursuit	NOUN
ajst-26743	205	30	controller	controller	NOUN
ajst-26743	205	31	for	for	ADP
ajst-26743	205	32	high	high	ADJ
ajst-26743	205	33	-	-	PUNCT
ajst-26743	205	34	performance	performance	NOUN
ajst-26743	205	35	autonomous	autonomous	ADJ
ajst-26743	205	36	racing	racing	NOUN
ajst-26743	205	37	,	,	PUNCT
ajst-26743	205	38	”	"	PUNCT
ajst-26743	205	39	in	in	ADP
ajst-26743	205	40	2023	2023	NUM
ajst-26743	205	41	ieee	ieee	NOUN
ajst-26743	205	42	international	international	ADJ
ajst-26743	205	43	conference	conference	NOUN
ajst-26743	205	44	on	on	ADP
ajst-26743	205	45	robotics	robotic	NOUN
ajst-26743	205	46	and	and	CCONJ
ajst-26743	205	47	automation	automation	NOUN
ajst-26743	205	48	(	(	PUNCT
ajst-26743	205	49	icra	icra	PROPN
ajst-26743	205	50	)	)	PUNCT
ajst-26743	205	51	,	,	PUNCT
ajst-26743	205	52	2023	2023	NUM
ajst-26743	205	53	,	,	PUNCT
ajst-26743	205	54	pp	pp	ADJ
ajst-26743	205	55	.	.	PUNCT
ajst-26743	206	1	5276	5276	NUM
ajst-26743	206	2	–	–	PUNCT
ajst-26743	206	3	5283	5283	NUM
ajst-26743	206	4	.	.	PUNCT
ajst-26743	207	1	[	[	X
ajst-26743	207	2	12	12	NUM
ajst-26743	207	3	]	]	PUNCT
ajst-26743	207	4	m.	m.	NOUN
ajst-26743	207	5	bosello	bosello	PROPN
ajst-26743	207	6	,	,	PUNCT
ajst-26743	207	7	r.	r.	PROPN
ajst-26743	207	8	tse	tse	PROPN
ajst-26743	207	9	,	,	PUNCT
ajst-26743	207	10	and	and	CCONJ
ajst-26743	207	11	g.	g.	PROPN
ajst-26743	207	12	pau	pau	PROPN
ajst-26743	207	13	,	,	PUNCT
ajst-26743	207	14	“	"	PUNCT
ajst-26743	207	15	train	train	NOUN
ajst-26743	207	16	in	in	ADP
ajst-26743	207	17	austria	austria	PROPN
ajst-26743	207	18	,	,	PUNCT
ajst-26743	207	19	race	race	NOUN
ajst-26743	207	20	in	in	ADP
ajst-26743	207	21	montecarlo	montecarlo	PROPN
ajst-26743	207	22	:	:	PUNCT
ajst-26743	207	23	generalized	generalize	VERB
ajst-26743	207	24	rl	rl	X
ajst-26743	207	25	for	for	ADP
ajst-26743	207	26	cross	cross	ADJ
ajst-26743	207	27	-	-	ADJ
ajst-26743	207	28	track	track	ADJ
ajst-26743	207	29	f1	f1	NOUN
ajst-26743	207	30	tenth	tenth	ADJ
ajst-26743	207	31	lidar	lidar	NOUN
ajst-26743	207	32	-	-	PUNCT
ajst-26743	207	33	based	base	VERB
ajst-26743	207	34	races	race	NOUN
ajst-26743	207	35	,	,	PUNCT
ajst-26743	207	36	”	"	PUNCT
ajst-26743	207	37	in	in	ADP
ajst-26743	207	38	2022	2022	NUM
ajst-26743	207	39	ieee	ieee	NOUN
ajst-26743	207	40	19th	19th	ADJ
ajst-26743	207	41	annual	annual	ADJ
ajst-26743	207	42	consumer	consumer	NOUN
ajst-26743	207	43	communications	communication	NOUN
ajst-26743	207	44	&	&	CCONJ
ajst-26743	207	45	networking	network	VERB
ajst-26743	207	46	conference	conference	NOUN
ajst-26743	207	47	(	(	PUNCT
ajst-26743	207	48	ccnc	ccnc	PROPN
ajst-26743	207	49	)	)	PUNCT
ajst-26743	207	50	.	.	PUNCT
ajst-26743	208	1	ieee	ieee	PROPN
ajst-26743	208	2	,	,	PUNCT
ajst-26743	208	3	2022	2022	NUM
ajst-26743	208	4	,	,	PUNCT
ajst-26743	208	5	pp	pp	ADJ
ajst-26743	208	6	.	.	PUNCT
ajst-26743	209	1	290–298	290–298	NUM
ajst-26743	209	2	.	.	PUNCT
ajst-26743	210	1	[	[	X
ajst-26743	210	2	13	13	NUM
ajst-26743	210	3	]	]	PUNCT
ajst-26743	210	4	x.	x.	NOUN
ajst-26743	210	5	sun	sun	PROPN
ajst-26743	210	6	,	,	PUNCT
ajst-26743	210	7	s.	s.	PROPN
ajst-26743	210	8	yang	yang	PROPN
ajst-26743	210	9	,	,	PUNCT
ajst-26743	210	10	m.	m.	NOUN
ajst-26743	210	11	zhou	zhou	PROPN
ajst-26743	210	12	,	,	PUNCT
ajst-26743	210	13	k.	k.	PROPN
ajst-26743	210	14	liu	liu	PROPN
ajst-26743	210	15	,	,	PUNCT
ajst-26743	210	16	and	and	CCONJ
ajst-26743	210	17	r.	r.	PROPN
ajst-26743	210	18	mangharam	mangharam	PROPN
ajst-26743	210	19	,	,	PUNCT
ajst-26743	210	20	“	"	PUNCT
ajst-26743	210	21	megadagger	megadagger	NOUN
ajst-26743	210	22	:	:	PUNCT
ajst-26743	210	23	imitation	imitation	NOUN
ajst-26743	210	24	learning	learn	VERB
ajst-26743	210	25	with	with	ADP
ajst-26743	210	26	multiple	multiple	ADJ
ajst-26743	210	27	imperfect	imperfect	ADJ
ajst-26743	210	28	experts	expert	NOUN
ajst-26743	210	29	,	,	PUNCT
ajst-26743	210	30	”	"	PUNCT
ajst-26743	210	31	2024	2024	NUM
ajst-26743	210	32	.	.	PUNCT
ajst-26743	211	1	[	[	X
ajst-26743	211	2	online	online	X
ajst-26743	211	3	]	]	X
ajst-26743	211	4	.	.	PUNCT
ajst-26743	212	1	available	available	ADJ
ajst-26743	212	2	:	:	PUNCT
ajst-26743	212	3	https://arxiv.org/abs/2303.00638v3	https://arxiv.org/abs/2303.00638v3	PROPN
ajst-26743	213	1	[	[	X
ajst-26743	213	2	14	14	NUM
ajst-26743	213	3	]	]	PUNCT
ajst-26743	213	4	j.	j.	PROPN
ajst-26743	213	5	betz	betz	PROPN
ajst-26743	213	6	,	,	PUNCT
ajst-26743	213	7	h.	h.	PROPN
ajst-26743	213	8	zheng	zheng	PROPN
ajst-26743	213	9	,	,	PUNCT
ajst-26743	213	10	a.	a.	NOUN
ajst-26743	213	11	liniger	liniger	PROPN
ajst-26743	213	12	,	,	PUNCT
ajst-26743	213	13	u.	u.	PROPN
ajst-26743	213	14	rosolia	rosolia	PROPN
ajst-26743	213	15	,	,	PUNCT
ajst-26743	213	16	p.	p.	PROPN
ajst-26743	213	17	karle	karle	PROPN
ajst-26743	213	18	,	,	PUNCT
ajst-26743	213	19	m.	m.	NOUN
ajst-26743	213	20	behl	behl	PROPN
ajst-26743	213	21	,	,	PUNCT
ajst-26743	213	22	v.	v.	ADP
ajst-26743	213	23	krovi	krovi	PROPN
ajst-26743	213	24	,	,	PUNCT
ajst-26743	213	25	and	and	CCONJ
ajst-26743	213	26	r.	r.	PROPN
ajst-26743	213	27	mangharam	mangharam	PROPN
ajst-26743	213	28	,	,	PUNCT
ajst-26743	213	29	“	"	PUNCT
ajst-26743	213	30	autonomous	autonomous	ADJ
ajst-26743	213	31	vehicles	vehicle	NOUN
ajst-26743	213	32	on	on	ADP
ajst-26743	213	33	the	the	DET
ajst-26743	213	34	edge	edge	NOUN
ajst-26743	213	35	:	:	PUNCT
ajst-26743	213	36	a	a	DET
ajst-26743	213	37	survey	survey	NOUN
ajst-26743	213	38	on	on	ADP
ajst-26743	213	39	autonomous	autonomous	ADJ
ajst-26743	213	40	vehicle	vehicle	NOUN
ajst-26743	213	41	racing	racing	NOUN
ajst-26743	213	42	,	,	PUNCT
ajst-26743	213	43	”	"	PUNCT
ajst-26743	213	44	ieee	ieee	NOUN
ajst-26743	213	45	open	open	ADJ
ajst-26743	213	46	journal	journal	NOUN
ajst-26743	213	47	of	of	ADP
ajst-26743	213	48	intelligent	intelligent	ADJ
ajst-26743	213	49	transportation	transportation	NOUN
ajst-26743	213	50	systems	system	NOUN
ajst-26743	213	51	,	,	PUNCT
ajst-26743	213	52	2022	2022	NUM
ajst-26743	213	53	.	.	PUNCT
ajst-26743	214	1	[	[	X
ajst-26743	214	2	15	15	NUM
ajst-26743	214	3	]	]	X
ajst-26743	214	4	z.	z.	PROPN
ajst-26743	214	5	qiao	qiao	PROPN
ajst-26743	214	6	,	,	PUNCT
ajst-26743	214	7	m.	m.	NOUN
ajst-26743	214	8	zhou	zhou	PROPN
ajst-26743	214	9	,	,	PUNCT
ajst-26743	214	10	z.	z.	PROPN
ajst-26743	214	11	zhuang	zhuang	PROPN
ajst-26743	214	12	,	,	PUNCT
ajst-26743	214	13	t.	t.	PROPN
ajst-26743	214	14	agarwal	agarwal	PROPN
ajst-26743	214	15	,	,	PUNCT
ajst-26743	214	16	f.	f.	PROPN
ajst-26743	214	17	jahncke	jahncke	PROPN
ajst-26743	214	18	,	,	PUNCT
ajst-26743	214	19	p.j	p.j	PROPN
ajst-26743	214	20	.	.	PROPN
ajst-26743	214	21	wang	wang	PROPN
ajst-26743	214	22	,	,	PUNCT
ajst-26743	214	23	j.	j.	PROPN
ajst-26743	214	24	friedman	friedman	PROPN
ajst-26743	214	25	,	,	PUNCT
ajst-26743	214	26	h.	h.	PROPN
ajst-26743	214	27	lai	lai	PROPN
ajst-26743	214	28	,	,	PUNCT
ajst-26743	214	29	d.	d.	PROPN
ajst-26743	214	30	sahu	sahu	PROPN
ajst-26743	214	31	,	,	PUNCT
ajst-26743	214	32	t.	t.	PROPN
ajst-26743	214	33	nagy	nagy	NOUN
ajst-26743	214	34	,	,	PUNCT
ajst-26743	214	35	m.	m.	NOUN
ajst-26743	214	36	endler	endler	PROPN
ajst-26743	214	37	,	,	PUNCT
ajst-26743	214	38	j.	j.	PROPN
ajst-26743	214	39	schlessman	schlessman	PROPN
ajst-26743	214	40	,	,	PUNCT
ajst-26743	214	41	and	and	CCONJ
ajst-26743	214	42	r.	r.	PROPN
ajst-26743	214	43	mangharam	mangharam	PROPN
ajst-26743	214	44	,	,	PUNCT
ajst-26743	214	45	“	"	PUNCT
ajst-26743	214	46	av4ev	av4ev	NUM
ajst-26743	214	47	:	:	PUNCT
ajst-26743	214	48	open	open	ADJ
ajst-26743	214	49	-	-	PUNCT
ajst-26743	214	50	source	source	NOUN
ajst-26743	214	51	modular	modular	ADJ
ajst-26743	214	52	autonomous	autonomous	ADJ
ajst-26743	214	53	electric	electric	ADJ
ajst-26743	214	54	vehicle	vehicle	NOUN
ajst-26743	214	55	platform	platform	NOUN
ajst-26743	214	56	for	for	ADP
ajst-26743	214	57	making	make	VERB
ajst-26743	214	58	mobility	mobility	NOUN
ajst-26743	214	59	research	research	NOUN
ajst-26743	214	60	accessible	accessible	ADJ
ajst-26743	214	61	,	,	PUNCT
ajst-26743	214	62	”	"	PUNCT
ajst-26743	214	63	2024	2024	NUM
ajst-26743	214	64	.	.	PUNCT
ajst-26743	215	1	[	[	X
ajst-26743	215	2	online	online	X
ajst-26743	215	3	]	]	X
ajst-26743	215	4	.	.	PUNCT
ajst-26743	216	1	available	available	ADJ
ajst-26743	216	2	:	:	PUNCT
ajst-26743	216	3	https://arxiv.org/abs/2312.00951	https://arxiv.org/abs/2312.00951	NOUN
ajst-26743	216	4	[	[	X
ajst-26743	216	5	16	16	NUM
ajst-26743	216	6	]	]	PUNCT
ajst-26743	216	7	l.	l.	PROPN
ajst-26743	216	8	le	le	X
ajst-26743	216	9	mero	mero	PROPN
ajst-26743	216	10	,	,	PUNCT
ajst-26743	216	11	d.	d.	PROPN
ajst-26743	216	12	yi	yi	PROPN
ajst-26743	216	13	,	,	PUNCT
ajst-26743	216	14	m.	m.	NOUN
ajst-26743	216	15	dianati	dianati	PROPN
ajst-26743	216	16	,	,	PUNCT
ajst-26743	216	17	and	and	CCONJ
ajst-26743	216	18	a.	a.	NOUN
ajst-26743	216	19	mouzakitis	mouzakitis	PROPN
ajst-26743	216	20	,	,	PUNCT
ajst-26743	216	21	“	"	PUNCT
ajst-26743	216	22	a	a	DET
ajst-26743	216	23	survey	survey	NOUN
ajst-26743	216	24	onimitation	onimitation	NOUN
ajst-26743	216	25	learning	learn	VERB
ajst-26743	216	26	techniques	technique	NOUN
ajst-26743	216	27	for	for	ADP
ajst-26743	216	28	end	end	NOUN
ajst-26743	216	29	-	-	PUNCT
ajst-26743	216	30	to	to	ADP
ajst-26743	216	31	-	-	PUNCT
ajst-26743	216	32	end	end	NOUN
ajst-26743	216	33	autonomous	autonomous	ADJ
ajst-26743	216	34	vehicles,”ieee	vehicles,”ieee	NOUN
ajst-26743	216	35	transactions	transaction	NOUN
ajst-26743	216	36	on	on	ADP
ajst-26743	216	37	intelligent	intelligent	ADJ
ajst-26743	216	38	transportation	transportation	NOUN
ajst-26743	216	39	systems	system	NOUN
ajst-26743	216	40	,	,	PUNCT
ajst-26743	216	41	2022	2022	NUM
ajst-26743	216	42	.	.	PUNCT
ajst-26743	217	1	[	[	X
ajst-26743	217	2	17	17	NUM
ajst-26743	217	3	]	]	PUNCT
ajst-26743	217	4	z.	z.	PROPN
ajst-26743	217	5	zhuang	zhuang	PROPN
ajst-26743	217	6	,	,	PUNCT
ajst-26743	217	7	“	"	PUNCT
ajst-26743	217	8	f1tenth	f1tenth	ADJ
ajst-26743	217	9	rl	rl	NOUN
ajst-26743	217	10	,	,	PUNCT
ajst-26743	217	11	”	"	PUNCT
ajst-26743	217	12	https://github.com/zzjun725/f1tenth	https://github.com/zzjun725/f1tenth	ADJ
ajst-26743	217	13	rl	rl	PROPN
ajst-26743	217	14	,	,	PUNCT
ajst-26743	217	15	2024	2024	NUM
ajst-26743	217	16	.	.	PUNCT
ajst-26743	218	1	[	[	X
ajst-26743	218	2	18	18	NUM
ajst-26743	218	3	]	]	PUNCT
ajst-26743	218	4	x.	x.	NOUN
ajst-26743	218	5	sun	sun	PROPN
ajst-26743	218	6	,	,	PUNCT
ajst-26743	218	7	m.	m.	NOUN
ajst-26743	218	8	zhou	zhou	PROPN
ajst-26743	218	9	,	,	PUNCT
ajst-26743	218	10	z.	z.	PROPN
ajst-26743	218	11	zhuang	zhuang	PROPN
ajst-26743	218	12	,	,	PUNCT
ajst-26743	218	13	s.	s.	PROPN
ajst-26743	218	14	yang	yang	PROPN
ajst-26743	218	15	,	,	PUNCT
ajst-26743	218	16	j.	j.	PROPN
ajst-26743	218	17	betz	betz	PROPN
ajst-26743	218	18	,	,	PUNCT
ajst-26743	218	19	and	and	CCONJ
ajst-26743	218	20	r.	r.	PROPN
ajst-26743	218	21	mangharam	mangharam	PROPN
ajst-26743	218	22	,	,	PUNCT
ajst-26743	218	23	“	"	PUNCT
ajst-26743	218	24	a	a	DET
ajst-26743	218	25	benchmark	benchmark	ADJ
ajst-26743	218	26	comparison	comparison	NOUN
ajst-26743	218	27	of	of	ADP
ajst-26743	218	28	imitation	imitation	NOUN
ajst-26743	218	29	learningbased	learningbase	VERB
ajst-26743	218	30	control	control	NOUN
ajst-26743	218	31	policies	policy	NOUN
ajst-26743	218	32	for	for	ADP
ajst-26743	218	33	autonomous	autonomous	ADJ
ajst-26743	218	34	racing	racing	NOUN
ajst-26743	218	35	,	,	PUNCT
ajst-26743	218	36	”	"	PUNCT
ajst-26743	218	37	in	in	ADP
ajst-26743	218	38	2023	2023	NUM
ajst-26743	218	39	ieee	ieee	NOUN
ajst-26743	218	40	intelligent	intelligent	ADJ
ajst-26743	218	41	vehicles	vehicle	NOUN
ajst-26743	218	42	symposium	symposium	NOUN
ajst-26743	218	43	(	(	PUNCT
ajst-26743	218	44	iv	iv	NOUN
ajst-26743	218	45	)	)	PUNCT
ajst-26743	218	46	,	,	PUNCT
ajst-26743	218	47	2023	2023	NUM
ajst-26743	218	48	,	,	PUNCT
ajst-26743	218	49	pp	pp	ADJ
ajst-26743	218	50	.	.	PUNCT
ajst-26743	219	1	1–5	1–5	X
ajst-26743	219	2	.	.	PUNCT
ajst-26743	220	1	[	[	X
ajst-26743	220	2	19	19	NUM
ajst-26743	220	3	]	]	X
ajst-26743	220	4	v.	v.	CCONJ
ajst-26743	220	5	sezer	sezer	NOUN
ajst-26743	220	6	and	and	CCONJ
ajst-26743	220	7	m.	m.	NOUN
ajst-26743	220	8	gokasan	gokasan	NOUN
ajst-26743	220	9	,	,	PUNCT
ajst-26743	220	10	“	"	PUNCT
ajst-26743	220	11	a	a	DET
ajst-26743	220	12	novel	novel	ADJ
ajst-26743	220	13	obstacle	obstacle	NOUN
ajst-26743	220	14	avoidance	avoidance	NOUN
ajst-26743	220	15	algorithm	algorithm	NOUN
ajst-26743	220	16	:	:	PUNCT
ajst-26743	220	17	“	"	PUNCT
ajst-26743	220	18	follow	follow	VERB
ajst-26743	220	19	the	the	DET
ajst-26743	220	20	gap	gap	NOUN
ajst-26743	220	21	method	method	NOUN
ajst-26743	220	22	”	"	PUNCT
ajst-26743	220	23	,	,	PUNCT
ajst-26743	220	24	”	"	PUNCT
ajst-26743	220	25	robotics	robotic	NOUN
ajst-26743	220	26	and	and	CCONJ
ajst-26743	220	27	autonomous	autonomous	ADJ
ajst-26743	220	28	systems	system	NOUN
ajst-26743	220	29	,	,	PUNCT
ajst-26743	220	30	vol	vol	NOUN
ajst-26743	220	31	.	.	PROPN
ajst-26743	220	32	60	60	NUM
ajst-26743	220	33	,	,	PUNCT
ajst-26743	220	34	no	no	INTJ
ajst-26743	220	35	.	.	NOUN
ajst-26743	220	36	9	9	NUM
ajst-26743	220	37	,	,	PUNCT
ajst-26743	220	38	pp	pp	ADJ
ajst-26743	220	39	.	.	PUNCT
ajst-26743	220	40	1123–1134	1123–1134	NUM
ajst-26743	220	41	,	,	PUNCT
ajst-26743	220	42	2012	2012	NUM
ajst-26743	220	43	.	.	PUNCT
ajst-26743	221	1	[	[	X
ajst-26743	221	2	online	online	X
ajst-26743	221	3	]	]	X
ajst-26743	221	4	.	.	PUNCT
ajst-26743	222	1	available	available	ADJ
ajst-26743	222	2	:	:	PUNCT
ajst-26743	222	3	https	https	NOUN
ajst-26743	222	4	:	:	PUNCT
ajst-26743	222	5	//www.sciencedirect.com	//www.sciencedirect.com	PUNCT
ajst-26743	222	6	/	/	SYM
ajst-26743	222	7	science	science	NOUN
ajst-26743	222	8	/	/	SYM
ajst-26743	222	9	article	article	NOUN
ajst-26743	222	10	/	/	SYM
ajst-26743	222	11	pii	pii	PROPN
ajst-26743	222	12	/	/	SYM
ajst-26743	222	13	s0921889012000	s0921889012000	PROPN
ajst-26743	222	14	838	838	NUM
ajst-26743	222	15	[	[	SYM
ajst-26743	222	16	20	20	NUM
ajst-26743	222	17	]	]	PUNCT
ajst-26743	222	18	t.	t.	PROPN
ajst-26743	222	19	weiss	weiss	PROPN
ajst-26743	222	20	and	and	CCONJ
ajst-26743	222	21	m.	m.	NOUN
ajst-26743	222	22	behl	behl	PROPN
ajst-26743	222	23	,	,	PUNCT
ajst-26743	222	24	“	"	PUNCT
ajst-26743	222	25	deepracing	deepracing	NOUN
ajst-26743	222	26	:	:	PUNCT
ajst-26743	222	27	parameterized	parameterized	ADJ
ajst-26743	222	28	trajectories	trajectory	NOUN
ajst-26743	222	29	for	for	ADP
ajst-26743	222	30	autonomous	autonomous	ADJ
ajst-26743	222	31	racing	racing	NOUN
ajst-26743	222	32	,	,	PUNCT
ajst-26743	222	33	”	"	PUNCT
ajst-26743	222	34	arxiv	arxiv	PROPN
ajst-26743	222	35	preprint	preprint	NOUN
ajst-26743	222	36	arxiv:2005.05178	arxiv:2005.05178	ADV
ajst-26743	222	37	,	,	PUNCT
ajst-26743	222	38	2020	2020	NUM
ajst-26743	222	39	.	.	PUNCT
ajst-26743	223	1	[	[	X
ajst-26743	223	2	21	21	NUM
ajst-26743	223	3	]	]	PUNCT
ajst-26743	223	4	l.	l.	PROPN
ajst-26743	223	5	lipeng	lipeng	PROPN
ajst-26743	223	6	,	,	PUNCT
ajst-26743	223	7	l.	l.	PROPN
ajst-26743	223	8	xu	xu	PROPN
ajst-26743	223	9	,	,	PUNCT
ajst-26743	223	10	j.	j.	PROPN
ajst-26743	223	11	liu	liu	PROPN
ajst-26743	223	12	,	,	PUNCT
ajst-26743	223	13	h.	h.	PROPN
ajst-26743	223	14	zhao	zhao	PROPN
ajst-26743	223	15	,	,	PUNCT
ajst-26743	223	16	t.	t.	PROPN
ajst-26743	223	17	jiang	jiang	PROPN
ajst-26743	223	18	,	,	PUNCT
ajst-26743	223	19	and	and	CCONJ
ajst-26743	223	20	t.	t.	PROPN
ajst-26743	223	21	zheng	zheng	PROPN
ajst-26743	223	22	,	,	PUNCT
ajst-26743	223	23	“	"	PUNCT
ajst-26743	223	24	prioritized	prioritize	VERB
ajst-26743	223	25	experience	experience	NOUN
ajst-26743	223	26	replay	replay	NOUN
ajst-26743	223	27	-	-	PUNCT
ajst-26743	223	28	based	base	VERB
ajst-26743	223	29	ddqn	ddqn	NOUN
ajst-26743	223	30	for	for	ADP
ajst-26743	223	31	unmanned	unmanned	ADJ
ajst-26743	223	32	vehicle	vehicle	NOUN
ajst-26743	223	33	path	path	NOUN
ajst-26743	223	34	planning	planning	NOUN
ajst-26743	223	35	,	,	PUNCT
ajst-26743	223	36	”	"	PUNCT
ajst-26743	223	37	arxiv	arxiv	PROPN
ajst-26743	223	38	preprint	preprint	NOUN
ajst-26743	223	39	arxiv:2406.17286	arxiv:2406.17286	ADJ
ajst-26743	223	40	,	,	PUNCT
ajst-26743	223	41	2024	2024	NUM
ajst-26743	223	42	.	.	PUNCT
ajst-26743	224	1	[	[	X
ajst-26743	224	2	22	22	NUM
ajst-26743	224	3	]	]	X
ajst-26743	224	4	j.	j.	PROPN
ajst-26743	224	5	m.	m.	PROPN
ajst-26743	224	6	snider	snider	PROPN
ajst-26743	224	7	et	et	PROPN
ajst-26743	224	8	al	al	PROPN
ajst-26743	224	9	.	.	PROPN
ajst-26743	224	10	,	,	PUNCT
ajst-26743	224	11	“	"	PUNCT
ajst-26743	224	12	automatic	automatic	ADJ
ajst-26743	224	13	steering	steering	NOUN
ajst-26743	224	14	methods	method	NOUN
ajst-26743	224	15	for	for	ADP
ajst-26743	224	16	autonomous	autonomous	ADJ
ajst-26743	224	17	automobile	automobile	NOUN
ajst-26743	224	18	path	path	NOUN
ajst-26743	224	19	tracking	tracking	NOUN
ajst-26743	224	20	,	,	PUNCT
ajst-26743	224	21	”	"	PUNCT
ajst-26743	224	22	robotics	robotic	NOUN
ajst-26743	224	23	institute	institute	PROPN
ajst-26743	224	24	,	,	PUNCT
ajst-26743	224	25	pittsburgh	pittsburgh	PROPN
ajst-26743	224	26	,	,	PUNCT
ajst-26743	224	27	pa	pa	PROPN
ajst-26743	224	28	,	,	PUNCT
ajst-26743	224	29	tech	tech	PROPN
ajst-26743	224	30	.	.	PUNCT
ajst-26743	224	31	rep	rep	PROPN
ajst-26743	224	32	.	.	PROPN
ajst-26743	224	33	cmu	cmu	PROPN
ajst-26743	224	34	-	-	PUNCT
ajst-26743	224	35	ritr-09	ritr-09	PROPN
ajst-26743	224	36	-	-	PUNCT
ajst-26743	224	37	08	08	NUM
ajst-26743	224	38	,	,	PUNCT
ajst-26743	224	39	2009	2009	NUM
ajst-26743	224	40	.	.	PUNCT
ajst-26743	225	1	[	[	X
ajst-26743	225	2	23	23	NUM
ajst-26743	225	3	]	]	PUNCT
ajst-26743	225	4	a.	a.	NOUN
ajst-26743	225	5	heilmeier	heilmeier	PROPN
ajst-26743	225	6	,	,	PUNCT
ajst-26743	225	7	a.	a.	NOUN
ajst-26743	225	8	wischnewski	wischnewski	PROPN
ajst-26743	225	9	,	,	PUNCT
ajst-26743	225	10	l.	l.	PROPN
ajst-26743	225	11	hermansdorfer	hermansdorfer	PROPN
ajst-26743	225	12	,	,	PUNCT
ajst-26743	225	13	j.	j.	PROPN
ajst-26743	225	14	betz	betz	PROPN
ajst-26743	225	15	,	,	PUNCT
ajst-26743	225	16	m.	m.	NOUN
ajst-26743	225	17	lienkamp	lienkamp	PROPN
ajst-26743	225	18	,	,	PUNCT
ajst-26743	225	19	and	and	CCONJ
ajst-26743	225	20	b.	b.	PROPN
ajst-26743	225	21	lohmann	lohmann	PROPN
ajst-26743	225	22	,	,	PUNCT
ajst-26743	225	23	“	"	PUNCT
ajst-26743	225	24	minimum	minimum	ADJ
ajst-26743	225	25	curvature	curvature	NOUN
ajst-26743	225	26	trajectory	trajectory	NOUN
ajst-26743	225	27	planning	planning	NOUN
ajst-26743	225	28	and	and	CCONJ
ajst-26743	225	29	control	control	NOUN
ajst-26743	225	30	for	for	ADP
ajst-26743	225	31	an	an	DET
ajst-26743	225	32	autonomous	autonomous	ADJ
ajst-26743	225	33	race	race	NOUN
ajst-26743	225	34	car	car	NOUN
ajst-26743	225	35	,	,	PUNCT
ajst-26743	225	36	”	"	PUNCT
ajst-26743	225	37	vehicle	vehicle	NOUN
ajst-26743	225	38	system	system	NOUN
ajst-26743	225	39	dynamics	dynamic	NOUN
ajst-26743	225	40	,	,	PUNCT
ajst-26743	225	41	vol	vol	NOUN
ajst-26743	225	42	.	.	PROPN
ajst-26743	226	1	58	58	NUM
ajst-26743	226	2	,	,	PUNCT
ajst-26743	226	3	no	no	INTJ
ajst-26743	226	4	.	.	NOUN
ajst-26743	226	5	10	10	NUM
ajst-26743	226	6	,	,	PUNCT
ajst-26743	226	7	pp	pp	ADJ
ajst-26743	226	8	.	.	PUNCT
ajst-26743	227	1	1497–1527	1497–1527	NUM
ajst-26743	227	2	,	,	PUNCT
ajst-26743	227	3	2020	2020	NUM
ajst-26743	227	4	.	.	PUNCT
ajst-26743	228	1	[	[	X
ajst-26743	228	2	online	online	X
ajst-26743	228	3	]	]	X
ajst-26743	228	4	.	.	PUNCT
ajst-26743	229	1	available	available	ADJ
ajst-26743	229	2	:	:	PUNCT
ajst-26743	229	3	https://doi.org/10.1080/00423114.2019.1631455	https://doi.org/10.1080/00423114.2019.1631455	PUNCT
ajst-26743	230	1	[	[	X
ajst-26743	230	2	24	24	NUM
ajst-26743	230	3	]	]	PUNCT
ajst-26743	230	4	s.	s.	PROPN
ajst-26743	230	5	huang	huang	PROPN
ajst-26743	230	6	,	,	PUNCT
ajst-26743	230	7	r.	r.	PROPN
ajst-26743	230	8	f.	f.	PROPN
ajst-26743	230	9	j.	j.	PROPN
ajst-26743	230	10	dossa	dossa	PROPN
ajst-26743	230	11	,	,	PUNCT
ajst-26743	230	12	c.	c.	PROPN
ajst-26743	230	13	ye	ye	PROPN
ajst-26743	230	14	,	,	PUNCT
ajst-26743	230	15	j.	j.	PROPN
ajst-26743	230	16	braga	braga	PROPN
ajst-26743	230	17	,	,	PUNCT
ajst-26743	230	18	d.	d.	PROPN
ajst-26743	230	19	chakraborty	chakraborty	PROPN
ajst-26743	230	20	,	,	PUNCT
ajst-26743	230	21	k.	k.	PROPN
ajst-26743	230	22	mehta	mehta	PROPN
ajst-26743	230	23	,	,	PUNCT
ajst-26743	230	24	and	and	CCONJ
ajst-26743	230	25	j.	j.	PROPN
ajst-26743	230	26	g.	g.	PROPN
ajst-26743	230	27	arau´jo	arau´jo	PROPN
ajst-26743	230	28	,	,	PUNCT
ajst-26743	230	29	“	"	PUNCT
ajst-26743	230	30	cleanrl	cleanrl	NOUN
ajst-26743	230	31	:	:	PUNCT
ajst-26743	230	32	high	high	ADJ
ajst-26743	230	33	-	-	PUNCT
ajst-26743	230	34	quality	quality	NOUN
ajst-26743	230	35	single	single	ADJ
ajst-26743	230	36	-	-	PUNCT
ajst-26743	230	37	file	file	NOUN
ajst-26743	230	38	implementations	implementation	NOUN
ajst-26743	230	39	of	of	ADP
ajst-26743	230	40	deep	deep	ADJ
ajst-26743	230	41	reinforcement	reinforcement	NOUN
ajst-26743	230	42	learning	learning	NOUN
ajst-26743	230	43	algorithms	algorithm	NOUN
ajst-26743	230	44	,	,	PUNCT
ajst-26743	230	45	”	"	PUNCT
ajst-26743	230	46	journal	journal	NOUN
ajst-26743	230	47	of	of	ADP
ajst-26743	230	48	machine	machine	NOUN
ajst-26743	230	49	learning	learn	VERB
ajst-26743	230	50	research	research	NOUN
ajst-26743	230	51	,	,	PUNCT
ajst-26743	230	52	vol	vol	NOUN
ajst-26743	230	53	.	.	PROPN
ajst-26743	231	1	23	23	NUM
ajst-26743	231	2	,	,	PUNCT
ajst-26743	231	3	no	no	INTJ
ajst-26743	231	4	.	.	NOUN
ajst-26743	231	5	274	274	NUM
ajst-26743	231	6	,	,	PUNCT
ajst-26743	231	7	pp	pp	ADJ
ajst-26743	231	8	.	.	PUNCT
ajst-26743	231	9	1	1	NUM
ajst-26743	231	10	–	–	PUNCT
ajst-26743	231	11	18	18	NUM
ajst-26743	231	12	,	,	PUNCT
ajst-26743	231	13	2022	2022	NUM
ajst-26743	231	14	.	.	PUNCT
ajst-26743	232	1	[	[	X
ajst-26743	232	2	online].available	online].available	ADV
ajst-26743	232	3	:	:	PUNCT
ajst-26743	232	4	http://jmlr.org/papers/v23/211342.html	http://jmlr.org/papers/v23/211342.html	NOUN
ajst-26743	232	5	[	[	X
ajst-26743	232	6	25	25	NUM
ajst-26743	232	7	]	]	PUNCT
ajst-26743	232	8	r.	r.	PROPN
ajst-26743	232	9	rajamani	rajamani	PROPN
ajst-26743	232	10	,	,	PUNCT
ajst-26743	232	11	vehicle	vehicle	NOUN
ajst-26743	232	12	dynamics	dynamic	NOUN
ajst-26743	232	13	and	and	CCONJ
ajst-26743	232	14	control	control	NOUN
ajst-26743	232	15	.	.	PUNCT
ajst-26743	233	1	new	new	PROPN
ajst-26743	233	2	york	york	PROPN
ajst-26743	233	3	:	:	PUNCT
ajst-26743	233	4	springer	springer	NOUN
ajst-26743	233	5	,	,	PUNCT
ajst-26743	233	6	2012	2012	NUM
ajst-26743	233	7	.	.	PUNCT