id	sid	tid	token	lemma	pos
ap-2272	1	1	acta	acta	PROPN
ap-2272	1	2	polytechnica	polytechnica	PROPN
ap-2272	1	3	doi:10.14311	doi:10.14311	PROPN
ap-2272	1	4	/	/	SYM
ap-2272	1	5	ap.2014.54.0367	ap.2014.54.0367	PROPN
ap-2272	1	6	acta	acta	PROPN
ap-2272	1	7	polytechnica	polytechnica	PROPN
ap-2272	1	8	54(5):367–377	54(5):367–377	PROPN
ap-2272	1	9	,	,	PUNCT
ap-2272	1	10	2014	2014	NUM
ap-2272	1	11	©	©	PROPN
ap-2272	1	12	czech	czech	PROPN
ap-2272	1	13	technical	technical	PROPN
ap-2272	1	14	university	university	PROPN
ap-2272	1	15	in	in	ADP
ap-2272	1	16	prague	prague	PROPN
ap-2272	1	17	,	,	PUNCT
ap-2272	1	18	2014	2014	NUM
ap-2272	1	19	available	available	ADJ
ap-2272	1	20	online	online	ADV
ap-2272	1	21	at	at	ADP
ap-2272	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2272	1	23	towards	towards	ADP
ap-2272	1	24	evolutionary	evolutionary	ADJ
ap-2272	1	25	design	design	NOUN
ap-2272	1	26	of	of	ADP
ap-2272	1	27	complex	complex	ADJ
ap-2272	1	28	systems	system	NOUN
ap-2272	1	29	inspired	inspire	VERB
ap-2272	1	30	by	by	ADP
ap-2272	1	31	nature	nature	NOUN
ap-2272	1	32	jaroslav	jaroslav	PROPN
ap-2272	1	33	vítků∗	vítků∗	PROPN
ap-2272	1	34	,	,	PUNCT
ap-2272	1	35	pavel	pavel	PROPN
ap-2272	1	36	nahodil	nahodil	PROPN
ap-2272	1	37	czech	czech	PROPN
ap-2272	1	38	technical	technical	PROPN
ap-2272	1	39	university	university	PROPN
ap-2272	1	40	in	in	ADP
ap-2272	1	41	prague	prague	PROPN
ap-2272	1	42	,	,	PUNCT
ap-2272	1	43	faculty	faculty	NOUN
ap-2272	1	44	of	of	ADP
ap-2272	1	45	electrical	electrical	ADJ
ap-2272	1	46	engineering	engineering	NOUN
ap-2272	1	47	,	,	PUNCT
ap-2272	1	48	department	department	NOUN
ap-2272	1	49	of	of	ADP
ap-2272	1	50	cybernetics	cybernetic	NOUN
ap-2272	1	51	,	,	PUNCT
ap-2272	1	52	technická	technická	NOUN
ap-2272	1	53	2	2	NUM
ap-2272	1	54	,	,	PUNCT
ap-2272	1	55	16627	16627	NUM
ap-2272	1	56	,	,	PUNCT
ap-2272	1	57	prague	prague	NOUN
ap-2272	1	58	6	6	NUM
ap-2272	1	59	,	,	PUNCT
ap-2272	1	60	czech	czech	PROPN
ap-2272	1	61	rep	rep	PROPN
ap-2272	1	62	.	.	PROPN
ap-2272	1	63	∗	∗	NOUN
ap-2272	1	64	corresponding	correspond	VERB
ap-2272	1	65	author	author	NOUN
ap-2272	1	66	:	:	PUNCT
ap-2272	1	67	vitkujar@fel.cvut.cz	vitkujar@fel.cvut.cz	NOUN
ap-2272	1	68	abstract	abstract	NOUN
ap-2272	1	69	.	.	PUNCT
ap-2272	2	1	this	this	DET
ap-2272	2	2	paper	paper	NOUN
ap-2272	2	3	presents	present	VERB
ap-2272	2	4	the	the	DET
ap-2272	2	5	first	first	ADJ
ap-2272	2	6	steps	step	NOUN
ap-2272	2	7	towards	towards	ADP
ap-2272	2	8	the	the	DET
ap-2272	2	9	evolutionary	evolutionary	ADJ
ap-2272	2	10	design	design	NOUN
ap-2272	2	11	of	of	ADP
ap-2272	2	12	complex	complex	ADJ
ap-2272	2	13	autonomous	autonomous	ADJ
ap-2272	2	14	systems	system	NOUN
ap-2272	2	15	.	.	PUNCT
ap-2272	3	1	the	the	DET
ap-2272	3	2	approach	approach	NOUN
ap-2272	3	3	is	be	AUX
ap-2272	3	4	inspired	inspire	VERB
ap-2272	3	5	by	by	ADP
ap-2272	3	6	modularity	modularity	NOUN
ap-2272	3	7	of	of	ADP
ap-2272	3	8	the	the	DET
ap-2272	3	9	human	human	ADJ
ap-2272	3	10	brain	brain	NOUN
ap-2272	3	11	and	and	CCONJ
ap-2272	3	12	the	the	DET
ap-2272	3	13	principles	principle	NOUN
ap-2272	3	14	of	of	ADP
ap-2272	3	15	evolution	evolution	NOUN
ap-2272	3	16	.	.	PUNCT
ap-2272	4	1	rather	rather	ADV
ap-2272	4	2	than	than	ADP
ap-2272	4	3	evolving	evolve	VERB
ap-2272	4	4	neural	neural	ADJ
ap-2272	4	5	networks	network	NOUN
ap-2272	4	6	or	or	CCONJ
ap-2272	4	7	neural	neural	ADV
ap-2272	4	8	-	-	PUNCT
ap-2272	4	9	based	base	VERB
ap-2272	4	10	systems	system	NOUN
ap-2272	4	11	,	,	PUNCT
ap-2272	4	12	the	the	DET
ap-2272	4	13	approach	approach	NOUN
ap-2272	4	14	focuses	focus	VERB
ap-2272	4	15	on	on	ADP
ap-2272	4	16	evolving	evolve	VERB
ap-2272	4	17	hybrid	hybrid	ADJ
ap-2272	4	18	networks	network	NOUN
ap-2272	4	19	composed	compose	VERB
ap-2272	4	20	of	of	ADP
ap-2272	4	21	heterogeneous	heterogeneous	ADJ
ap-2272	4	22	sub	sub	NOUN
ap-2272	4	23	-	-	NOUN
ap-2272	4	24	systems	system	NOUN
ap-2272	4	25	implementing	implement	VERB
ap-2272	4	26	various	various	ADJ
ap-2272	4	27	algorithms	algorithm	NOUN
ap-2272	4	28	/	/	SYM
ap-2272	4	29	behaviors	behavior	NOUN
ap-2272	4	30	.	.	PUNCT
ap-2272	5	1	currently	currently	ADV
ap-2272	5	2	,	,	PUNCT
ap-2272	5	3	evolutionary	evolutionary	ADJ
ap-2272	5	4	techniques	technique	NOUN
ap-2272	5	5	are	be	AUX
ap-2272	5	6	used	use	VERB
ap-2272	5	7	to	to	PART
ap-2272	5	8	optimize	optimize	VERB
ap-2272	5	9	the	the	DET
ap-2272	5	10	weights	weight	NOUN
ap-2272	5	11	between	between	ADP
ap-2272	5	12	predefined	predefine	VERB
ap-2272	5	13	blocks	block	NOUN
ap-2272	5	14	(	(	PUNCT
ap-2272	5	15	so	so	ADV
ap-2272	5	16	-	-	PUNCT
ap-2272	5	17	called	call	VERB
ap-2272	5	18	neural	neural	ADJ
ap-2272	5	19	modules	module	NOUN
ap-2272	5	20	)	)	PUNCT
ap-2272	5	21	in	in	ADP
ap-2272	5	22	order	order	NOUN
ap-2272	5	23	to	to	PART
ap-2272	5	24	find	find	VERB
ap-2272	5	25	an	an	DET
ap-2272	5	26	agent	agent	NOUN
ap-2272	5	27	architecture	architecture	NOUN
ap-2272	5	28	appropriate	appropriate	ADJ
ap-2272	5	29	for	for	ADP
ap-2272	5	30	a	a	DET
ap-2272	5	31	given	give	VERB
ap-2272	5	32	task	task	NOUN
ap-2272	5	33	.	.	PUNCT
ap-2272	6	1	the	the	DET
ap-2272	6	2	framework	framework	NOUN
ap-2272	6	3	,	,	PUNCT
ap-2272	6	4	together	together	ADV
ap-2272	6	5	with	with	ADP
ap-2272	6	6	the	the	DET
ap-2272	6	7	simulator	simulator	NOUN
ap-2272	6	8	of	of	ADP
ap-2272	6	9	such	such	ADJ
ap-2272	6	10	systems	system	NOUN
ap-2272	6	11	is	be	AUX
ap-2272	6	12	presented	present	VERB
ap-2272	6	13	here	here	ADV
ap-2272	6	14	.	.	PUNCT
ap-2272	7	1	then	then	ADV
ap-2272	7	2	,	,	PUNCT
ap-2272	7	3	examples	example	NOUN
ap-2272	7	4	of	of	ADP
ap-2272	7	5	agent	agent	NOUN
ap-2272	7	6	architectures	architecture	NOUN
ap-2272	7	7	represented	represent	VERB
ap-2272	7	8	as	as	ADP
ap-2272	7	9	hybrid	hybrid	ADJ
ap-2272	7	10	networks	network	NOUN
ap-2272	7	11	are	be	AUX
ap-2272	7	12	presented	present	VERB
ap-2272	7	13	.	.	PUNCT
ap-2272	8	1	one	one	NUM
ap-2272	8	2	architecture	architecture	NOUN
ap-2272	8	3	is	be	AUX
ap-2272	8	4	hand	hand	NOUN
ap-2272	8	5	-	-	PUNCT
ap-2272	8	6	designed	design	VERB
ap-2272	8	7	and	and	CCONJ
ap-2272	8	8	one	one	NOUN
ap-2272	8	9	is	be	AUX
ap-2272	8	10	automatically	automatically	ADV
ap-2272	8	11	optimized	optimize	VERB
ap-2272	8	12	by	by	ADP
ap-2272	8	13	means	mean	NOUN
ap-2272	8	14	of	of	ADP
ap-2272	8	15	an	an	DET
ap-2272	8	16	evolutionary	evolutionary	ADJ
ap-2272	8	17	algorithm	algorithm	NOUN
ap-2272	8	18	.	.	PUNCT
ap-2272	9	1	even	even	ADV
ap-2272	9	2	such	such	DET
ap-2272	9	3	a	a	DET
ap-2272	9	4	simple	simple	ADJ
ap-2272	9	5	experiment	experiment	NOUN
ap-2272	9	6	shows	show	VERB
ap-2272	9	7	how	how	SCONJ
ap-2272	9	8	evolution	evolution	NOUN
ap-2272	9	9	is	be	AUX
ap-2272	9	10	able	able	ADJ
ap-2272	9	11	to	to	PART
ap-2272	9	12	pick	pick	VERB
ap-2272	9	13	-	-	PUNCT
ap-2272	9	14	up	up	ADP
ap-2272	9	15	unexpected	unexpected	ADJ
ap-2272	9	16	attributes	attribute	NOUN
ap-2272	9	17	of	of	ADP
ap-2272	9	18	the	the	DET
ap-2272	9	19	task	task	NOUN
ap-2272	9	20	and	and	CCONJ
ap-2272	9	21	exploit	exploit	VERB
ap-2272	9	22	them	they	PRON
ap-2272	9	23	when	when	SCONJ
ap-2272	9	24	designing	design	VERB
ap-2272	9	25	a	a	DET
ap-2272	9	26	new	new	ADJ
ap-2272	9	27	architecture	architecture	NOUN
ap-2272	9	28	.	.	PUNCT
ap-2272	10	1	keywords	keyword	NOUN
ap-2272	10	2	:	:	PUNCT
ap-2272	10	3	agent	agent	NOUN
ap-2272	10	4	,	,	PUNCT
ap-2272	10	5	architecture	architecture	NOUN
ap-2272	10	6	,	,	PUNCT
ap-2272	10	7	artificial	artificial	ADJ
ap-2272	10	8	life	life	NOUN
ap-2272	10	9	,	,	PUNCT
ap-2272	10	10	creature	creature	NOUN
ap-2272	10	11	,	,	PUNCT
ap-2272	10	12	behavior	behavior	NOUN
ap-2272	10	13	,	,	PUNCT
ap-2272	10	14	hybrid	hybrid	NOUN
ap-2272	10	15	,	,	PUNCT
ap-2272	10	16	neural	neural	ADJ
ap-2272	10	17	network	network	NOUN
ap-2272	10	18	,	,	PUNCT
ap-2272	10	19	evolution	evolution	NOUN
ap-2272	10	20	.	.	PUNCT
ap-2272	11	1	1	1	X
ap-2272	11	2	.	.	X
ap-2272	11	3	introduction	introduction	NOUN
ap-2272	11	4	—	—	PUNCT
ap-2272	11	5	problem	problem	NOUN
ap-2272	11	6	decomposition	decomposition	NOUN
ap-2272	11	7	many	many	ADJ
ap-2272	11	8	researchers	researcher	NOUN
ap-2272	11	9	have	have	AUX
ap-2272	11	10	had	have	VERB
ap-2272	11	11	a	a	DET
ap-2272	11	12	long	long	ADJ
ap-2272	11	13	-	-	PUNCT
ap-2272	11	14	term	term	NOUN
ap-2272	11	15	goal	goal	NOUN
ap-2272	11	16	:	:	PUNCT
ap-2272	11	17	to	to	PART
ap-2272	11	18	build	build	VERB
ap-2272	11	19	an	an	DET
ap-2272	11	20	autonomous	autonomous	ADJ
ap-2272	11	21	robotic	robotic	ADJ
ap-2272	11	22	system	system	NOUN
ap-2272	11	23	that	that	PRON
ap-2272	11	24	is	be	AUX
ap-2272	11	25	able	able	ADJ
ap-2272	11	26	to	to	PART
ap-2272	11	27	operate	operate	VERB
ap-2272	11	28	in	in	ADP
ap-2272	11	29	real	real	ADJ
ap-2272	11	30	-	-	PUNCT
ap-2272	11	31	world	world	NOUN
ap-2272	11	32	conditions	condition	NOUN
ap-2272	11	33	in	in	ADP
ap-2272	11	34	a	a	DET
ap-2272	11	35	robust	robust	ADJ
ap-2272	11	36	way	way	NOUN
ap-2272	11	37	.	.	PUNCT
ap-2272	12	1	however	however	ADV
ap-2272	12	2	,	,	PUNCT
ap-2272	12	3	after	after	ADP
ap-2272	12	4	many	many	ADJ
ap-2272	12	5	years	year	NOUN
ap-2272	12	6	of	of	ADP
ap-2272	12	7	research	research	NOUN
ap-2272	12	8	and	and	CCONJ
ap-2272	12	9	development	development	NOUN
ap-2272	12	10	,	,	PUNCT
ap-2272	12	11	there	there	PRON
ap-2272	12	12	are	be	VERB
ap-2272	12	13	still	still	ADV
ap-2272	12	14	no	no	DET
ap-2272	12	15	satisfactory	satisfactory	ADJ
ap-2272	12	16	results	result	NOUN
ap-2272	12	17	.	.	PUNCT
ap-2272	13	1	the	the	DET
ap-2272	13	2	uneasy	uneasy	ADJ
ap-2272	13	3	task	task	NOUN
ap-2272	13	4	of	of	ADP
ap-2272	13	5	building	build	VERB
ap-2272	13	6	reliable	reliable	ADJ
ap-2272	13	7	robots	robot	NOUN
ap-2272	13	8	is	be	AUX
ap-2272	13	9	composed	compose	VERB
ap-2272	13	10	of	of	ADP
ap-2272	13	11	too	too	ADV
ap-2272	13	12	many	many	ADJ
ap-2272	13	13	smaller	small	ADJ
ap-2272	13	14	sub	sub	NOUN
ap-2272	13	15	-	-	NOUN
ap-2272	13	16	problems	problem	NOUN
ap-2272	13	17	,	,	PUNCT
ap-2272	13	18	such	such	ADJ
ap-2272	13	19	as	as	ADP
ap-2272	13	20	vision	vision	NOUN
ap-2272	13	21	,	,	PUNCT
ap-2272	13	22	reasoning	reason	VERB
ap-2272	13	23	in	in	ADP
ap-2272	13	24	unknown	unknown	ADJ
ap-2272	13	25	domains	domain	NOUN
ap-2272	13	26	,	,	PUNCT
ap-2272	13	27	etc	etc	X
ap-2272	13	28	.	.	X
ap-2272	14	1	on	on	ADP
ap-2272	14	2	this	this	DET
ap-2272	14	3	long	long	ADJ
ap-2272	14	4	way	way	NOUN
ap-2272	14	5	,	,	PUNCT
ap-2272	14	6	there	there	PRON
ap-2272	14	7	are	be	VERB
ap-2272	14	8	simply	simply	ADV
ap-2272	14	9	too	too	ADV
ap-2272	14	10	many	many	ADJ
ap-2272	14	11	problems	problem	NOUN
ap-2272	14	12	.	.	PUNCT
ap-2272	15	1	moreover	moreover	ADV
ap-2272	15	2	,	,	PUNCT
ap-2272	15	3	most	most	ADJ
ap-2272	15	4	of	of	ADP
ap-2272	15	5	these	these	DET
ap-2272	15	6	smaller	small	ADJ
ap-2272	15	7	problems	problem	NOUN
ap-2272	15	8	do	do	AUX
ap-2272	15	9	not	not	PART
ap-2272	15	10	yet	yet	ADV
ap-2272	15	11	have	have	VERB
ap-2272	15	12	a	a	DET
ap-2272	15	13	feasible	feasible	ADJ
ap-2272	15	14	solution	solution	NOUN
ap-2272	15	15	.	.	PUNCT
ap-2272	16	1	1.1	1.1	NUM
ap-2272	16	2	.	.	PUNCT
ap-2272	16	3	modular	modular	ADJ
ap-2272	16	4	design	design	NOUN
ap-2272	16	5	in	in	ADP
ap-2272	16	6	practice	practice	NOUN
ap-2272	16	7	nevertheless	nevertheless	ADV
ap-2272	16	8	,	,	PUNCT
ap-2272	16	9	many	many	ADJ
ap-2272	16	10	of	of	ADP
ap-2272	16	11	these	these	DET
ap-2272	16	12	small	small	ADJ
ap-2272	16	13	problems	problem	NOUN
ap-2272	16	14	have	have	AUX
ap-2272	16	15	already	already	ADV
ap-2272	16	16	been	be	AUX
ap-2272	16	17	solved	solve	VERB
ap-2272	16	18	relatively	relatively	ADV
ap-2272	16	19	well	well	ADV
ap-2272	16	20	,	,	PUNCT
ap-2272	16	21	such	such	ADJ
ap-2272	16	22	as	as	ADP
ap-2272	16	23	for	for	ADP
ap-2272	16	24	example	example	NOUN
ap-2272	16	25	pattern	pattern	NOUN
ap-2272	16	26	recognition	recognition	NOUN
ap-2272	16	27	,	,	PUNCT
ap-2272	16	28	planning	planning	NOUN
ap-2272	16	29	,	,	PUNCT
ap-2272	16	30	reinforcement	reinforcement	NOUN
ap-2272	16	31	learning	learning	NOUN
ap-2272	16	32	,	,	PUNCT
ap-2272	16	33	etc	etc	X
ap-2272	16	34	.	.	X
ap-2272	17	1	in	in	ADP
ap-2272	17	2	order	order	NOUN
ap-2272	17	3	to	to	PART
ap-2272	17	4	build	build	VERB
ap-2272	17	5	a	a	DET
ap-2272	17	6	well	well	ADV
ap-2272	17	7	-	-	PUNCT
ap-2272	17	8	performing	perform	VERB
ap-2272	17	9	system	system	NOUN
ap-2272	17	10	it	it	PRON
ap-2272	17	11	is	be	AUX
ap-2272	17	12	often	often	ADV
ap-2272	17	13	possible	possible	ADJ
ap-2272	17	14	just	just	ADV
ap-2272	17	15	to	to	PART
ap-2272	17	16	use	use	VERB
ap-2272	17	17	these	these	DET
ap-2272	17	18	known	know	VERB
ap-2272	17	19	systems	system	NOUN
ap-2272	17	20	.	.	PUNCT
ap-2272	18	1	or	or	CCONJ
ap-2272	18	2	even	even	ADV
ap-2272	18	3	better	well	ADJ
ap-2272	18	4	,	,	PUNCT
ap-2272	18	5	it	it	PRON
ap-2272	18	6	is	be	AUX
ap-2272	18	7	suitable	suitable	ADJ
ap-2272	18	8	to	to	PART
ap-2272	18	9	use	use	VERB
ap-2272	18	10	implementation	implementation	NOUN
ap-2272	18	11	of	of	ADP
ap-2272	18	12	known	know	VERB
ap-2272	18	13	algorithms	algorithm	NOUN
ap-2272	18	14	,	,	PUNCT
ap-2272	18	15	which	which	PRON
ap-2272	18	16	are	be	AUX
ap-2272	18	17	tested	test	VERB
ap-2272	18	18	and	and	CCONJ
ap-2272	18	19	have	have	AUX
ap-2272	18	20	performed	perform	VERB
ap-2272	18	21	on	on	ADP
ap-2272	18	22	a	a	DET
ap-2272	18	23	given	give	VERB
ap-2272	18	24	task	task	NOUN
ap-2272	18	25	.	.	PUNCT
ap-2272	19	1	building	build	VERB
ap-2272	19	2	a	a	DET
ap-2272	19	3	more	more	ADV
ap-2272	19	4	complex	complex	ADJ
ap-2272	19	5	system	system	NOUN
ap-2272	19	6	then	then	ADV
ap-2272	19	7	becomes	become	VERB
ap-2272	19	8	faster	fast	ADJ
ap-2272	19	9	and	and	CCONJ
ap-2272	19	10	simpler	simple	ADJ
ap-2272	19	11	.	.	PUNCT
ap-2272	20	1	this	this	DET
ap-2272	20	2	approach	approach	NOUN
ap-2272	20	3	of	of	ADP
ap-2272	20	4	re	re	VERB
ap-2272	20	5	-	-	VERB
ap-2272	20	6	using	use	VERB
ap-2272	20	7	modules	module	NOUN
ap-2272	20	8	was	be	AUX
ap-2272	20	9	started	start	VERB
ap-2272	20	10	by	by	ADP
ap-2272	20	11	the	the	DET
ap-2272	20	12	robotic	robotic	ADJ
ap-2272	20	13	operating	operating	NOUN
ap-2272	20	14	system	system	NOUN
ap-2272	20	15	(	(	PUNCT
ap-2272	20	16	ros	ros	PROPN
ap-2272	20	17	)	)	PUNCT
ap-2272	20	18	.	.	PUNCT
ap-2272	21	1	the	the	DET
ap-2272	21	2	main	main	ADJ
ap-2272	21	3	goal	goal	NOUN
ap-2272	21	4	of	of	ADP
ap-2272	21	5	ros	ros	PROPN
ap-2272	21	6	is	be	AUX
ap-2272	21	7	to	to	PART
ap-2272	21	8	provide	provide	VERB
ap-2272	21	9	nodes	node	NOUN
ap-2272	21	10	—	—	PUNCT
ap-2272	21	11	implementations	implementation	NOUN
ap-2272	21	12	of	of	ADP
ap-2272	21	13	algorithms	algorithm	NOUN
ap-2272	21	14	—	—	PUNCT
ap-2272	21	15	that	that	PRON
ap-2272	21	16	can	can	AUX
ap-2272	21	17	be	be	AUX
ap-2272	21	18	re	re	VERB
ap-2272	21	19	-	-	VERB
ap-2272	21	20	used	use	VERB
ap-2272	21	21	in	in	ADP
ap-2272	21	22	robotic	robotic	ADJ
ap-2272	21	23	applications	application	NOUN
ap-2272	21	24	(	(	PUNCT
ap-2272	21	25	such	such	ADJ
ap-2272	21	26	as	as	ADP
ap-2272	21	27	path	path	NOUN
ap-2272	21	28	-	-	PUNCT
ap-2272	21	29	planning	planning	NOUN
ap-2272	21	30	,	,	PUNCT
ap-2272	21	31	vision	vision	NOUN
ap-2272	21	32	etc	etc	X
ap-2272	21	33	.	.	PUNCT
ap-2272	21	34	)	)	PUNCT
ap-2272	22	1	[	[	X
ap-2272	22	2	1	1	NUM
ap-2272	22	3	]	]	PUNCT
ap-2272	22	4	.	.	PUNCT
ap-2272	23	1	the	the	DET
ap-2272	23	2	user	user	NOUN
ap-2272	23	3	picks	pick	VERB
ap-2272	23	4	selected	select	VERB
ap-2272	23	5	nodes	node	NOUN
ap-2272	23	6	and	and	CCONJ
ap-2272	23	7	composes	compose	VERB
ap-2272	23	8	the	the	DET
ap-2272	23	9	resulting	result	VERB
ap-2272	23	10	system	system	NOUN
ap-2272	23	11	from	from	ADP
ap-2272	23	12	them	they	PRON
ap-2272	23	13	.	.	PUNCT
ap-2272	24	1	generally	generally	ADV
ap-2272	24	2	,	,	PUNCT
ap-2272	24	3	such	such	DET
ap-2272	24	4	an	an	DET
ap-2272	24	5	approach	approach	NOUN
ap-2272	24	6	is	be	AUX
ap-2272	24	7	called	call	VERB
ap-2272	24	8	top	top	ADJ
ap-2272	24	9	-	-	PUNCT
ap-2272	24	10	down	down	NOUN
ap-2272	24	11	.	.	PUNCT
ap-2272	25	1	the	the	DET
ap-2272	25	2	opposite	opposite	ADJ
ap-2272	25	3	direction	direction	NOUN
ap-2272	25	4	is	be	AUX
ap-2272	25	5	called	call	VERB
ap-2272	25	6	a	a	DET
ap-2272	25	7	bottom	bottom	ADJ
ap-2272	25	8	-	-	PUNCT
ap-2272	25	9	up	up	ADP
ap-2272	25	10	design	design	NOUN
ap-2272	25	11	approach	approach	NOUN
ap-2272	25	12	.	.	PUNCT
ap-2272	26	1	connectionist	connectionist	ADJ
ap-2272	26	2	artificial	artificial	ADJ
ap-2272	26	3	neural	neural	ADJ
ap-2272	26	4	networks	network	NOUN
ap-2272	26	5	(	(	PUNCT
ap-2272	26	6	anns	anns	PROPN
ap-2272	26	7	)	)	PUNCT
ap-2272	26	8	provide	provide	VERB
ap-2272	26	9	an	an	DET
ap-2272	26	10	example	example	NOUN
ap-2272	26	11	.	.	PUNCT
ap-2272	27	1	in	in	ADP
ap-2272	27	2	anns	ann	NOUN
ap-2272	27	3	,	,	PUNCT
ap-2272	27	4	no	no	DET
ap-2272	27	5	piece	piece	NOUN
ap-2272	27	6	of	of	ADP
ap-2272	27	7	the	the	DET
ap-2272	27	8	system	system	NOUN
ap-2272	27	9	(	(	PUNCT
ap-2272	27	10	neuron	neuron	NOUN
ap-2272	27	11	)	)	PUNCT
ap-2272	27	12	implements	implement	VERB
ap-2272	27	13	useful	useful	ADJ
ap-2272	27	14	processing	processing	NOUN
ap-2272	27	15	alone	alone	ADV
ap-2272	27	16	.	.	PUNCT
ap-2272	28	1	however	however	ADV
ap-2272	28	2	when	when	SCONJ
ap-2272	28	3	composed	compose	VERB
ap-2272	28	4	together	together	ADV
ap-2272	28	5	,	,	PUNCT
ap-2272	28	6	complex	complex	ADJ
ap-2272	28	7	behavior	behavior	NOUN
ap-2272	28	8	can	can	AUX
ap-2272	28	9	be	be	AUX
ap-2272	28	10	obtained	obtain	VERB
ap-2272	28	11	often	often	ADV
ap-2272	28	12	with	with	ADP
ap-2272	28	13	the	the	DET
ap-2272	28	14	use	use	NOUN
ap-2272	28	15	of	of	ADP
ap-2272	28	16	emergence	emergence	NOUN
ap-2272	28	17	.	.	PUNCT
ap-2272	29	1	the	the	DET
ap-2272	29	2	most	most	ADV
ap-2272	29	3	traditional	traditional	ADJ
ap-2272	29	4	design	design	NOUN
ap-2272	29	5	of	of	ADP
ap-2272	29	6	anns	anns	NOUN
ap-2272	29	7	is	be	AUX
ap-2272	29	8	as	as	SCONJ
ap-2272	29	9	follows	follow	VERB
ap-2272	29	10	:	:	PUNCT
ap-2272	29	11	(	(	PUNCT
ap-2272	29	12	1	1	X
ap-2272	29	13	)	)	PUNCT
ap-2272	29	14	predefine	predefine	NOUN
ap-2272	29	15	some	some	DET
ap-2272	29	16	structure	structure	NOUN
ap-2272	29	17	of	of	ADP
ap-2272	29	18	ann	ann	PROPN
ap-2272	29	19	;	;	PUNCT
ap-2272	29	20	(	(	PUNCT
ap-2272	29	21	2	2	X
ap-2272	29	22	)	)	PUNCT
ap-2272	29	23	optimize	optimize	VERB
ap-2272	29	24	the	the	DET
ap-2272	29	25	weights	weight	NOUN
ap-2272	29	26	between	between	ADP
ap-2272	29	27	neurons	neuron	NOUN
ap-2272	29	28	,	,	PUNCT
ap-2272	29	29	in	in	ADP
ap-2272	29	30	order	order	NOUN
ap-2272	29	31	to	to	PART
ap-2272	29	32	obtain	obtain	VERB
ap-2272	29	33	the	the	DET
ap-2272	29	34	desired	desire	VERB
ap-2272	29	35	behavior	behavior	NOUN
ap-2272	29	36	.	.	PUNCT
ap-2272	30	1	optimization	optimization	NOUN
ap-2272	30	2	can	can	AUX
ap-2272	30	3	be	be	AUX
ap-2272	30	4	done	do	VERB
ap-2272	30	5	by	by	ADP
ap-2272	30	6	some	some	DET
ap-2272	30	7	local	local	ADJ
ap-2272	30	8	algorithm	algorithm	NOUN
ap-2272	30	9	[	[	X
ap-2272	30	10	2	2	NUM
ap-2272	30	11	]	]	PUNCT
ap-2272	30	12	,	,	PUNCT
ap-2272	30	13	or	or	CCONJ
ap-2272	30	14	by	by	ADP
ap-2272	30	15	global	global	ADJ
ap-2272	30	16	approaches	approach	NOUN
ap-2272	30	17	,	,	PUNCT
ap-2272	30	18	such	such	ADJ
ap-2272	30	19	as	as	ADP
ap-2272	30	20	neuro	neuro	NOUN
ap-2272	30	21	-	-	PUNCT
ap-2272	30	22	evolution	evolution	NOUN
ap-2272	30	23	[	[	X
ap-2272	30	24	3	3	NUM
ap-2272	30	25	]	]	PUNCT
ap-2272	30	26	.	.	PUNCT
ap-2272	31	1	more	more	ADV
ap-2272	31	2	recently	recently	ADV
ap-2272	31	3	,	,	PUNCT
ap-2272	31	4	anns	ann	NOUN
ap-2272	31	5	have	have	AUX
ap-2272	31	6	often	often	ADV
ap-2272	31	7	been	be	AUX
ap-2272	31	8	designed	design	VERB
ap-2272	31	9	by	by	ADP
ap-2272	31	10	a	a	DET
ap-2272	31	11	principle	principle	NOUN
ap-2272	31	12	called	call	VERB
ap-2272	31	13	“	"	PUNCT
ap-2272	31	14	neural	neural	ADJ
ap-2272	31	15	engineering	engineering	NOUN
ap-2272	31	16	”	"	PUNCT
ap-2272	31	17	.	.	PUNCT
ap-2272	32	1	this	this	PRON
ap-2272	32	2	is	be	AUX
ap-2272	32	3	a	a	DET
ap-2272	32	4	top	top	ADJ
ap-2272	32	5	-	-	PUNCT
ap-2272	32	6	down	down	ADP
ap-2272	32	7	approach	approach	NOUN
ap-2272	32	8	,	,	PUNCT
ap-2272	32	9	which	which	PRON
ap-2272	32	10	works	work	VERB
ap-2272	32	11	with	with	ADP
ap-2272	32	12	modular	modular	ADJ
ap-2272	32	13	neural	neural	ADJ
ap-2272	32	14	networks	network	NOUN
ap-2272	32	15	(	(	PUNCT
ap-2272	32	16	mnns	mnn	NOUN
ap-2272	32	17	)	)	PUNCT
ap-2272	33	1	[	[	X
ap-2272	33	2	4	4	NUM
ap-2272	33	3	]	]	PUNCT
ap-2272	33	4	.	.	PUNCT
ap-2272	34	1	the	the	DET
ap-2272	34	2	purpose	purpose	NOUN
ap-2272	34	3	of	of	ADP
ap-2272	34	4	each	each	DET
ap-2272	34	5	module	module	NOUN
ap-2272	34	6	(	(	PUNCT
ap-2272	34	7	sub	sub	NOUN
ap-2272	34	8	-	-	NOUN
ap-2272	34	9	network	network	NOUN
ap-2272	34	10	)	)	PUNCT
ap-2272	34	11	is	be	AUX
ap-2272	34	12	defined	define	VERB
ap-2272	34	13	.	.	PUNCT
ap-2272	35	1	the	the	DET
ap-2272	35	2	required	require	VERB
ap-2272	35	3	behavior	behavior	NOUN
ap-2272	35	4	of	of	ADP
ap-2272	35	5	the	the	DET
ap-2272	35	6	resulting	result	VERB
ap-2272	35	7	system	system	NOUN
ap-2272	35	8	is	be	AUX
ap-2272	35	9	then	then	ADV
ap-2272	35	10	obtained	obtain	VERB
ap-2272	35	11	by	by	ADP
ap-2272	35	12	composing	compose	VERB
ap-2272	35	13	multiple	multiple	ADJ
ap-2272	35	14	sub	sub	NOUN
ap-2272	35	15	-	-	NOUN
ap-2272	35	16	networks	network	NOUN
ap-2272	35	17	together	together	ADV
ap-2272	36	1	[	[	X
ap-2272	36	2	5	5	NUM
ap-2272	36	3	]	]	PUNCT
ap-2272	36	4	.	.	PUNCT
ap-2272	37	1	in	in	ADP
ap-2272	37	2	this	this	DET
ap-2272	37	3	way	way	NOUN
ap-2272	37	4	,	,	PUNCT
ap-2272	37	5	complex	complex	ADJ
ap-2272	37	6	systems	system	NOUN
ap-2272	37	7	can	can	AUX
ap-2272	37	8	be	be	AUX
ap-2272	37	9	composed	compose	VERB
ap-2272	37	10	[	[	PUNCT
ap-2272	37	11	6	6	NUM
ap-2272	37	12	]	]	PUNCT
ap-2272	37	13	.	.	PUNCT
ap-2272	38	1	1.2	1.2	NUM
ap-2272	38	2	.	.	PUNCT
ap-2272	39	1	how	how	SCONJ
ap-2272	39	2	can	can	AUX
ap-2272	39	3	systems	system	NOUN
ap-2272	39	4	be	be	AUX
ap-2272	39	5	designed	design	VERB
ap-2272	39	6	in	in	ADP
ap-2272	39	7	a	a	DET
ap-2272	39	8	general	general	ADJ
ap-2272	39	9	way	way	NOUN
ap-2272	39	10	?	?	PUNCT
ap-2272	40	1	both	both	PRON
ap-2272	40	2	of	of	ADP
ap-2272	40	3	the	the	DET
ap-2272	40	4	approaches	approach	NOUN
ap-2272	40	5	mentioned	mention	VERB
ap-2272	40	6	here	here	ADV
ap-2272	40	7	have	have	VERB
ap-2272	40	8	their	their	PRON
ap-2272	40	9	own	own	ADJ
ap-2272	40	10	benefits	benefit	NOUN
ap-2272	40	11	and	and	CCONJ
ap-2272	40	12	their	their	PRON
ap-2272	40	13	own	own	ADJ
ap-2272	40	14	weaknesses	weakness	NOUN
ap-2272	40	15	.	.	PUNCT
ap-2272	41	1	the	the	DET
ap-2272	41	2	use	use	NOUN
ap-2272	41	3	of	of	ADP
ap-2272	41	4	alreadyimplemented	alreadyimplemente	VERB
ap-2272	41	5	pieces	piece	NOUN
ap-2272	41	6	of	of	ADP
ap-2272	41	7	robotic	robotic	ADJ
ap-2272	41	8	software	software	NOUN
ap-2272	41	9	provides	provide	VERB
ap-2272	41	10	high	high	ADJ
ap-2272	41	11	reliability	reliability	NOUN
ap-2272	41	12	of	of	ADP
ap-2272	41	13	the	the	DET
ap-2272	41	14	system	system	NOUN
ap-2272	41	15	,	,	PUNCT
ap-2272	41	16	and	and	CCONJ
ap-2272	41	17	the	the	DET
ap-2272	41	18	user	user	NOUN
ap-2272	41	19	has	have	VERB
ap-2272	41	20	big	big	ADJ
ap-2272	41	21	insight	insight	NOUN
ap-2272	41	22	into	into	ADP
ap-2272	41	23	the	the	DET
ap-2272	41	24	inner	inner	ADJ
ap-2272	41	25	functionality	functionality	NOUN
ap-2272	41	26	.	.	PUNCT
ap-2272	42	1	however	however	ADV
ap-2272	42	2	,	,	PUNCT
ap-2272	42	3	the	the	DET
ap-2272	42	4	resulting	result	VERB
ap-2272	42	5	design	design	NOUN
ap-2272	42	6	can	can	AUX
ap-2272	42	7	be	be	AUX
ap-2272	42	8	very	very	ADV
ap-2272	42	9	constrained	constrain	VERB
ap-2272	42	10	,	,	PUNCT
ap-2272	42	11	and	and	CCONJ
ap-2272	42	12	the	the	DET
ap-2272	42	13	design	design	NOUN
ap-2272	42	14	possibilities	possibility	NOUN
ap-2272	42	15	are	be	AUX
ap-2272	42	16	limited	limited	ADJ
ap-2272	42	17	.	.	PUNCT
ap-2272	43	1	anns	ann	NOUN
ap-2272	43	2	provide	provide	VERB
ap-2272	43	3	unconstrained	unconstrained	ADJ
ap-2272	43	4	design	design	NOUN
ap-2272	43	5	options	option	NOUN
ap-2272	43	6	,	,	PUNCT
ap-2272	43	7	and	and	CCONJ
ap-2272	43	8	are	be	AUX
ap-2272	43	9	very	very	ADV
ap-2272	43	10	good	good	ADJ
ap-2272	43	11	at	at	ADP
ap-2272	43	12	dealing	deal	VERB
ap-2272	43	13	with	with	ADP
ap-2272	43	14	uncertainty	uncertainty	NOUN
ap-2272	43	15	in	in	ADP
ap-2272	43	16	data	datum	NOUN
ap-2272	43	17	,	,	PUNCT
ap-2272	43	18	but	but	CCONJ
ap-2272	43	19	their	their	PRON
ap-2272	43	20	structure	structure	NOUN
ap-2272	43	21	is	be	AUX
ap-2272	43	22	often	often	ADV
ap-2272	43	23	too	too	ADV
ap-2272	43	24	complex	complex	ADJ
ap-2272	43	25	to	to	PART
ap-2272	43	26	be	be	AUX
ap-2272	43	27	understood	understand	VERB
ap-2272	43	28	directly	directly	ADV
ap-2272	43	29	and	and	CCONJ
ap-2272	43	30	altered	alter	VERB
ap-2272	43	31	well	well	ADV
ap-2272	43	32	.	.	PUNCT
ap-2272	44	1	here	here	ADV
ap-2272	44	2	,	,	PUNCT
ap-2272	44	3	authors	author	NOUN
ap-2272	44	4	focus	focus	VERB
ap-2272	44	5	on	on	ADP
ap-2272	44	6	designing	design	VERB
ap-2272	44	7	agent	agent	NOUN
ap-2272	44	8	architectures	architecture	NOUN
ap-2272	44	9	(	(	PUNCT
ap-2272	44	10	learning	learning	NOUN
ap-2272	44	11	and	and	CCONJ
ap-2272	44	12	decision	decision	NOUN
ap-2272	44	13	-	-	PUNCT
ap-2272	44	14	making	make	VERB
ap-2272	44	15	systems	system	NOUN
ap-2272	44	16	for	for	ADP
ap-2272	44	17	(	(	PUNCT
ap-2272	44	18	virtual	virtual	ADJ
ap-2272	44	19	)	)	PUNCT
ap-2272	44	20	robots	robot	NOUN
ap-2272	44	21	)	)	PUNCT
ap-2272	44	22	in	in	ADP
ap-2272	44	23	a	a	DET
ap-2272	44	24	hybrid	hybrid	ADJ
ap-2272	44	25	way	way	NOUN
ap-2272	44	26	.	.	PUNCT
ap-2272	45	1	the	the	DET
ap-2272	45	2	process	process	NOUN
ap-2272	45	3	of	of	ADP
ap-2272	45	4	designing	design	VERB
ap-2272	45	5	agents	agent	NOUN
ap-2272	45	6	is	be	AUX
ap-2272	45	7	not	not	PART
ap-2272	45	8	be	be	AUX
ap-2272	45	9	fixed	fix	VERB
ap-2272	45	10	to	to	ADP
ap-2272	45	11	any	any	PRON
ap-2272	45	12	of	of	ADP
ap-2272	45	13	the	the	DET
ap-2272	45	14	design	design	NOUN
ap-2272	45	15	approaches	approach	NOUN
ap-2272	45	16	mentioned	mention	VERB
ap-2272	45	17	above	above	ADV
ap-2272	45	18	,	,	PUNCT
ap-2272	45	19	but	but	CCONJ
ap-2272	45	20	takes	take	VERB
ap-2272	45	21	advantages	advantage	NOUN
ap-2272	45	22	of	of	ADP
ap-2272	45	23	both	both	PRON
ap-2272	45	24	.	.	PUNCT
ap-2272	46	1	the	the	DET
ap-2272	46	2	novel	novel	NOUN
ap-2272	46	3	presented	present	VERB
ap-2272	46	4	framework	framework	NOUN
ap-2272	46	5	is	be	AUX
ap-2272	46	6	called	call	VERB
ap-2272	46	7	hybrid	hybrid	ADJ
ap-2272	46	8	artificial	artificial	ADJ
ap-2272	46	9	neural	neural	ADJ
ap-2272	46	10	network	network	NOUN
ap-2272	46	11	systems	system	NOUN
ap-2272	46	12	(	(	PUNCT
ap-2272	46	13	hanns	hann	NOUN
ap-2272	46	14	)	)	PUNCT
ap-2272	46	15	.	.	PUNCT
ap-2272	47	1	it	it	PRON
ap-2272	47	2	is	be	AUX
ap-2272	47	3	an	an	DET
ap-2272	47	4	attempt	attempt	NOUN
ap-2272	47	5	to	to	ADP
ap-2272	47	6	367	367	NUM
ap-2272	47	7	http://dx.doi.org/10.14311/ap.2014.54.0367	http://dx.doi.org/10.14311/ap.2014.54.0367	ADP
ap-2272	47	8	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2272	47	9	jaroslav	jaroslav	ADJ
ap-2272	47	10	vítků	vítků	PROPN
ap-2272	47	11	,	,	PUNCT
ap-2272	47	12	pavel	pavel	PROPN
ap-2272	47	13	nahodil	nahodil	PROPN
ap-2272	47	14	acta	acta	PROPN
ap-2272	47	15	polytechnica	polytechnica	PROPN
ap-2272	47	16	figure	figure	NOUN
ap-2272	47	17	1	1	NUM
ap-2272	47	18	.	.	PUNCT
ap-2272	48	1	a	a	DET
ap-2272	48	2	neural	neural	ADJ
ap-2272	48	3	module	module	NOUN
ap-2272	48	4	with	with	ADP
ap-2272	48	5	two	two	NUM
ap-2272	48	6	data	datum	NOUN
ap-2272	48	7	inputs	input	NOUN
ap-2272	48	8	,	,	PUNCT
ap-2272	48	9	four	four	NUM
ap-2272	48	10	data	datum	NOUN
ap-2272	48	11	outputs	output	NOUN
ap-2272	48	12	and	and	CCONJ
ap-2272	48	13	four	four	NUM
ap-2272	48	14	configuration	configuration	NOUN
ap-2272	48	15	inputs	input	NOUN
ap-2272	48	16	.	.	PUNCT
ap-2272	49	1	the	the	DET
ap-2272	49	2	module	module	NOUN
ap-2272	49	3	also	also	ADV
ap-2272	49	4	contains	contain	VERB
ap-2272	49	5	”	"	PUNCT
ap-2272	49	6	prosperity	prosperity	NOUN
ap-2272	49	7	”	"	PUNCT
ap-2272	49	8	output	output	NOUN
ap-2272	49	9	,	,	PUNCT
ap-2272	49	10	which	which	PRON
ap-2272	49	11	provides	provide	VERB
ap-2272	49	12	subjective	subjective	ADJ
ap-2272	49	13	heuristics	heuristic	NOUN
ap-2272	49	14	defining	define	VERB
ap-2272	49	15	how	how	SCONJ
ap-2272	49	16	well	well	ADV
ap-2272	49	17	the	the	DET
ap-2272	49	18	module	module	NOUN
ap-2272	49	19	performs	perform	VERB
ap-2272	49	20	in	in	ADP
ap-2272	49	21	the	the	DET
ap-2272	49	22	current	current	ADJ
ap-2272	49	23	architecture	architecture	NOUN
ap-2272	49	24	during	during	ADP
ap-2272	49	25	the	the	DET
ap-2272	49	26	current	current	ADJ
ap-2272	49	27	simulation	simulation	NOUN
ap-2272	49	28	.	.	PUNCT
ap-2272	50	1	here	here	ADV
ap-2272	50	2	,	,	PUNCT
ap-2272	50	3	a	a	DET
ap-2272	50	4	modem	modem	NOUN
ap-2272	50	5	serves	serve	VERB
ap-2272	50	6	as	as	ADP
ap-2272	50	7	a	a	DET
ap-2272	50	8	communication	communication	NOUN
ap-2272	50	9	interface	interface	NOUN
ap-2272	50	10	between	between	ADP
ap-2272	50	11	the	the	DET
ap-2272	50	12	nengoros	nengoros	ADJ
ap-2272	50	13	simulator	simulator	NOUN
ap-2272	50	14	and	and	CCONJ
ap-2272	50	15	an	an	DET
ap-2272	50	16	external	external	ADJ
ap-2272	50	17	ros	ros	PROPN
ap-2272	50	18	node	node	NOUN
ap-2272	50	19	,	,	PUNCT
ap-2272	50	20	which	which	PRON
ap-2272	50	21	implements	implement	VERB
ap-2272	50	22	a	a	DET
ap-2272	50	23	given	give	VERB
ap-2272	50	24	algorithm	algorithm	NOUN
ap-2272	50	25	/	/	SYM
ap-2272	50	26	functionality	functionality	NOUN
ap-2272	50	27	.	.	PUNCT
ap-2272	51	1	unify	unify	VERB
ap-2272	51	2	modular	modular	ADJ
ap-2272	51	3	neural	neural	ADJ
ap-2272	51	4	networks	network	NOUN
ap-2272	51	5	with	with	ADP
ap-2272	51	6	purely	purely	ADV
ap-2272	51	7	top	top	ADJ
ap-2272	51	8	-	-	PUNCT
ap-2272	51	9	down	down	NOUN
ap-2272	51	10	and	and	CCONJ
ap-2272	51	11	practical	practical	ADJ
ap-2272	51	12	sub	sub	NOUN
ap-2272	51	13	-	-	NOUN
ap-2272	51	14	systems	system	NOUN
ap-2272	51	15	,	,	PUNCT
ap-2272	51	16	such	such	ADJ
ap-2272	51	17	as	as	ADP
ap-2272	51	18	those	those	PRON
ap-2272	51	19	implemented	implement	VERB
ap-2272	51	20	in	in	ADP
ap-2272	51	21	ros	ros	PROPN
ap-2272	51	22	.	.	PUNCT
ap-2272	52	1	one	one	NUM
ap-2272	52	2	of	of	ADP
ap-2272	52	3	main	main	ADJ
ap-2272	52	4	goals	goal	NOUN
ap-2272	52	5	of	of	ADP
ap-2272	52	6	this	this	DET
ap-2272	52	7	framework	framework	NOUN
ap-2272	52	8	is	be	AUX
ap-2272	52	9	to	to	PART
ap-2272	52	10	be	be	AUX
ap-2272	52	11	able	able	ADJ
ap-2272	52	12	to	to	PART
ap-2272	52	13	automate	automate	VERB
ap-2272	52	14	the	the	DET
ap-2272	52	15	design	design	NOUN
ap-2272	52	16	of	of	ADP
ap-2272	52	17	new	new	ADJ
ap-2272	52	18	architectures	architecture	NOUN
ap-2272	52	19	for	for	ADP
ap-2272	52	20	a	a	DET
ap-2272	52	21	given	give	VERB
ap-2272	52	22	task	task	NOUN
ap-2272	52	23	.	.	PUNCT
ap-2272	53	1	this	this	DET
ap-2272	53	2	approach	approach	NOUN
ap-2272	53	3	will	will	AUX
ap-2272	53	4	be	be	AUX
ap-2272	53	5	shown	show	VERB
ap-2272	53	6	on	on	ADP
ap-2272	53	7	a	a	DET
ap-2272	53	8	simple	simple	ADJ
ap-2272	53	9	example	example	NOUN
ap-2272	53	10	here	here	ADV
ap-2272	53	11	.	.	PUNCT
ap-2272	54	1	1.3	1.3	NUM
ap-2272	54	2	.	.	PUNCT
ap-2272	54	3	structure	structure	NOUN
ap-2272	54	4	of	of	ADP
ap-2272	54	5	the	the	DET
ap-2272	54	6	text	text	NOUN
ap-2272	54	7	the	the	DET
ap-2272	54	8	following	follow	VERB
ap-2272	54	9	chapter	chapter	NOUN
ap-2272	54	10	will	will	AUX
ap-2272	54	11	describe	describe	VERB
ap-2272	54	12	the	the	DET
ap-2272	54	13	main	main	ADJ
ap-2272	54	14	concepts	concept	NOUN
ap-2272	54	15	of	of	ADP
ap-2272	54	16	our	our	PRON
ap-2272	54	17	hanns	hann	NOUN
ap-2272	54	18	framework	framework	NOUN
ap-2272	54	19	,	,	PUNCT
ap-2272	54	20	together	together	ADV
ap-2272	54	21	with	with	ADP
ap-2272	54	22	the	the	DET
ap-2272	54	23	nengoros	nengoros	ADJ
ap-2272	54	24	simulator	simulator	NOUN
ap-2272	54	25	.	.	PUNCT
ap-2272	55	1	the	the	DET
ap-2272	55	2	third	third	ADJ
ap-2272	55	3	chapter	chapter	NOUN
ap-2272	55	4	will	will	AUX
ap-2272	55	5	show	show	VERB
ap-2272	55	6	these	these	DET
ap-2272	55	7	principles	principle	NOUN
ap-2272	55	8	applied	apply	VERB
ap-2272	55	9	to	to	ADP
ap-2272	55	10	a	a	DET
ap-2272	55	11	simple	simple	ADJ
ap-2272	55	12	agent	agent	NOUN
ap-2272	55	13	architecture	architecture	NOUN
ap-2272	55	14	implementing	implement	VERB
ap-2272	55	15	motivation	motivation	NOUN
ap-2272	55	16	-	-	PUNCT
ap-2272	55	17	driven	drive	VERB
ap-2272	55	18	reinforcement	reinforcement	NOUN
ap-2272	55	19	learning	learning	NOUN
ap-2272	55	20	(	(	PUNCT
ap-2272	55	21	rl	rl	NOUN
ap-2272	55	22	)	)	PUNCT
ap-2272	55	23	.	.	PUNCT
ap-2272	56	1	then	then	ADV
ap-2272	56	2	the	the	DET
ap-2272	56	3	evolutionary	evolutionary	ADJ
ap-2272	56	4	approach	approach	NOUN
ap-2272	56	5	is	be	AUX
ap-2272	56	6	used	use	VERB
ap-2272	56	7	to	to	PART
ap-2272	56	8	design	design	VERB
ap-2272	56	9	a	a	DET
ap-2272	56	10	similar	similar	ADJ
ap-2272	56	11	architecture	architecture	NOUN
ap-2272	56	12	automatically	automatically	ADV
ap-2272	56	13	.	.	PUNCT
ap-2272	57	1	finally	finally	ADV
ap-2272	57	2	,	,	PUNCT
ap-2272	57	3	the	the	DET
ap-2272	57	4	two	two	NUM
ap-2272	57	5	results	result	NOUN
ap-2272	57	6	are	be	AUX
ap-2272	57	7	compared	compare	VERB
ap-2272	57	8	and	and	CCONJ
ap-2272	57	9	discussed	discuss	VERB
ap-2272	57	10	.	.	PUNCT
ap-2272	58	1	2	2	X
ap-2272	58	2	.	.	X
ap-2272	58	3	hybrid	hybrid	ADJ
ap-2272	58	4	artificial	artificial	ADJ
ap-2272	58	5	neural	neural	ADJ
ap-2272	58	6	network	network	NOUN
ap-2272	58	7	systems	system	NOUN
ap-2272	58	8	hybrid	hybrid	ADJ
ap-2272	58	9	artificial	artificial	ADJ
ap-2272	58	10	neural	neural	ADJ
ap-2272	58	11	networks	network	NOUN
ap-2272	58	12	can	can	AUX
ap-2272	58	13	be	be	AUX
ap-2272	58	14	described	describe	VERB
ap-2272	58	15	as	as	ADP
ap-2272	58	16	modular	modular	ADJ
ap-2272	58	17	anns	ann	NOUN
ap-2272	58	18	[	[	X
ap-2272	58	19	4	4	NUM
ap-2272	58	20	]	]	PUNCT
ap-2272	58	21	composed	compose	VERB
ap-2272	58	22	of	of	ADP
ap-2272	58	23	heterogeneous	heterogeneous	ADJ
ap-2272	58	24	subsystems	subsystem	NOUN
ap-2272	58	25	.	.	PUNCT
ap-2272	59	1	each	each	DET
ap-2272	59	2	subsystem	subsystem	NOUN
ap-2272	59	3	can	can	AUX
ap-2272	59	4	implement	implement	VERB
ap-2272	59	5	various	various	ADJ
ap-2272	59	6	methods	method	NOUN
ap-2272	59	7	of	of	ADP
ap-2272	59	8	decision	decision	NOUN
ap-2272	59	9	-	-	PUNCT
ap-2272	59	10	making	making	NOUN
ap-2272	59	11	and	and	CCONJ
ap-2272	59	12	employ	employ	VERB
ap-2272	59	13	various	various	ADJ
ap-2272	59	14	representations	representation	NOUN
ap-2272	59	15	of	of	ADP
ap-2272	59	16	information	information	NOUN
ap-2272	59	17	processing	processing	NOUN
ap-2272	59	18	,	,	PUNCT
ap-2272	59	19	from	from	ADP
ap-2272	59	20	neural	neural	ADJ
ap-2272	59	21	-	-	PUNCT
ap-2272	59	22	like	like	ADJ
ap-2272	59	23	to	to	ADP
ap-2272	59	24	symbolic	symbolic	ADJ
ap-2272	59	25	representations	representation	NOUN
ap-2272	59	26	[	[	X
ap-2272	59	27	7	7	NUM
ap-2272	59	28	]	]	PUNCT
ap-2272	59	29	.	.	PUNCT
ap-2272	60	1	this	this	PRON
ap-2272	60	2	means	mean	VERB
ap-2272	60	3	that	that	SCONJ
ap-2272	60	4	(	(	PUNCT
ap-2272	60	5	for	for	ADP
ap-2272	60	6	a	a	DET
ap-2272	60	7	connecting	connect	VERB
ap-2272	60	8	symbolic	symbolic	NOUN
ap-2272	60	9	-	-	PUNCT
ap-2272	60	10	based	base	VERB
ap-2272	60	11	module	module	NOUN
ap-2272	60	12	to	to	ADP
ap-2272	60	13	a	a	DET
ap-2272	60	14	neural	neural	ADJ
ap-2272	60	15	network	network	NOUN
ap-2272	60	16	)	)	PUNCT
ap-2272	60	17	the	the	DET
ap-2272	60	18	symbolic	symbolic	ADJ
ap-2272	60	19	representation	representation	NOUN
ap-2272	60	20	has	have	VERB
ap-2272	60	21	to	to	PART
ap-2272	60	22	be	be	AUX
ap-2272	60	23	derived	derive	VERB
ap-2272	60	24	from	from	ADP
ap-2272	60	25	the	the	DET
ap-2272	60	26	activity	activity	NOUN
ap-2272	60	27	of	of	ADP
ap-2272	60	28	particular	particular	ADJ
ap-2272	60	29	neurons	neuron	NOUN
ap-2272	60	30	.	.	PUNCT
ap-2272	61	1	this	this	PRON
ap-2272	61	2	has	have	VERB
ap-2272	61	3	to	to	PART
ap-2272	61	4	be	be	AUX
ap-2272	61	5	done	do	VERB
ap-2272	61	6	for	for	ADP
ap-2272	61	7	example	example	NOUN
ap-2272	61	8	by	by	ADP
ap-2272	61	9	means	mean	NOUN
ap-2272	61	10	of	of	ADP
ap-2272	61	11	a	a	DET
ap-2272	61	12	predefined	predefine	VERB
ap-2272	61	13	lexicon	lexicon	NOUN
ap-2272	61	14	,	,	PUNCT
ap-2272	61	15	rule	rule	NOUN
ap-2272	61	16	extraction	extraction	NOUN
ap-2272	61	17	or	or	CCONJ
ap-2272	61	18	similar	similar	ADJ
ap-2272	61	19	methods	method	NOUN
ap-2272	61	20	.	.	PUNCT
ap-2272	62	1	this	this	DET
ap-2272	62	2	chapter	chapter	NOUN
ap-2272	62	3	describes	describe	VERB
ap-2272	62	4	the	the	DET
ap-2272	62	5	main	main	ADJ
ap-2272	62	6	principles	principle	NOUN
ap-2272	62	7	employed	employ	VERB
ap-2272	62	8	by	by	ADP
ap-2272	62	9	the	the	DET
ap-2272	62	10	presented	present	VERB
ap-2272	62	11	hybrid	hybrid	ADJ
ap-2272	62	12	artificial	artificial	ADJ
ap-2272	62	13	neural	neural	ADJ
ap-2272	62	14	network	network	NOUN
ap-2272	62	15	systems	system	NOUN
ap-2272	62	16	(	(	PUNCT
ap-2272	62	17	hanns	hann	NOUN
ap-2272	62	18	)	)	PUNCT
ap-2272	62	19	framework	framework	NOUN
ap-2272	62	20	.	.	PUNCT
ap-2272	63	1	the	the	DET
ap-2272	63	2	framework	framework	NOUN
ap-2272	63	3	uses	use	VERB
ap-2272	63	4	seamless	seamless	ADJ
ap-2272	63	5	communication	communication	NOUN
ap-2272	63	6	between	between	ADP
ap-2272	63	7	all	all	DET
ap-2272	63	8	modules	module	NOUN
ap-2272	63	9	in	in	ADP
ap-2272	63	10	the	the	DET
ap-2272	63	11	network	network	NOUN
ap-2272	63	12	and	and	CCONJ
ap-2272	63	13	encapsulated	encapsulate	VERB
ap-2272	63	14	information	information	NOUN
ap-2272	63	15	transformation	transformation	NOUN
ap-2272	63	16	where	where	SCONJ
ap-2272	63	17	needed	need	VERB
ap-2272	63	18	.	.	PUNCT
ap-2272	64	1	the	the	DET
ap-2272	64	2	particular	particular	ADJ
ap-2272	64	3	strategy	strategy	NOUN
ap-2272	64	4	of	of	ADP
ap-2272	64	5	information	information	NOUN
ap-2272	64	6	transformation	transformation	NOUN
ap-2272	64	7	belongs	belong	VERB
ap-2272	64	8	to	to	PART
ap-2272	64	9	own	own	ADJ
ap-2272	64	10	module	module	NOUN
ap-2272	64	11	and	and	CCONJ
ap-2272	64	12	is	be	AUX
ap-2272	64	13	hidden	hide	VERB
ap-2272	64	14	from	from	ADP
ap-2272	64	15	the	the	DET
ap-2272	64	16	rest	rest	NOUN
ap-2272	64	17	of	of	ADP
ap-2272	64	18	the	the	DET
ap-2272	64	19	hybrid	hybrid	ADJ
ap-2272	64	20	network	network	NOUN
ap-2272	64	21	.	.	PUNCT
ap-2272	65	1	2.1	2.1	NUM
ap-2272	65	2	.	.	PUNCT
ap-2272	66	1	communication	communication	NOUN
ap-2272	66	2	and	and	CCONJ
ap-2272	66	3	sub	sub	ADJ
ap-2272	66	4	-	-	ADJ
ap-2272	66	5	system	system	NOUN
ap-2272	66	6	representation	representation	NOUN
ap-2272	66	7	in	in	ADP
ap-2272	66	8	order	order	NOUN
ap-2272	66	9	to	to	PART
ap-2272	66	10	deal	deal	VERB
ap-2272	66	11	with	with	ADP
ap-2272	66	12	connecting	connect	VERB
ap-2272	66	13	different	different	ADJ
ap-2272	66	14	modules	module	NOUN
ap-2272	66	15	which	which	PRON
ap-2272	66	16	use	use	VERB
ap-2272	66	17	different	different	ADJ
ap-2272	66	18	types	type	NOUN
ap-2272	66	19	of	of	ADP
ap-2272	66	20	communication	communication	NOUN
ap-2272	66	21	,	,	PUNCT
ap-2272	66	22	a	a	DET
ap-2272	66	23	common	common	ADJ
ap-2272	66	24	type	type	NOUN
ap-2272	66	25	of	of	ADP
ap-2272	66	26	communication	communication	NOUN
ap-2272	66	27	had	have	VERB
ap-2272	66	28	to	to	PART
ap-2272	66	29	be	be	AUX
ap-2272	66	30	defined	define	VERB
ap-2272	66	31	.	.	PUNCT
ap-2272	67	1	since	since	SCONJ
ap-2272	67	2	there	there	PRON
ap-2272	67	3	is	be	VERB
ap-2272	67	4	a	a	DET
ap-2272	67	5	possibility	possibility	NOUN
ap-2272	67	6	that	that	SCONJ
ap-2272	67	7	every	every	DET
ap-2272	67	8	system	system	NOUN
ap-2272	67	9	could	could	AUX
ap-2272	67	10	be	be	AUX
ap-2272	67	11	implemented	implement	VERB
ap-2272	67	12	by	by	ADP
ap-2272	67	13	neural	neural	ADJ
ap-2272	67	14	computation	computation	NOUN
ap-2272	67	15	one	one	NUM
ap-2272	67	16	day	day	NOUN
ap-2272	67	17	,	,	PUNCT
ap-2272	67	18	the	the	DET
ap-2272	67	19	aim	aim	NOUN
ap-2272	67	20	is	be	AUX
ap-2272	67	21	to	to	PART
ap-2272	67	22	add	add	VERB
ap-2272	67	23	higher	high	ADJ
ap-2272	67	24	-	-	PUNCT
ap-2272	67	25	level	level	NOUN
ap-2272	67	26	subsystems	subsystem	NOUN
ap-2272	67	27	into	into	ADP
ap-2272	67	28	anns	ann	NOUN
ap-2272	67	29	.	.	PUNCT
ap-2272	68	1	therefore	therefore	ADV
ap-2272	68	2	the	the	DET
ap-2272	68	3	entire	entire	ADJ
ap-2272	68	4	network	network	NOUN
ap-2272	68	5	uses	use	VERB
ap-2272	68	6	neural	neural	ADJ
ap-2272	68	7	-	-	PUNCT
ap-2272	68	8	like	like	ADJ
ap-2272	68	9	communication	communication	NOUN
ap-2272	68	10	in	in	ADP
ap-2272	68	11	this	this	DET
ap-2272	68	12	framework	framework	NOUN
ap-2272	68	13	.	.	PUNCT
ap-2272	69	1	each	each	DET
ap-2272	69	2	”	"	PUNCT
ap-2272	69	3	neural	neural	ADJ
ap-2272	69	4	module	module	NOUN
ap-2272	69	5	”	"	PUNCT
ap-2272	69	6	subsystem	subsystem	NOUN
ap-2272	69	7	can	can	AUX
ap-2272	69	8	implement	implement	VERB
ap-2272	69	9	arbitrary	arbitrary	ADJ
ap-2272	69	10	behavior	behavior	NOUN
ap-2272	69	11	and	and	CCONJ
ap-2272	69	12	has	have	VERB
ap-2272	69	13	a	a	DET
ap-2272	69	14	defined	define	VERB
ap-2272	69	15	number	number	NOUN
ap-2272	69	16	of	of	ADP
ap-2272	69	17	input	input	NOUN
ap-2272	69	18	and	and	CCONJ
ap-2272	69	19	output	output	NOUN
ap-2272	69	20	connections	connection	NOUN
ap-2272	69	21	.	.	PUNCT
ap-2272	70	1	each	each	DET
ap-2272	70	2	connection	connection	NOUN
ap-2272	70	3	can	can	AUX
ap-2272	70	4	represent	represent	VERB
ap-2272	70	5	a	a	DET
ap-2272	70	6	real	real	ADV
ap-2272	70	7	-	-	PUNCT
ap-2272	70	8	valued	value	VERB
ap-2272	70	9	number	number	NOUN
ap-2272	70	10	,	,	PUNCT
ap-2272	70	11	typically	typically	ADV
ap-2272	70	12	from	from	ADP
ap-2272	70	13	the	the	DET
ap-2272	70	14	interval	interval	NOUN
ap-2272	70	15	〈	〈	PROPN
ap-2272	70	16	0	0	NUM
ap-2272	70	17	,	,	PUNCT
ap-2272	70	18	1	1	NUM
ap-2272	70	19	〉	〉	NUM
ap-2272	70	20	.	.	PUNCT
ap-2272	71	1	the	the	DET
ap-2272	71	2	scheme	scheme	NOUN
ap-2272	71	3	of	of	ADP
ap-2272	71	4	an	an	DET
ap-2272	71	5	example	example	NOUN
ap-2272	71	6	of	of	ADP
ap-2272	71	7	a	a	DET
ap-2272	71	8	neural	neural	ADJ
ap-2272	71	9	module	module	NOUN
ap-2272	71	10	is	be	AUX
ap-2272	71	11	shown	show	VERB
ap-2272	71	12	in	in	ADP
ap-2272	71	13	fig	fig	NOUN
ap-2272	71	14	.	.	PUNCT
ap-2272	72	1	1	1	X
ap-2272	72	2	.	.	PUNCT
ap-2272	72	3	the	the	DET
ap-2272	72	4	figure	figure	NOUN
ap-2272	72	5	shows	show	VERB
ap-2272	72	6	that	that	SCONJ
ap-2272	72	7	the	the	DET
ap-2272	72	8	framework	framework	NOUN
ap-2272	72	9	uses	use	VERB
ap-2272	72	10	simple	simple	ADJ
ap-2272	72	11	communication	communication	NOUN
ap-2272	72	12	in	in	ADP
ap-2272	72	13	the	the	DET
ap-2272	72	14	network	network	NOUN
ap-2272	72	15	,	,	PUNCT
ap-2272	72	16	while	while	SCONJ
ap-2272	72	17	a	a	DET
ap-2272	72	18	transformation	transformation	NOUN
ap-2272	72	19	from	from	ADP
ap-2272	72	20	/	/	SYM
ap-2272	72	21	to	to	ADP
ap-2272	72	22	a	a	DET
ap-2272	72	23	symbolic	symbolic	ADJ
ap-2272	72	24	(	(	PUNCT
ap-2272	72	25	or	or	CCONJ
ap-2272	72	26	other	other	ADJ
ap-2272	72	27	)	)	PUNCT
ap-2272	72	28	domain	domain	NOUN
ap-2272	72	29	is	be	AUX
ap-2272	72	30	implemented	implement	VERB
ap-2272	72	31	inside	inside	ADP
ap-2272	72	32	a	a	DET
ap-2272	72	33	particular	particular	ADJ
ap-2272	72	34	neural	neural	ADJ
ap-2272	72	35	module	module	NOUN
ap-2272	72	36	(	(	PUNCT
ap-2272	72	37	depicted	depict	VERB
ap-2272	72	38	as	as	ADP
ap-2272	72	39	modem	modem	NOUN
ap-2272	72	40	in	in	ADP
ap-2272	72	41	the	the	DET
ap-2272	72	42	schematics	schematic	NOUN
ap-2272	72	43	)	)	PUNCT
ap-2272	72	44	,	,	PUNCT
ap-2272	72	45	if	if	SCONJ
ap-2272	72	46	needed	need	VERB
ap-2272	72	47	.	.	PUNCT
ap-2272	73	1	according	accord	VERB
ap-2272	73	2	to	to	ADP
ap-2272	73	3	[	[	X
ap-2272	73	4	7	7	NUM
ap-2272	73	5	]	]	PUNCT
ap-2272	73	6	,	,	PUNCT
ap-2272	73	7	this	this	DET
ap-2272	73	8	framework	framework	NOUN
ap-2272	73	9	uses	use	VERB
ap-2272	73	10	“	"	PUNCT
ap-2272	73	11	hybrid	hybrid	ADJ
ap-2272	73	12	system	system	NOUN
ap-2272	73	13	coupling	coupling	NOUN
ap-2272	73	14	interleaved	interleave	VERB
ap-2272	73	15	by	by	ADP
ap-2272	73	16	function	function	NOUN
ap-2272	73	17	calls	call	NOUN
ap-2272	73	18	”	"	PUNCT
ap-2272	73	19	,	,	PUNCT
ap-2272	73	20	where	where	SCONJ
ap-2272	73	21	all	all	DET
ap-2272	73	22	activity	activity	NOUN
ap-2272	73	23	on	on	ADP
ap-2272	73	24	inputs	input	NOUN
ap-2272	73	25	of	of	ADP
ap-2272	73	26	neural	neural	ADJ
ap-2272	73	27	module	module	NOUN
ap-2272	73	28	is	be	AUX
ap-2272	73	29	translated	translate	VERB
ap-2272	73	30	into	into	ADP
ap-2272	73	31	the	the	DET
ap-2272	73	32	inner	inner	ADJ
ap-2272	73	33	representation	representation	NOUN
ap-2272	73	34	of	of	ADP
ap-2272	73	35	modules	module	NOUN
ap-2272	73	36	and	and	CCONJ
ap-2272	73	37	is	be	AUX
ap-2272	73	38	processed	process	VERB
ap-2272	73	39	accordingly	accordingly	ADV
ap-2272	73	40	.	.	PUNCT
ap-2272	74	1	after	after	ADP
ap-2272	74	2	processing	process	VERB
ap-2272	74	3	the	the	DET
ap-2272	74	4	data	datum	NOUN
ap-2272	74	5	,	,	PUNCT
ap-2272	74	6	the	the	DET
ap-2272	74	7	module	module	NOUN
ap-2272	74	8	encodes	encode	VERB
ap-2272	74	9	the	the	DET
ap-2272	74	10	result	result	NOUN
ap-2272	74	11	back	back	ADV
ap-2272	74	12	into	into	ADP
ap-2272	74	13	the	the	DET
ap-2272	74	14	“	"	PUNCT
ap-2272	74	15	neural	neural	ADJ
ap-2272	74	16	communication	communication	NOUN
ap-2272	74	17	”	"	PUNCT
ap-2272	74	18	and	and	CCONJ
ap-2272	74	19	sets	set	VERB
ap-2272	74	20	data	datum	NOUN
ap-2272	74	21	on	on	ADP
ap-2272	74	22	its	its	PRON
ap-2272	74	23	outputs	output	NOUN
ap-2272	74	24	.	.	PUNCT
ap-2272	75	1	2.2	2.2	NUM
ap-2272	75	2	.	.	PUNCT
ap-2272	75	3	configuration	configuration	NOUN
ap-2272	75	4	of	of	ADP
ap-2272	75	5	a	a	DET
ap-2272	75	6	neural	neural	ADJ
ap-2272	75	7	module	module	NOUN
ap-2272	75	8	this	this	DET
ap-2272	75	9	type	type	NOUN
ap-2272	75	10	of	of	ADP
ap-2272	75	11	neural	neural	ADJ
ap-2272	75	12	module	module	NOUN
ap-2272	75	13	can	can	AUX
ap-2272	75	14	implement	implement	VERB
ap-2272	75	15	various	various	ADJ
ap-2272	75	16	types	type	NOUN
ap-2272	75	17	of	of	ADP
ap-2272	75	18	information	information	NOUN
ap-2272	75	19	processing	processing	NOUN
ap-2272	75	20	.	.	PUNCT
ap-2272	76	1	however	however	ADV
ap-2272	76	2	,	,	PUNCT
ap-2272	76	3	even	even	ADV
ap-2272	76	4	do368	do368	PROPN
ap-2272	76	5	vol	vol	NOUN
ap-2272	76	6	.	.	PROPN
ap-2272	77	1	54	54	NUM
ap-2272	77	2	no	no	NOUN
ap-2272	77	3	.	.	PUNCT
ap-2272	78	1	5/2014	5/2014	NUM
ap-2272	78	2	towards	towards	ADP
ap-2272	78	3	evolutionary	evolutionary	ADJ
ap-2272	78	4	design	design	NOUN
ap-2272	78	5	of	of	ADP
ap-2272	78	6	complex	complex	ADJ
ap-2272	78	7	systems	system	NOUN
ap-2272	78	8	inspired	inspire	VERB
ap-2272	78	9	by	by	ADP
ap-2272	78	10	nature	nature	NOUN
ap-2272	78	11	main	main	ADJ
ap-2272	78	12	independent	independent	ADJ
ap-2272	78	13	algorithms	algorithm	NOUN
ap-2272	78	14	often	often	ADV
ap-2272	78	15	need	need	VERB
ap-2272	78	16	fine	fine	ADV
ap-2272	78	17	-	-	PUNCT
ap-2272	78	18	tuning	tuning	NOUN
ap-2272	78	19	of	of	ADP
ap-2272	78	20	their	their	PRON
ap-2272	78	21	parameters	parameter	NOUN
ap-2272	78	22	in	in	ADP
ap-2272	78	23	order	order	NOUN
ap-2272	78	24	to	to	PART
ap-2272	78	25	work	work	VERB
ap-2272	78	26	efficiently	efficiently	ADV
ap-2272	78	27	.	.	PUNCT
ap-2272	79	1	therefore	therefore	ADV
ap-2272	79	2	the	the	DET
ap-2272	79	3	neural	neural	ADJ
ap-2272	79	4	module	module	NOUN
ap-2272	79	5	has	have	VERB
ap-2272	79	6	configuration	configuration	NOUN
ap-2272	79	7	inputs	input	NOUN
ap-2272	79	8	in	in	ADP
ap-2272	79	9	addition	addition	NOUN
ap-2272	79	10	to	to	ADP
ap-2272	79	11	data	datum	NOUN
ap-2272	79	12	inputs	input	NOUN
ap-2272	79	13	and	and	CCONJ
ap-2272	79	14	outputs	output	NOUN
ap-2272	79	15	.	.	PUNCT
ap-2272	80	1	these	these	DET
ap-2272	80	2	inputs	input	NOUN
ap-2272	80	3	are	be	AUX
ap-2272	80	4	represented	represent	VERB
ap-2272	80	5	in	in	ADP
ap-2272	80	6	the	the	DET
ap-2272	80	7	same	same	ADJ
ap-2272	80	8	way	way	NOUN
ap-2272	80	9	as	as	ADP
ap-2272	80	10	data	data	NOUN
ap-2272	80	11	inputs	input	NOUN
ap-2272	80	12	,	,	PUNCT
ap-2272	80	13	but	but	CCONJ
ap-2272	80	14	their	their	PRON
ap-2272	80	15	purpose	purpose	NOUN
ap-2272	80	16	is	be	AUX
ap-2272	80	17	to	to	PART
ap-2272	80	18	define	define	VERB
ap-2272	80	19	the	the	DET
ap-2272	80	20	parameters	parameter	NOUN
ap-2272	80	21	of	of	ADP
ap-2272	80	22	the	the	DET
ap-2272	80	23	algorithm(s	algorithm(s	NOUN
ap-2272	80	24	)	)	PUNCT
ap-2272	80	25	encapsulated	encapsulate	VERB
ap-2272	80	26	in	in	ADP
ap-2272	80	27	the	the	DET
ap-2272	80	28	neural	neural	ADJ
ap-2272	80	29	module	module	NOUN
ap-2272	80	30	.	.	PUNCT
ap-2272	81	1	these	these	DET
ap-2272	81	2	parameters	parameter	NOUN
ap-2272	81	3	can	can	AUX
ap-2272	81	4	be	be	AUX
ap-2272	81	5	used	use	VERB
ap-2272	81	6	as	as	ADP
ap-2272	81	7	normal	normal	ADJ
ap-2272	81	8	data	datum	NOUN
ap-2272	81	9	inputs	input	NOUN
ap-2272	81	10	,	,	PUNCT
ap-2272	81	11	which	which	PRON
ap-2272	81	12	means	mean	VERB
ap-2272	81	13	that	that	SCONJ
ap-2272	81	14	their	their	PRON
ap-2272	81	15	value	value	NOUN
ap-2272	81	16	can	can	AUX
ap-2272	81	17	be	be	AUX
ap-2272	81	18	changed	change	VERB
ap-2272	81	19	during	during	ADP
ap-2272	81	20	the	the	DET
ap-2272	81	21	simulation	simulation	NOUN
ap-2272	81	22	.	.	PUNCT
ap-2272	82	1	the	the	DET
ap-2272	82	2	only	only	ADJ
ap-2272	82	3	difference	difference	NOUN
ap-2272	82	4	is	be	AUX
ap-2272	82	5	that	that	SCONJ
ap-2272	82	6	these	these	DET
ap-2272	82	7	inputs	input	NOUN
ap-2272	82	8	can	can	AUX
ap-2272	82	9	be	be	AUX
ap-2272	82	10	ignored	ignore	VERB
ap-2272	82	11	.	.	PUNCT
ap-2272	83	1	if	if	SCONJ
ap-2272	83	2	the	the	DET
ap-2272	83	3	configuration	configuration	NOUN
ap-2272	83	4	inputs	input	NOUN
ap-2272	83	5	are	be	AUX
ap-2272	83	6	left	leave	VERB
ap-2272	83	7	unconnected	unconnected	ADJ
ap-2272	83	8	,	,	PUNCT
ap-2272	83	9	these	these	PRON
ap-2272	83	10	hold	hold	VERB
ap-2272	83	11	a	a	DET
ap-2272	83	12	predefined	predefine	VERB
ap-2272	83	13	(	(	PUNCT
ap-2272	83	14	default	default	NOUN
ap-2272	83	15	)	)	PUNCT
ap-2272	83	16	value	value	NOUN
ap-2272	83	17	of	of	ADP
ap-2272	83	18	the	the	DET
ap-2272	83	19	algorithm	algorithm	NOUN
ap-2272	83	20	parameters	parameter	NOUN
ap-2272	83	21	.	.	PUNCT
ap-2272	84	1	this	this	PRON
ap-2272	84	2	can	can	AUX
ap-2272	84	3	be	be	AUX
ap-2272	84	4	used	use	VERB
ap-2272	84	5	for	for	ADP
ap-2272	84	6	simplifying	simplify	VERB
ap-2272	84	7	the	the	DET
ap-2272	84	8	overall	overall	ADJ
ap-2272	84	9	complexity	complexity	NOUN
ap-2272	84	10	of	of	ADP
ap-2272	84	11	the	the	DET
ap-2272	84	12	network	network	NOUN
ap-2272	84	13	topology	topology	NOUN
ap-2272	84	14	.	.	PUNCT
ap-2272	85	1	2.3	2.3	NUM
ap-2272	85	2	.	.	PUNCT
ap-2272	85	3	prosperity	prosperity	NOUN
ap-2272	85	4	of	of	ADP
ap-2272	85	5	the	the	DET
ap-2272	85	6	neural	neural	ADJ
ap-2272	85	7	module	module	NOUN
ap-2272	85	8	one	one	NUM
ap-2272	85	9	of	of	ADP
ap-2272	85	10	the	the	DET
ap-2272	85	11	main	main	ADJ
ap-2272	85	12	aims	aim	NOUN
ap-2272	85	13	of	of	ADP
ap-2272	85	14	this	this	DET
ap-2272	85	15	framework	framework	NOUN
ap-2272	85	16	is	be	AUX
ap-2272	85	17	to	to	PART
ap-2272	85	18	study	study	VERB
ap-2272	85	19	new	new	ADJ
ap-2272	85	20	,	,	PUNCT
ap-2272	85	21	alternative	alternative	ADJ
ap-2272	85	22	use	use	NOUN
ap-2272	85	23	-	-	PUNCT
ap-2272	85	24	cases	case	NOUN
ap-2272	85	25	of	of	ADP
ap-2272	85	26	known	know	VERB
ap-2272	85	27	algorithms	algorithm	NOUN
ap-2272	85	28	/	/	SYM
ap-2272	85	29	subsystems	subsystem	NOUN
ap-2272	85	30	.	.	PUNCT
ap-2272	86	1	during	during	ADP
ap-2272	86	2	the	the	DET
ap-2272	86	3	automatic	automatic	ADJ
ap-2272	86	4	design	design	NOUN
ap-2272	86	5	of	of	ADP
ap-2272	86	6	these	these	DET
ap-2272	86	7	hybrid	hybrid	ADJ
ap-2272	86	8	artificial	artificial	ADJ
ap-2272	86	9	neural	neural	ADJ
ap-2272	86	10	network	network	NOUN
ap-2272	86	11	systems	system	NOUN
ap-2272	86	12	,	,	PUNCT
ap-2272	86	13	the	the	DET
ap-2272	86	14	following	follow	VERB
ap-2272	86	15	use	use	NOUN
ap-2272	86	16	cases	case	NOUN
ap-2272	86	17	of	of	ADP
ap-2272	86	18	the	the	DET
ap-2272	86	19	neural	neural	ADJ
ap-2272	86	20	module	module	NOUN
ap-2272	86	21	can	can	AUX
ap-2272	86	22	occur	occur	VERB
ap-2272	86	23	:	:	PUNCT
ap-2272	86	24	•	•	ADP
ap-2272	86	25	the	the	DET
ap-2272	86	26	neural	neural	ADJ
ap-2272	86	27	module	module	NOUN
ap-2272	86	28	is	be	AUX
ap-2272	86	29	connected	connect	VERB
ap-2272	86	30	in	in	ADP
ap-2272	86	31	a	a	DET
ap-2272	86	32	completely	completely	ADV
ap-2272	86	33	wrong	wrong	ADJ
ap-2272	86	34	way	way	NOUN
ap-2272	86	35	:	:	PUNCT
ap-2272	86	36	the	the	DET
ap-2272	86	37	corresponding	corresponding	ADJ
ap-2272	86	38	algorithm	algorithm	NOUN
ap-2272	86	39	is	be	AUX
ap-2272	86	40	used	use	VERB
ap-2272	86	41	inefficiently	inefficiently	ADV
ap-2272	86	42	or	or	CCONJ
ap-2272	86	43	it	it	PRON
ap-2272	86	44	does	do	AUX
ap-2272	86	45	not	not	PART
ap-2272	86	46	work	work	VERB
ap-2272	86	47	at	at	ADV
ap-2272	86	48	all	all	ADV
ap-2272	86	49	.	.	PUNCT
ap-2272	87	1	•	•	NUM
ap-2272	87	2	the	the	DET
ap-2272	87	3	neural	neural	ADJ
ap-2272	87	4	module	module	NOUN
ap-2272	87	5	is	be	AUX
ap-2272	87	6	connected	connect	VERB
ap-2272	87	7	in	in	ADP
ap-2272	87	8	an	an	DET
ap-2272	87	9	unexpected	unexpected	ADJ
ap-2272	87	10	,	,	PUNCT
ap-2272	87	11	new	new	ADJ
ap-2272	87	12	way	way	NOUN
ap-2272	87	13	:	:	PUNCT
ap-2272	87	14	the	the	DET
ap-2272	87	15	corresponding	corresponding	ADJ
ap-2272	87	16	algorithm	algorithm	NOUN
ap-2272	87	17	is	be	AUX
ap-2272	87	18	employed	employ	VERB
ap-2272	87	19	,	,	PUNCT
ap-2272	87	20	but	but	CCONJ
ap-2272	87	21	in	in	ADP
ap-2272	87	22	a	a	DET
ap-2272	87	23	way	way	NOUN
ap-2272	87	24	not	not	PART
ap-2272	87	25	anticipated	anticipate	VERB
ap-2272	87	26	by	by	ADP
ap-2272	87	27	the	the	DET
ap-2272	87	28	designer	designer	NOUN
ap-2272	87	29	,	,	PUNCT
ap-2272	87	30	a	a	DET
ap-2272	87	31	potentially	potentially	ADV
ap-2272	87	32	new	new	ADJ
ap-2272	87	33	use	use	NOUN
ap-2272	87	34	of	of	ADP
ap-2272	87	35	the	the	DET
ap-2272	87	36	algorithm	algorithm	NOUN
ap-2272	87	37	.	.	PUNCT
ap-2272	88	1	•	•	NUM
ap-2272	88	2	the	the	DET
ap-2272	88	3	neural	neural	ADJ
ap-2272	88	4	module	module	NOUN
ap-2272	88	5	is	be	AUX
ap-2272	88	6	connected	connect	VERB
ap-2272	88	7	in	in	ADP
ap-2272	88	8	an	an	DET
ap-2272	88	9	expected	expect	VERB
ap-2272	88	10	way	way	NOUN
ap-2272	88	11	:	:	PUNCT
ap-2272	88	12	the	the	DET
ap-2272	88	13	algorithm	algorithm	NOUN
ap-2272	88	14	is	be	AUX
ap-2272	88	15	employed	employ	VERB
ap-2272	88	16	as	as	SCONJ
ap-2272	88	17	expected	expect	VERB
ap-2272	88	18	during	during	ADP
ap-2272	88	19	the	the	DET
ap-2272	88	20	neural	neural	ADJ
ap-2272	88	21	module	module	NOUN
ap-2272	88	22	design	design	NOUN
ap-2272	88	23	.	.	PUNCT
ap-2272	89	1	the	the	DET
ap-2272	89	2	second	second	NOUN
ap-2272	89	3	of	of	ADP
ap-2272	89	4	these	these	DET
ap-2272	89	5	three	three	NUM
ap-2272	89	6	cases	case	NOUN
ap-2272	89	7	does	do	AUX
ap-2272	89	8	not	not	PART
ap-2272	89	9	necessarily	necessarily	ADV
ap-2272	89	10	mean	mean	VERB
ap-2272	89	11	that	that	SCONJ
ap-2272	89	12	the	the	DET
ap-2272	89	13	algorithm	algorithm	NOUN
ap-2272	89	14	is	be	AUX
ap-2272	89	15	not	not	PART
ap-2272	89	16	advantageous	advantageous	ADJ
ap-2272	89	17	in	in	ADP
ap-2272	89	18	the	the	DET
ap-2272	89	19	architecture	architecture	NOUN
ap-2272	89	20	.	.	PUNCT
ap-2272	90	1	however	however	ADV
ap-2272	90	2	,	,	PUNCT
ap-2272	90	3	the	the	DET
ap-2272	90	4	behavior	behavior	NOUN
ap-2272	90	5	of	of	ADP
ap-2272	90	6	an	an	DET
ap-2272	90	7	algorithm	algorithm	NOUN
ap-2272	90	8	(	(	PUNCT
ap-2272	90	9	and	and	CCONJ
ap-2272	90	10	potentially	potentially	ADV
ap-2272	90	11	its	its	PRON
ap-2272	90	12	purpose	purpose	NOUN
ap-2272	90	13	in	in	ADP
ap-2272	90	14	the	the	DET
ap-2272	90	15	architecture	architecture	NOUN
ap-2272	90	16	)	)	PUNCT
ap-2272	90	17	can	can	AUX
ap-2272	90	18	be	be	AUX
ap-2272	90	19	often	often	ADV
ap-2272	90	20	hard	hard	ADJ
ap-2272	90	21	to	to	PART
ap-2272	90	22	analyze	analyze	VERB
ap-2272	90	23	by	by	ADP
ap-2272	90	24	hand	hand	NOUN
ap-2272	90	25	.	.	PUNCT
ap-2272	91	1	in	in	ADP
ap-2272	91	2	order	order	NOUN
ap-2272	91	3	to	to	PART
ap-2272	91	4	identify	identify	VERB
ap-2272	91	5	incorrectly	incorrectly	ADV
ap-2272	91	6	used	use	VERB
ap-2272	91	7	parts	part	NOUN
ap-2272	91	8	of	of	ADP
ap-2272	91	9	the	the	DET
ap-2272	91	10	resulting	result	VERB
ap-2272	91	11	architecture	architecture	NOUN
ap-2272	91	12	,	,	PUNCT
ap-2272	91	13	it	it	PRON
ap-2272	91	14	would	would	AUX
ap-2272	91	15	be	be	AUX
ap-2272	91	16	convenient	convenient	ADJ
ap-2272	91	17	to	to	PART
ap-2272	91	18	distinguish	distinguish	VERB
ap-2272	91	19	between	between	ADP
ap-2272	91	20	these	these	DET
ap-2272	91	21	three	three	NUM
ap-2272	91	22	use	use	NOUN
ap-2272	91	23	-	-	PUNCT
ap-2272	91	24	cases	case	NOUN
ap-2272	91	25	automatically	automatically	ADV
ap-2272	91	26	.	.	PUNCT
ap-2272	92	1	furthermore	furthermore	ADV
ap-2272	92	2	it	it	PRON
ap-2272	92	3	would	would	AUX
ap-2272	92	4	be	be	AUX
ap-2272	92	5	useful	useful	ADJ
ap-2272	92	6	to	to	PART
ap-2272	92	7	be	be	AUX
ap-2272	92	8	able	able	ADJ
ap-2272	92	9	to	to	PART
ap-2272	92	10	evaluate	evaluate	VERB
ap-2272	92	11	the	the	DET
ap-2272	92	12	performance	performance	NOUN
ap-2272	92	13	of	of	ADP
ap-2272	92	14	the	the	DET
ap-2272	92	15	algorithms	algorithm	NOUN
ap-2272	92	16	in	in	ADP
ap-2272	92	17	a	a	DET
ap-2272	92	18	given	give	VERB
ap-2272	92	19	situation	situation	NOUN
ap-2272	92	20	.	.	PUNCT
ap-2272	93	1	however	however	ADV
ap-2272	93	2	,	,	PUNCT
ap-2272	93	3	this	this	PRON
ap-2272	93	4	is	be	AUX
ap-2272	93	5	possible	possible	ADJ
ap-2272	93	6	only	only	ADV
ap-2272	93	7	by	by	ADP
ap-2272	93	8	means	mean	NOUN
ap-2272	93	9	of	of	ADP
ap-2272	93	10	heuristics	heuristic	NOUN
ap-2272	93	11	.	.	PUNCT
ap-2272	94	1	the	the	DET
ap-2272	94	2	value	value	NOUN
ap-2272	94	3	of	of	ADP
ap-2272	94	4	prosperity	prosperity	NOUN
ap-2272	94	5	output	output	NOUN
ap-2272	94	6	defines	define	VERB
ap-2272	94	7	subjective	subjective	ADJ
ap-2272	94	8	heuristics	heuristic	NOUN
ap-2272	94	9	defining	define	VERB
ap-2272	94	10	“	"	PUNCT
ap-2272	94	11	how	how	SCONJ
ap-2272	94	12	well	well	ADV
ap-2272	94	13	the	the	DET
ap-2272	94	14	algorithm	algorithm	NOUN
ap-2272	94	15	performs	perform	VERB
ap-2272	94	16	”	"	PUNCT
ap-2272	94	17	in	in	ADP
ap-2272	94	18	a	a	DET
ap-2272	94	19	given	give	VERB
ap-2272	94	20	architecture	architecture	NOUN
ap-2272	94	21	during	during	ADP
ap-2272	94	22	the	the	DET
ap-2272	94	23	simulation	simulation	NOUN
ap-2272	94	24	.	.	PUNCT
ap-2272	95	1	this	this	PRON
ap-2272	95	2	enables	enable	VERB
ap-2272	95	3	the	the	DET
ap-2272	95	4	user	user	NOUN
ap-2272	95	5	(	(	PUNCT
ap-2272	95	6	and	and	CCONJ
ap-2272	95	7	potentially	potentially	ADV
ap-2272	95	8	ea	ea	NUM
ap-2272	95	9	)	)	PUNCT
ap-2272	95	10	to	to	PART
ap-2272	95	11	distinguish	distinguish	VERB
ap-2272	95	12	between	between	ADP
ap-2272	95	13	good	good	ADJ
ap-2272	95	14	and	and	CCONJ
ap-2272	95	15	bad	bad	ADJ
ap-2272	95	16	parts	part	NOUN
ap-2272	95	17	of	of	ADP
ap-2272	95	18	a	a	DET
ap-2272	95	19	particular	particular	ADJ
ap-2272	95	20	architecture	architecture	NOUN
ap-2272	95	21	.	.	PUNCT
ap-2272	96	1	it	it	PRON
ap-2272	96	2	is	be	AUX
ap-2272	96	3	up	up	ADP
ap-2272	96	4	to	to	ADP
ap-2272	96	5	the	the	DET
ap-2272	96	6	designer	designer	NOUN
ap-2272	96	7	of	of	ADP
ap-2272	96	8	a	a	DET
ap-2272	96	9	particular	particular	ADJ
ap-2272	96	10	neural	neural	ADJ
ap-2272	96	11	module	module	NOUN
ap-2272	96	12	how	how	SCONJ
ap-2272	96	13	to	to	PART
ap-2272	96	14	define	define	VERB
ap-2272	96	15	its	its	PRON
ap-2272	96	16	prosperity	prosperity	NOUN
ap-2272	96	17	function	function	NOUN
ap-2272	96	18	.	.	PUNCT
ap-2272	97	1	the	the	DET
ap-2272	97	2	function	function	NOUN
ap-2272	97	3	should	should	AUX
ap-2272	97	4	produce	produce	VERB
ap-2272	97	5	values	value	NOUN
ap-2272	97	6	in	in	ADP
ap-2272	97	7	the	the	DET
ap-2272	97	8	interval	interval	NOUN
ap-2272	97	9	〈	〈	PROPN
ap-2272	97	10	0	0	NUM
ap-2272	97	11	,	,	PUNCT
ap-2272	97	12	1	1	NUM
ap-2272	97	13	〉	〉	NUM
ap-2272	97	14	.	.	PUNCT
ap-2272	98	1	2.4	2.4	NUM
ap-2272	98	2	.	.	PUNCT
ap-2272	99	1	the	the	DET
ap-2272	99	2	nengoros	nengoros	PROPN
ap-2272	99	3	simulator	simulator	NOUN
ap-2272	99	4	the	the	DET
ap-2272	99	5	next	next	ADJ
ap-2272	99	6	goal	goal	NOUN
ap-2272	99	7	of	of	ADP
ap-2272	99	8	our	our	PRON
ap-2272	99	9	hanns	hann	NOUN
ap-2272	99	10	framework	framework	NOUN
ap-2272	99	11	is	be	AUX
ap-2272	99	12	to	to	PART
ap-2272	99	13	provide	provide	VERB
ap-2272	99	14	a	a	DET
ap-2272	99	15	platform	platform	NOUN
ap-2272	99	16	for	for	ADP
ap-2272	99	17	simulating	simulate	VERB
ap-2272	99	18	agent	agent	NOUN
ap-2272	99	19	architectures	architecture	NOUN
ap-2272	99	20	.	.	PUNCT
ap-2272	100	1	in	in	ADP
ap-2272	100	2	order	order	NOUN
ap-2272	100	3	to	to	PART
ap-2272	100	4	rapid	rapid	ADJ
ap-2272	100	5	prototype	prototype	NOUN
ap-2272	100	6	and	and	CCONJ
ap-2272	100	7	simulate	simulate	VERB
ap-2272	100	8	these	these	DET
ap-2272	100	9	architectures	architecture	NOUN
ap-2272	100	10	,	,	PUNCT
ap-2272	100	11	the	the	DET
ap-2272	100	12	simulator	simulator	NOUN
ap-2272	100	13	of	of	ADP
ap-2272	100	14	hybrid	hybrid	ADJ
ap-2272	100	15	artificial	artificial	ADJ
ap-2272	100	16	neural	neural	ADJ
ap-2272	100	17	network	network	NOUN
ap-2272	100	18	systems	system	NOUN
ap-2272	100	19	was	be	AUX
ap-2272	100	20	created	create	VERB
ap-2272	100	21	.	.	PUNCT
ap-2272	101	1	the	the	DET
ap-2272	101	2	main	main	ADJ
ap-2272	101	3	objectives	objective	NOUN
ap-2272	101	4	were	be	AUX
ap-2272	101	5	the	the	DET
ap-2272	101	6	following	follow	VERB
ap-2272	101	7	:	:	PUNCT
ap-2272	101	8	maximum	maximum	ADJ
ap-2272	101	9	reuse	reuse	NOUN
ap-2272	101	10	of	of	ADP
ap-2272	101	11	current	current	ADJ
ap-2272	101	12	implementations	implementation	NOUN
ap-2272	101	13	of	of	ADP
ap-2272	101	14	algorithms	algorithm	NOUN
ap-2272	101	15	,	,	PUNCT
ap-2272	101	16	decentralized	decentralized	ADJ
ap-2272	101	17	and	and	CCONJ
ap-2272	101	18	event	event	NOUN
ap-2272	101	19	-	-	PUNCT
ap-2272	101	20	driven	drive	VERB
ap-2272	101	21	simulation	simulation	NOUN
ap-2272	101	22	and	and	CCONJ
ap-2272	101	23	integration	integration	NOUN
ap-2272	101	24	with	with	ADP
ap-2272	101	25	an	an	DET
ap-2272	101	26	advanced	advanced	ADJ
ap-2272	101	27	simulator	simulator	NOUN
ap-2272	101	28	of	of	ADP
ap-2272	101	29	large	large	ADJ
ap-2272	101	30	-	-	PUNCT
ap-2272	101	31	scale	scale	NOUN
ap-2272	101	32	anns	ann	NOUN
ap-2272	101	33	.	.	PUNCT
ap-2272	102	1	the	the	DET
ap-2272	102	2	resulting	result	VERB
ap-2272	102	3	open	open	ADJ
ap-2272	102	4	-	-	PUNCT
ap-2272	102	5	source	source	NOUN
ap-2272	102	6	system	system	NOUN
ap-2272	102	7	is	be	AUX
ap-2272	102	8	called	call	VERB
ap-2272	102	9	nengoros	nengoros	ADJ
ap-2272	102	10	[	[	X
ap-2272	102	11	8	8	NUM
ap-2272	102	12	]	]	PUNCT
ap-2272	102	13	.	.	PUNCT
ap-2272	103	1	it	it	PRON
ap-2272	103	2	connects	connect	VERB
ap-2272	103	3	a	a	DET
ap-2272	103	4	simulator	simulator	NOUN
ap-2272	103	5	of	of	ADP
ap-2272	103	6	large	large	ADJ
ap-2272	103	7	-	-	PUNCT
ap-2272	103	8	scale	scale	NOUN
ap-2272	103	9	anns	anns	NOUN
ap-2272	103	10	of	of	ADP
ap-2272	103	11	the	the	DET
ap-2272	103	12	3rd	3rd	ADJ
ap-2272	103	13	generation	generation	NOUN
ap-2272	103	14	called	call	VERB
ap-2272	103	15	nengo	nengo	NOUN
ap-2272	103	16	[	[	X
ap-2272	103	17	9	9	NUM
ap-2272	103	18	]	]	PUNCT
ap-2272	103	19	with	with	ADP
ap-2272	103	20	the	the	DET
ap-2272	103	21	robotic	robotic	ADJ
ap-2272	103	22	operating	operating	NOUN
ap-2272	103	23	system	system	NOUN
ap-2272	103	24	(	(	PUNCT
ap-2272	103	25	ros	ros	PROPN
ap-2272	103	26	)	)	PUNCT
ap-2272	104	1	[	[	X
ap-2272	104	2	1	1	NUM
ap-2272	104	3	]	]	PUNCT
ap-2272	104	4	.	.	PUNCT
ap-2272	105	1	the	the	DET
ap-2272	105	2	nengo	nengo	NOUN
ap-2272	105	3	simulator	simulator	NOUN
ap-2272	105	4	was	be	AUX
ap-2272	105	5	created	create	VERB
ap-2272	105	6	with	with	ADP
ap-2272	105	7	the	the	DET
ap-2272	105	8	goal	goal	NOUN
ap-2272	105	9	of	of	ADP
ap-2272	105	10	implementing	implement	VERB
ap-2272	105	11	the	the	DET
ap-2272	105	12	neural	neural	ADJ
ap-2272	105	13	engineering	engineering	NOUN
ap-2272	105	14	framework	framework	NOUN
ap-2272	105	15	(	(	PUNCT
ap-2272	105	16	nef	nef	PROPN
ap-2272	105	17	)	)	PUNCT
ap-2272	105	18	and	and	CCONJ
ap-2272	105	19	it	it	PRON
ap-2272	105	20	therefore	therefore	ADV
ap-2272	105	21	supports	support	VERB
ap-2272	105	22	modular	modular	ADJ
ap-2272	105	23	anns	ann	NOUN
ap-2272	105	24	.	.	PUNCT
ap-2272	106	1	the	the	DET
ap-2272	106	2	addition	addition	NOUN
ap-2272	106	3	of	of	ADP
ap-2272	106	4	ros	ros	PROPN
ap-2272	106	5	enables	enable	VERB
ap-2272	106	6	the	the	DET
ap-2272	106	7	simulator	simulator	NOUN
ap-2272	106	8	to	to	PART
ap-2272	106	9	use	use	VERB
ap-2272	106	10	any	any	DET
ap-2272	106	11	ros	ros	PROPN
ap-2272	106	12	-	-	PUNCT
ap-2272	106	13	enabled	enable	VERB
ap-2272	106	14	subsystem	subsystem	NOUN
ap-2272	106	15	in	in	ADP
ap-2272	106	16	the	the	DET
ap-2272	106	17	simulation	simulation	NOUN
ap-2272	106	18	.	.	PUNCT
ap-2272	107	1	the	the	DET
ap-2272	107	2	integration	integration	NOUN
ap-2272	107	3	of	of	ADP
ap-2272	107	4	ros	ros	PROPN
ap-2272	107	5	into	into	ADP
ap-2272	107	6	the	the	DET
ap-2272	107	7	simulator	simulator	NOUN
ap-2272	107	8	is	be	AUX
ap-2272	107	9	depicted	depict	VERB
ap-2272	107	10	in	in	ADP
ap-2272	107	11	the	the	DET
ap-2272	107	12	fig	fig	NOUN
ap-2272	107	13	.	.	PUNCT
ap-2272	108	1	1	1	NUM
ap-2272	108	2	,	,	PUNCT
ap-2272	108	3	where	where	SCONJ
ap-2272	108	4	the	the	DET
ap-2272	108	5	component	component	NOUN
ap-2272	108	6	called	call	VERB
ap-2272	108	7	“	"	PUNCT
ap-2272	108	8	q	q	ADJ
ap-2272	108	9	-	-	PUNCT
ap-2272	108	10	lambda	lambda	ADJ
ap-2272	108	11	module	module	NOUN
ap-2272	108	12	”	"	PUNCT
ap-2272	108	13	is	be	AUX
ap-2272	108	14	an	an	DET
ap-2272	108	15	external	external	ADJ
ap-2272	108	16	ros	ros	NOUN
ap-2272	108	17	node	node	NOUN
ap-2272	108	18	and	and	CCONJ
ap-2272	108	19	the	the	DET
ap-2272	108	20	“	"	PUNCT
ap-2272	108	21	modem	modem	NOUN
ap-2272	108	22	”	"	PUNCT
ap-2272	108	23	serves	serve	VERB
ap-2272	108	24	as	as	ADP
ap-2272	108	25	the	the	DET
ap-2272	108	26	interface	interface	NOUN
ap-2272	108	27	between	between	ADP
ap-2272	108	28	nengo	nengo	NOUN
ap-2272	108	29	and	and	CCONJ
ap-2272	108	30	ros	ros	PROPN
ap-2272	108	31	.	.	PUNCT
ap-2272	109	1	the	the	DET
ap-2272	109	2	ros	ros	PROPN
ap-2272	109	3	-	-	PUNCT
ap-2272	109	4	based	base	VERB
ap-2272	109	5	components	component	NOUN
ap-2272	109	6	can	can	AUX
ap-2272	109	7	be	be	AUX
ap-2272	109	8	run	run	VERB
ap-2272	109	9	remotely	remotely	ADV
ap-2272	109	10	and	and	CCONJ
ap-2272	109	11	can	can	AUX
ap-2272	109	12	represent	represent	VERB
ap-2272	109	13	a	a	DET
ap-2272	109	14	particular	particular	ADJ
ap-2272	109	15	piece	piece	NOUN
ap-2272	109	16	of	of	ADP
ap-2272	109	17	sw	sw	PROPN
ap-2272	109	18	,	,	PUNCT
ap-2272	109	19	a	a	DET
ap-2272	109	20	simulated	simulated	ADJ
ap-2272	109	21	world	world	NOUN
ap-2272	109	22	or	or	CCONJ
ap-2272	109	23	even	even	ADV
ap-2272	109	24	robotic	robotic	ADJ
ap-2272	109	25	hw	hw	PROPN
ap-2272	109	26	.	.	PROPN
ap-2272	110	1	3	3	X
ap-2272	110	2	.	.	X
ap-2272	110	3	description	description	NOUN
ap-2272	110	4	of	of	ADP
ap-2272	110	5	selected	select	VERB
ap-2272	110	6	neural	neural	ADJ
ap-2272	110	7	modules	module	NOUN
ap-2272	110	8	an	an	DET
ap-2272	110	9	example	example	NOUN
ap-2272	110	10	of	of	ADP
ap-2272	110	11	the	the	DET
ap-2272	110	12	use	use	NOUN
ap-2272	110	13	of	of	ADP
ap-2272	110	14	the	the	DET
ap-2272	110	15	presented	present	VERB
ap-2272	110	16	framework	framework	NOUN
ap-2272	110	17	will	will	AUX
ap-2272	110	18	be	be	AUX
ap-2272	110	19	shown	show	VERB
ap-2272	110	20	on	on	ADP
ap-2272	110	21	two	two	NUM
ap-2272	110	22	selected	select	VERB
ap-2272	110	23	neural	neural	ADJ
ap-2272	110	24	modules.the	modules.the	DET
ap-2272	110	25	first	first	ADJ
ap-2272	110	26	module	module	NOUN
ap-2272	110	27	implements	implement	VERB
ap-2272	110	28	the	the	DET
ap-2272	110	29	reinforcement	reinforcement	NOUN
ap-2272	110	30	learning	learning	NOUN
ap-2272	110	31	algorithm	algorithm	NOUN
ap-2272	110	32	,	,	PUNCT
ap-2272	110	33	and	and	CCONJ
ap-2272	110	34	the	the	DET
ap-2272	110	35	other	other	ADJ
ap-2272	110	36	module	module	NOUN
ap-2272	110	37	presents	present	VERB
ap-2272	110	38	the	the	DET
ap-2272	110	39	physiological	physiological	ADJ
ap-2272	110	40	state	state	NOUN
ap-2272	110	41	of	of	ADP
ap-2272	110	42	the	the	DET
ap-2272	110	43	agent	agent	NOUN
ap-2272	110	44	.	.	PUNCT
ap-2272	111	1	together	together	ADV
ap-2272	111	2	,	,	PUNCT
ap-2272	111	3	these	these	DET
ap-2272	111	4	modules	module	NOUN
ap-2272	111	5	implement	implement	VERB
ap-2272	111	6	a	a	DET
ap-2272	111	7	principle	principle	NOUN
ap-2272	111	8	called	call	VERB
ap-2272	111	9	motivation	motivation	NOUN
ap-2272	111	10	-	-	PUNCT
ap-2272	111	11	driven	drive	VERB
ap-2272	111	12	reinforcement	reinforcement	NOUN
ap-2272	111	13	learning	learning	NOUN
ap-2272	111	14	.	.	PUNCT
ap-2272	112	1	for	for	ADP
ap-2272	112	2	each	each	PRON
ap-2272	112	3	of	of	ADP
ap-2272	112	4	these	these	DET
ap-2272	112	5	algorithms	algorithm	NOUN
ap-2272	112	6	the	the	DET
ap-2272	112	7	theory	theory	NOUN
ap-2272	112	8	will	will	AUX
ap-2272	112	9	be	be	AUX
ap-2272	112	10	briefly	briefly	ADV
ap-2272	112	11	described	describe	VERB
ap-2272	112	12	.	.	PUNCT
ap-2272	113	1	then	then	ADV
ap-2272	113	2	,	,	PUNCT
ap-2272	113	3	integration	integration	NOUN
ap-2272	113	4	into	into	ADP
ap-2272	113	5	the	the	DET
ap-2272	113	6	neural	neural	ADJ
ap-2272	113	7	module	module	NOUN
ap-2272	113	8	will	will	AUX
ap-2272	113	9	be	be	AUX
ap-2272	113	10	introduced	introduce	VERB
ap-2272	113	11	.	.	PUNCT
ap-2272	114	1	3.1	3.1	NUM
ap-2272	114	2	.	.	PUNCT
ap-2272	114	3	reinforcement	reinforcement	NOUN
ap-2272	114	4	learning	learning	NOUN
ap-2272	114	5	module	module	NOUN
ap-2272	114	6	agent	agent	NOUN
ap-2272	114	7	architectures	architecture	NOUN
ap-2272	114	8	from	from	ADP
ap-2272	114	9	the	the	DET
ap-2272	114	10	domain	domain	NOUN
ap-2272	114	11	of	of	ADP
ap-2272	114	12	artificial	artificial	ADJ
ap-2272	114	13	life	life	NOUN
ap-2272	114	14	(	(	PUNCT
ap-2272	114	15	alife	alife	NOUN
ap-2272	114	16	)	)	PUNCT
ap-2272	114	17	often	often	ADV
ap-2272	114	18	require	require	VERB
ap-2272	114	19	online	online	ADJ
ap-2272	114	20	and	and	CCONJ
ap-2272	114	21	model	model	ADV
ap-2272	114	22	-	-	PUNCT
ap-2272	114	23	free	free	ADJ
ap-2272	114	24	reinforcement	reinforcement	NOUN
ap-2272	114	25	learning	learning	NOUN
ap-2272	114	26	(	(	PUNCT
ap-2272	114	27	rl	rl	NOUN
ap-2272	114	28	)	)	PUNCT
ap-2272	114	29	.	.	PUNCT
ap-2272	115	1	an	an	DET
ap-2272	115	2	algorithm	algorithm	NOUN
ap-2272	115	3	called	call	VERB
ap-2272	115	4	q	q	NOUN
ap-2272	115	5	-	-	PUNCT
ap-2272	115	6	learning	learning	NOUN
ap-2272	115	7	meets	meet	VERB
ap-2272	115	8	these	these	DET
ap-2272	115	9	requirements	requirement	NOUN
ap-2272	115	10	.	.	PUNCT
ap-2272	116	1	this	this	DET
ap-2272	116	2	discrete	discrete	ADJ
ap-2272	116	3	algorithm	algorithm	NOUN
ap-2272	116	4	learns	learn	VERB
ap-2272	116	5	a	a	DET
ap-2272	116	6	desired	desire	VERB
ap-2272	116	7	strategy	strategy	NOUN
ap-2272	116	8	only	only	ADV
ap-2272	116	9	by	by	ADP
ap-2272	116	10	means	mean	NOUN
ap-2272	116	11	of	of	ADP
ap-2272	116	12	interaction	interaction	NOUN
ap-2272	116	13	with	with	ADP
ap-2272	116	14	the	the	DET
ap-2272	116	15	environment	environment	NOUN
ap-2272	116	16	based	base	VERB
ap-2272	116	17	on	on	ADP
ap-2272	116	18	actions	action	NOUN
ap-2272	116	19	produced	produce	VERB
ap-2272	116	20	rewards	reward	NOUN
ap-2272	116	21	/	/	SYM
ap-2272	116	22	punishments	punishment	NOUN
ap-2272	116	23	received	receive	VERB
ap-2272	116	24	.	.	PUNCT
ap-2272	117	1	the	the	DET
ap-2272	117	2	algorithm	algorithm	NOUN
ap-2272	117	3	learns	learn	VERB
ap-2272	117	4	behavior	behavior	NOUN
ap-2272	117	5	which	which	PRON
ap-2272	117	6	leads	lead	VERB
ap-2272	117	7	towards	towards	ADP
ap-2272	117	8	the	the	DET
ap-2272	117	9	nearest	near	ADJ
ap-2272	117	10	reward	reward	NOUN
ap-2272	117	11	while	while	SCONJ
ap-2272	117	12	avoiding	avoid	VERB
ap-2272	117	13	punishments	punishment	NOUN
ap-2272	117	14	.	.	PUNCT
ap-2272	118	1	the	the	DET
ap-2272	118	2	algorithm	algorithm	NOUN
ap-2272	118	3	is	be	AUX
ap-2272	118	4	encapsulated	encapsulate	VERB
ap-2272	118	5	as	as	ADP
ap-2272	118	6	a	a	DET
ap-2272	118	7	standalone	standalone	ADJ
ap-2272	118	8	sub	sub	NOUN
ap-2272	118	9	-	-	NOUN
ap-2272	118	10	system	system	NOUN
ap-2272	118	11	—	—	PUNCT
ap-2272	118	12	neural	neural	ADJ
ap-2272	118	13	module	module	NOUN
ap-2272	118	14	here	here	ADV
ap-2272	118	15	.	.	PUNCT
ap-2272	119	1	this	this	DET
ap-2272	119	2	particular	particular	ADJ
ap-2272	119	3	example	example	NOUN
ap-2272	119	4	(	(	PUNCT
ap-2272	119	5	the	the	DET
ap-2272	119	6	use	use	NOUN
ap-2272	119	7	of	of	ADP
ap-2272	119	8	rl	rl	PROPN
ap-2272	119	9	in	in	ADP
ap-2272	119	10	hanns	hann	NOUN
ap-2272	119	11	)	)	PUNCT
ap-2272	119	12	can	can	AUX
ap-2272	119	13	be	be	AUX
ap-2272	119	14	likened	liken	VERB
ap-2272	119	15	to	to	PART
ap-2272	119	16	ensemble	ensemble	VERB
ap-2272	119	17	algorithms	algorithm	NOUN
ap-2272	119	18	in	in	ADP
ap-2272	119	19	reinforcement	reinforcement	NOUN
ap-2272	119	20	learning	learning	NOUN
ap-2272	119	21	[	[	X
ap-2272	119	22	10	10	NUM
ap-2272	119	23	]	]	PUNCT
ap-2272	119	24	,	,	PUNCT
ap-2272	119	25	or	or	CCONJ
ap-2272	119	26	to	to	ADP
ap-2272	119	27	the	the	DET
ap-2272	119	28	aggregated	aggregate	VERB
ap-2272	119	29	multiple	multiple	ADJ
ap-2272	119	30	reinforcement	reinforcement	NOUN
ap-2272	119	31	learning	learning	NOUN
ap-2272	119	32	system	system	NOUN
ap-2272	119	33	(	(	PUNCT
ap-2272	119	34	amrls	amrl	NOUN
ap-2272	119	35	)	)	PUNCT
ap-2272	120	1	[	[	X
ap-2272	120	2	11	11	NUM
ap-2272	120	3	]	]	PUNCT
ap-2272	120	4	.	.	PUNCT
ap-2272	121	1	compared	compare	VERB
ap-2272	121	2	to	to	ADP
ap-2272	121	3	these	these	PRON
ap-2272	121	4	,	,	PUNCT
ap-2272	121	5	a	a	DET
ap-2272	121	6	single	single	ADJ
ap-2272	121	7	ensemble	ensemble	NOUN
ap-2272	121	8	is	be	AUX
ap-2272	121	9	represented	represent	VERB
ap-2272	121	10	as	as	ADP
ap-2272	121	11	a	a	DET
ap-2272	121	12	multiple	multiple	ADJ
ap-2272	121	13	-	-	PUNCT
ap-2272	121	14	input	input	NOUN
ap-2272	121	15	multiple	multiple	ADJ
ap-2272	121	16	-	-	PUNCT
ap-2272	121	17	output	output	NOUN
ap-2272	121	18	sub	sub	NOUN
ap-2272	121	19	-	-	NOUN
ap-2272	121	20	system	system	NOUN
ap-2272	121	21	,	,	PUNCT
ap-2272	121	22	which	which	PRON
ap-2272	121	23	communicates	communicate	VERB
ap-2272	121	24	compatibly	compatibly	ADV
ap-2272	121	25	with	with	ADP
ap-2272	121	26	2nd	2nd	ADJ
ap-2272	121	27	generation	generation	NOUN
ap-2272	121	28	of	of	ADP
ap-2272	121	29	artificial	artificial	ADJ
ap-2272	121	30	neurons	neuron	NOUN
ap-2272	121	31	.	.	PUNCT
ap-2272	122	1	the	the	DET
ap-2272	122	2	action	action	NOUN
ap-2272	122	3	selection	selection	NOUN
ap-2272	122	4	mechanism	mechanism	NOUN
ap-2272	122	5	(	(	PUNCT
ap-2272	122	6	asm	asm	NOUN
ap-2272	122	7	)	)	PUNCT
ap-2272	122	8	is	be	AUX
ap-2272	122	9	also	also	ADV
ap-2272	122	10	currently	currently	ADV
ap-2272	122	11	integrated	integrate	VERB
ap-2272	122	12	in	in	ADP
ap-2272	122	13	the	the	DET
ap-2272	122	14	neural	neural	ADJ
ap-2272	122	15	module	module	NOUN
ap-2272	122	16	currently	currently	ADV
ap-2272	122	17	.	.	PUNCT
ap-2272	123	1	figure	figure	VERB
ap-2272	123	2	2	2	NUM
ap-2272	123	3	presents	present	VERB
ap-2272	123	4	a	a	DET
ap-2272	123	5	graphical	graphical	ADJ
ap-2272	123	6	representation	representation	NOUN
ap-2272	123	7	of	of	ADP
ap-2272	123	8	our	our	PRON
ap-2272	123	9	modification	modification	NOUN
ap-2272	123	10	of	of	ADP
ap-2272	123	11	the	the	DET
ap-2272	123	12	q	q	NOUN
ap-2272	123	13	-	-	PUNCT
ap-2272	123	14	learning	learn	VERB
ap-2272	123	15	algorithm	algorithm	NOUN
ap-2272	123	16	.	.	PUNCT
ap-2272	124	1	this	this	DET
ap-2272	124	2	algorithm	algorithm	NOUN
ap-2272	124	3	runs	run	VERB
ap-2272	124	4	inside	inside	ADP
ap-2272	124	5	a	a	DET
ap-2272	124	6	standalone	standalone	NOUN
ap-2272	124	7	ros	ros	NOUN
ap-2272	124	8	node	node	NOUN
ap-2272	124	9	and	and	CCONJ
ap-2272	124	10	communicates	communicate	VERB
ap-2272	124	11	externally	externally	ADV
ap-2272	124	12	only	only	ADV
ap-2272	124	13	by	by	ADP
ap-2272	124	14	means	mean	NOUN
ap-2272	124	15	of	of	ADP
ap-2272	124	16	ros	ros	PROPN
ap-2272	124	17	messages	message	NOUN
ap-2272	124	18	.	.	PUNCT
ap-2272	125	1	figure	figure	NOUN
ap-2272	125	2	1	1	NUM
ap-2272	125	3	shows	show	VERB
ap-2272	125	4	the	the	DET
ap-2272	125	5	integration	integration	NOUN
ap-2272	125	6	of	of	ADP
ap-2272	125	7	this	this	DET
ap-2272	125	8	ros	ros	PROPN
ap-2272	125	9	node	node	NOUN
ap-2272	125	10	into	into	ADP
ap-2272	125	11	a	a	DET
ap-2272	125	12	neural	neural	ADJ
ap-2272	125	13	module	module	NOUN
ap-2272	125	14	.	.	PUNCT
ap-2272	126	1	the	the	DET
ap-2272	126	2	module	module	NOUN
ap-2272	126	3	is	be	AUX
ap-2272	126	4	compatible	compatible	ADJ
ap-2272	126	5	with	with	ADP
ap-2272	126	6	the	the	DET
ap-2272	126	7	369	369	NUM
ap-2272	126	8	jaroslav	jaroslav	PROPN
ap-2272	126	9	vítků	vítků	PROPN
ap-2272	126	10	,	,	PUNCT
ap-2272	126	11	pavel	pavel	PROPN
ap-2272	126	12	nahodil	nahodil	PROPN
ap-2272	126	13	acta	acta	PROPN
ap-2272	126	14	polytechnica	polytechnica	PROPN
ap-2272	126	15	figure	figure	NOUN
ap-2272	126	16	2	2	NUM
ap-2272	126	17	.	.	PUNCT
ap-2272	126	18	scheme	scheme	NOUN
ap-2272	126	19	of	of	ADP
ap-2272	126	20	the	the	DET
ap-2272	126	21	stochastic	stochastic	ADJ
ap-2272	126	22	return	return	NOUN
ap-2272	126	23	predictor	predictor	NOUN
ap-2272	126	24	(	(	PUNCT
ap-2272	126	25	srp	srp	PROPN
ap-2272	126	26	)	)	PUNCT
ap-2272	126	27	implementation	implementation	NOUN
ap-2272	126	28	.	.	PUNCT
ap-2272	127	1	it	it	PRON
ap-2272	127	2	is	be	AUX
ap-2272	127	3	composed	compose	VERB
ap-2272	127	4	of	of	ADP
ap-2272	127	5	the	the	DET
ap-2272	127	6	q	q	ADJ
ap-2272	127	7	-	-	PUNCT
ap-2272	127	8	lambda	lambda	ADJ
ap-2272	127	9	algorithm	algorithm	NOUN
ap-2272	127	10	and	and	CCONJ
ap-2272	127	11	asm	asm	NOUN
ap-2272	127	12	.	.	PUNCT
ap-2272	128	1	the	the	DET
ap-2272	128	2	(	(	PUNCT
ap-2272	128	3	sub-)system	sub-)system	NOUN
ap-2272	128	4	is	be	AUX
ap-2272	128	5	implemented	implement	VERB
ap-2272	128	6	as	as	ADP
ap-2272	128	7	a	a	DET
ap-2272	128	8	stand	stand	NOUN
ap-2272	128	9	-	-	PUNCT
ap-2272	128	10	alone	alone	ADV
ap-2272	128	11	ros	ros	PROPN
ap-2272	128	12	node	node	PROPN
ap-2272	128	13	,	,	PUNCT
ap-2272	128	14	which	which	PRON
ap-2272	128	15	can	can	AUX
ap-2272	128	16	be	be	AUX
ap-2272	128	17	used	use	VERB
ap-2272	128	18	as	as	ADP
ap-2272	128	19	a	a	DET
ap-2272	128	20	neural	neural	ADJ
ap-2272	128	21	module	module	NOUN
ap-2272	128	22	.	.	PUNCT
ap-2272	129	1	outputs	output	NOUN
ap-2272	129	2	encode	encode	VERB
ap-2272	129	3	a	a	DET
ap-2272	129	4	selected	select	VERB
ap-2272	129	5	action	action	NOUN
ap-2272	129	6	by	by	ADP
ap-2272	129	7	means	mean	NOUN
ap-2272	129	8	of	of	ADP
ap-2272	129	9	the	the	DET
ap-2272	129	10	1ofn	1ofn	PROPN
ap-2272	129	11	code	code	NOUN
ap-2272	129	12	(	(	PUNCT
ap-2272	129	13	where	where	SCONJ
ap-2272	129	14	n	n	PRON
ap-2272	129	15	is	be	AUX
ap-2272	129	16	number	number	NOUN
ap-2272	129	17	of	of	ADP
ap-2272	129	18	available	available	ADJ
ap-2272	129	19	actions	action	NOUN
ap-2272	129	20	)	)	PUNCT
ap-2272	129	21	.	.	PUNCT
ap-2272	130	1	m	m	PROPN
ap-2272	130	2	state	state	NOUN
ap-2272	130	3	variables	variable	NOUN
ap-2272	130	4	are	be	AUX
ap-2272	130	5	encoded	encode	VERB
ap-2272	130	6	by	by	ADP
ap-2272	130	7	m	m	PROPN
ap-2272	130	8	data	datum	NOUN
ap-2272	130	9	inputs	input	NOUN
ap-2272	130	10	,	,	PUNCT
ap-2272	130	11	and	and	CCONJ
ap-2272	130	12	each	each	DET
ap-2272	130	13	data	datum	NOUN
ap-2272	130	14	input	input	NOUN
ap-2272	130	15	is	be	AUX
ap-2272	130	16	sampled	sample	VERB
ap-2272	130	17	in	in	ADP
ap-2272	130	18	a	a	DET
ap-2272	130	19	predefined	predefine	VERB
ap-2272	130	20	number	number	NOUN
ap-2272	130	21	of	of	ADP
ap-2272	130	22	discrete	discrete	ADJ
ap-2272	130	23	values	value	NOUN
ap-2272	130	24	.	.	PUNCT
ap-2272	131	1	a	a	DET
ap-2272	131	2	node	node	NOUN
ap-2272	131	3	selects	select	VERB
ap-2272	131	4	one	one	NUM
ap-2272	131	5	action	action	NOUN
ap-2272	131	6	at	at	ADP
ap-2272	131	7	each	each	DET
ap-2272	131	8	time	time	NOUN
ap-2272	131	9	-	-	PUNCT
ap-2272	131	10	step	step	NOUN
ap-2272	131	11	and	and	CCONJ
ap-2272	131	12	expects	expect	VERB
ap-2272	131	13	information	information	NOUN
ap-2272	131	14	about	about	ADP
ap-2272	131	15	the	the	DET
ap-2272	131	16	new	new	ADJ
ap-2272	131	17	state	state	NOUN
ap-2272	131	18	and	and	CCONJ
ap-2272	131	19	the	the	DET
ap-2272	131	20	reward	reward	NOUN
ap-2272	131	21	.	.	PUNCT
ap-2272	132	1	the	the	DET
ap-2272	132	2	node	node	NOUN
ap-2272	132	3	has	have	VERB
ap-2272	132	4	the	the	DET
ap-2272	132	5	following	follow	VERB
ap-2272	132	6	configuration	configuration	NOUN
ap-2272	132	7	inputs	input	NOUN
ap-2272	132	8	:	:	PUNCT
ap-2272	132	9	α	α	X
ap-2272	132	10	,	,	PUNCT
ap-2272	132	11	γ	γ	PROPN
ap-2272	132	12	,	,	PUNCT
ap-2272	132	13	λ	λ	PROPN
ap-2272	132	14	,	,	PUNCT
ap-2272	132	15	importance	importance	NOUN
ap-2272	132	16	,	,	PUNCT
ap-2272	132	17	which	which	PRON
ap-2272	132	18	affect	affect	VERB
ap-2272	132	19	learning	learn	VERB
ap-2272	132	20	,	,	PUNCT
ap-2272	132	21	and	and	CCONJ
ap-2272	132	22	action	action	NOUN
ap-2272	132	23	selection	selection	NOUN
ap-2272	132	24	methods	method	NOUN
ap-2272	132	25	(	(	PUNCT
ap-2272	132	26	in	in	ADP
ap-2272	132	27	the	the	DET
ap-2272	132	28	case	case	NOUN
ap-2272	132	29	that	that	SCONJ
ap-2272	132	30	these	these	DET
ap-2272	132	31	inputs	input	NOUN
ap-2272	132	32	are	be	AUX
ap-2272	132	33	not	not	PART
ap-2272	132	34	connected	connect	VERB
ap-2272	132	35	,	,	PUNCT
ap-2272	132	36	default	default	NOUN
ap-2272	132	37	values	value	NOUN
ap-2272	132	38	are	be	AUX
ap-2272	132	39	used	use	VERB
ap-2272	132	40	)	)	PUNCT
ap-2272	132	41	.	.	PUNCT
ap-2272	133	1	the	the	DET
ap-2272	133	2	prosperity	prosperity	NOUN
ap-2272	133	3	heuristics	heuristic	NOUN
ap-2272	133	4	represents	represent	VERB
ap-2272	133	5	the	the	DET
ap-2272	133	6	average	average	NOUN
ap-2272	133	7	between	between	ADP
ap-2272	133	8	mcr	mcr	PROPN
ap-2272	133	9	and	and	CCONJ
ap-2272	133	10	overall	overall	ADJ
ap-2272	133	11	coverage	coverage	NOUN
ap-2272	133	12	of	of	ADP
ap-2272	133	13	the	the	DET
ap-2272	133	14	state	state	NOUN
ap-2272	133	15	space	space	NOUN
ap-2272	133	16	(	(	PUNCT
ap-2272	133	17	number	number	NOUN
ap-2272	133	18	of	of	ADP
ap-2272	133	19	visited	visit	VERB
ap-2272	133	20	states	state	NOUN
ap-2272	133	21	)	)	PUNCT
ap-2272	133	22	.	.	PUNCT
ap-2272	134	1	hanns	hann	NOUN
ap-2272	134	2	framework	framework	NOUN
ap-2272	134	3	,	,	PUNCT
ap-2272	134	4	and	and	CCONJ
ap-2272	134	5	can	can	AUX
ap-2272	134	6	be	be	AUX
ap-2272	134	7	seamlessly	seamlessly	ADV
ap-2272	134	8	connected	connect	VERB
ap-2272	134	9	into	into	ADP
ap-2272	134	10	a	a	DET
ap-2272	134	11	network	network	NOUN
ap-2272	134	12	of	of	ADP
ap-2272	134	13	heterogeneous	heterogeneous	ADJ
ap-2272	134	14	nodes	node	NOUN
ap-2272	134	15	.	.	PUNCT
ap-2272	135	1	3.1.1	3.1.1	X
ap-2272	135	2	.	.	PUNCT
ap-2272	136	1	learning	learn	VERB
ap-2272	136	2	for	for	ADP
ap-2272	136	3	learning	learning	NOUN
ap-2272	136	4	,	,	PUNCT
ap-2272	136	5	the	the	DET
ap-2272	136	6	neural	neural	ADJ
ap-2272	136	7	module	module	NOUN
ap-2272	136	8	uses	use	VERB
ap-2272	136	9	standard	standard	ADJ
ap-2272	136	10	algorithm	algorithm	NOUN
ap-2272	136	11	called	call	VERB
ap-2272	136	12	q	q	NOUN
ap-2272	136	13	-	-	PUNCT
ap-2272	136	14	learning	learn	VERB
ap-2272	136	15	(	(	PUNCT
ap-2272	136	16	more	more	ADV
ap-2272	136	17	exactly	exactly	ADV
ap-2272	136	18	:	:	PUNCT
ap-2272	136	19	q	q	X
ap-2272	136	20	-	-	NOUN
ap-2272	136	21	lambda	lambda	ADJ
ap-2272	136	22	,	,	PUNCT
ap-2272	136	23	see	see	VERB
ap-2272	136	24	below	below	ADV
ap-2272	136	25	)	)	PUNCT
ap-2272	136	26	.	.	PUNCT
ap-2272	137	1	it	it	PRON
ap-2272	137	2	is	be	AUX
ap-2272	137	3	named	name	VERB
ap-2272	137	4	according	accord	VERB
ap-2272	137	5	to	to	ADP
ap-2272	137	6	its	its	PRON
ap-2272	137	7	q	q	ADJ
ap-2272	137	8	matrix	matrix	NOUN
ap-2272	137	9	,	,	PUNCT
ap-2272	137	10	which	which	PRON
ap-2272	137	11	maps	map	VERB
ap-2272	137	12	state	state	NOUN
ap-2272	137	13	-	-	PUNCT
ap-2272	137	14	action	action	NOUN
ap-2272	137	15	pairs	pair	NOUN
ap-2272	137	16	to	to	ADP
ap-2272	137	17	utility	utility	NOUN
ap-2272	137	18	value	value	NOUN
ap-2272	137	19	.	.	PUNCT
ap-2272	138	1	at	at	ADP
ap-2272	138	2	each	each	DET
ap-2272	138	3	environment	environment	NOUN
ap-2272	138	4	state	state	NOUN
ap-2272	138	5	,	,	PUNCT
ap-2272	138	6	the	the	DET
ap-2272	138	7	q(s	q(s	PROPN
ap-2272	138	8	,	,	PUNCT
ap-2272	138	9	a	a	DET
ap-2272	138	10	)	)	PUNCT
ap-2272	138	11	matrix	matrix	NOUN
ap-2272	138	12	stores	store	NOUN
ap-2272	138	13	utility	utility	NOUN
ap-2272	138	14	values	value	NOUN
ap-2272	138	15	for	for	ADP
ap-2272	138	16	all	all	DET
ap-2272	138	17	possible	possible	ADJ
ap-2272	138	18	actions	action	NOUN
ap-2272	138	19	:	:	PUNCT
ap-2272	138	20	q	q	NOUN
ap-2272	138	21	:	:	PUNCT
ap-2272	138	22	a×	a×	ADJ
ap-2272	138	23	s	s	X
ap-2272	138	24	→	→	SYM
ap-2272	138	25	r	r	NOUN
ap-2272	138	26	,	,	PUNCT
ap-2272	138	27	(	(	PUNCT
ap-2272	138	28	1	1	X
ap-2272	138	29	)	)	PUNCT
ap-2272	138	30	where	where	SCONJ
ap-2272	138	31	a	a	PRON
ap-2272	138	32	is	be	AUX
ap-2272	138	33	a	a	DET
ap-2272	138	34	set	set	NOUN
ap-2272	138	35	of	of	ADP
ap-2272	138	36	all	all	DET
ap-2272	138	37	available	available	ADJ
ap-2272	138	38	actions	action	NOUN
ap-2272	138	39	and	and	CCONJ
ap-2272	138	40	s	s	NOUN
ap-2272	138	41	is	be	AUX
ap-2272	138	42	the	the	DET
ap-2272	138	43	set	set	NOUN
ap-2272	138	44	of	of	ADP
ap-2272	138	45	all	all	DET
ap-2272	138	46	possible	possible	ADJ
ap-2272	138	47	states	state	NOUN
ap-2272	138	48	of	of	ADP
ap-2272	138	49	the	the	DET
ap-2272	138	50	environment	environment	NOUN
ap-2272	138	51	.	.	PUNCT
ap-2272	139	1	the	the	DET
ap-2272	139	2	utility	utility	NOUN
ap-2272	139	3	value	value	NOUN
ap-2272	139	4	represents	represent	VERB
ap-2272	139	5	the	the	DET
ap-2272	139	6	discounted	discount	VERB
ap-2272	139	7	future	future	ADJ
ap-2272	139	8	reinforcement	reinforcement	NOUN
ap-2272	139	9	that	that	PRON
ap-2272	139	10	will	will	AUX
ap-2272	139	11	be	be	AUX
ap-2272	139	12	received	receive	VERB
ap-2272	139	13	by	by	ADP
ap-2272	139	14	the	the	DET
ap-2272	139	15	agent	agent	NOUN
ap-2272	139	16	if	if	SCONJ
ap-2272	139	17	it	it	PRON
ap-2272	139	18	will	will	AUX
ap-2272	139	19	follow	follow	VERB
ap-2272	139	20	a	a	DET
ap-2272	139	21	given	give	VERB
ap-2272	139	22	action	action	NOUN
ap-2272	139	23	a	a	PRON
ap-2272	139	24	in	in	ADP
ap-2272	139	25	a	a	DET
ap-2272	139	26	given	give	VERB
ap-2272	139	27	state	state	NOUN
ap-2272	139	28	s.	s.	PROPN
ap-2272	139	29	online	online	PROPN
ap-2272	139	30	learning	learning	NOUN
ap-2272	139	31	is	be	AUX
ap-2272	139	32	governed	govern	VERB
ap-2272	139	33	by	by	ADP
ap-2272	139	34	obtaining	obtain	VERB
ap-2272	139	35	new	new	ADJ
ap-2272	139	36	q(s	q(s	PROPN
ap-2272	139	37	,	,	PUNCT
ap-2272	139	38	a	a	PRON
ap-2272	139	39	)	)	PUNCT
ap-2272	139	40	values	value	NOUN
ap-2272	139	41	into	into	ADP
ap-2272	139	42	the	the	DET
ap-2272	139	43	matrix	matrix	NOUN
ap-2272	139	44	.	.	PUNCT
ap-2272	140	1	a	a	DET
ap-2272	140	2	change	change	NOUN
ap-2272	140	3	of	of	ADP
ap-2272	140	4	the	the	DET
ap-2272	140	5	value	value	NOUN
ap-2272	140	6	in	in	ADP
ap-2272	140	7	the	the	DET
ap-2272	140	8	matrix	matrix	NOUN
ap-2272	140	9	is	be	AUX
ap-2272	140	10	represented	represent	VERB
ap-2272	140	11	by	by	ADP
ap-2272	140	12	the	the	DET
ap-2272	140	13	following	follow	VERB
ap-2272	140	14	equation	equation	NOUN
ap-2272	140	15	:	:	PUNCT
ap-2272	140	16	δ	δ	X
ap-2272	140	17	=	=	PUNCT
ap-2272	140	18	rt+1	rt+1	PROPN
ap-2272	140	19	+	+	NUM
ap-2272	140	20	γmaxaq(st+1	γmaxaq(st+1	PROPN
ap-2272	140	21	,	,	PUNCT
ap-2272	140	22	at+1)−q(st	at+1)−q(st	PROPN
ap-2272	140	23	,	,	PUNCT
ap-2272	140	24	at	at	ADP
ap-2272	140	25	)	)	PUNCT
ap-2272	140	26	.	.	PUNCT
ap-2272	141	1	(	(	PUNCT
ap-2272	141	2	2	2	X
ap-2272	141	3	)	)	PUNCT
ap-2272	141	4	the	the	DET
ap-2272	141	5	algorithm	algorithm	NOUN
ap-2272	141	6	stores	store	VERB
ap-2272	141	7	the	the	DET
ap-2272	141	8	current	current	ADJ
ap-2272	141	9	state	state	NOUN
ap-2272	141	10	and	and	CCONJ
ap-2272	141	11	the	the	DET
ap-2272	141	12	action	action	NOUN
ap-2272	141	13	that	that	PRON
ap-2272	141	14	was	be	AUX
ap-2272	141	15	just	just	ADV
ap-2272	141	16	executed	execute	VERB
ap-2272	141	17	(	(	PUNCT
ap-2272	141	18	st	st	NOUN
ap-2272	141	19	,	,	PUNCT
ap-2272	141	20	at	at	ADP
ap-2272	141	21	)	)	PUNCT
ap-2272	141	22	.	.	PUNCT
ap-2272	142	1	action	action	NOUN
ap-2272	142	2	at	at	ADP
ap-2272	142	3	may	may	AUX
ap-2272	142	4	cause	cause	VERB
ap-2272	142	5	receiving	receive	VERB
ap-2272	142	6	the	the	DET
ap-2272	142	7	reward	reward	NOUN
ap-2272	142	8	rt+1	rt+1	PROPN
ap-2272	142	9	and	and	CCONJ
ap-2272	142	10	a	a	DET
ap-2272	142	11	transition1	transition1	NOUN
ap-2272	142	12	into	into	ADP
ap-2272	142	13	the	the	DET
ap-2272	142	14	new	new	ADJ
ap-2272	142	15	state	state	NOUN
ap-2272	142	16	st+1	st+1	PROPN
ap-2272	142	17	.	.	PUNCT
ap-2272	143	1	based	base	VERB
ap-2272	143	2	on	on	ADP
ap-2272	143	3	this	this	DET
ap-2272	143	4	information	information	NOUN
ap-2272	143	5	and	and	CCONJ
ap-2272	143	6	the	the	DET
ap-2272	143	7	optimal	optimal	ADJ
ap-2272	143	8	action	action	NOUN
ap-2272	143	9	in	in	ADP
ap-2272	143	10	the	the	DET
ap-2272	143	11	new	new	ADJ
ap-2272	143	12	state	state	NOUN
ap-2272	143	13	:	:	PUNCT
ap-2272	143	14	1note	1note	NUM
ap-2272	143	15	that	that	SCONJ
ap-2272	143	16	this	this	PRON
ap-2272	143	17	theoretically	theoretically	ADV
ap-2272	143	18	requires	require	VERB
ap-2272	143	19	environment	environment	NOUN
ap-2272	143	20	with	with	ADP
ap-2272	143	21	markov	markov	NOUN
ap-2272	143	22	property	property	NOUN
ap-2272	143	23	.	.	PUNCT
ap-2272	144	1	a∗t+1	a∗t+1	PROPN
ap-2272	144	2	=	=	SYM
ap-2272	144	3	maxaq(st+1	maxaq(st+1	PROPN
ap-2272	144	4	,	,	PUNCT
ap-2272	144	5	at+1	at+1	X
ap-2272	144	6	)	)	PUNCT
ap-2272	144	7	,	,	PUNCT
ap-2272	144	8	the	the	DET
ap-2272	144	9	value	value	NOUN
ap-2272	144	10	q(st	q(st	NOUN
ap-2272	144	11	,	,	PUNCT
ap-2272	144	12	at	at	ADP
ap-2272	144	13	)	)	PUNCT
ap-2272	144	14	is	be	AUX
ap-2272	144	15	updated	update	VERB
ap-2272	144	16	as	as	SCONJ
ap-2272	144	17	follows	follow	VERB
ap-2272	144	18	:	:	PUNCT
ap-2272	144	19	q(st	q(st	PROPN
ap-2272	144	20	,	,	PUNCT
ap-2272	144	21	at)←	at)←	PROPN
ap-2272	144	22	q(st	q(st	PROPN
ap-2272	144	23	,	,	PUNCT
ap-2272	144	24	at	at	ADP
ap-2272	144	25	)	)	PUNCT
ap-2272	145	1	+	+	NUM
ap-2272	145	2	αδ	αδ	NUM
ap-2272	145	3	,	,	PUNCT
ap-2272	145	4	(	(	PUNCT
ap-2272	145	5	3	3	X
ap-2272	145	6	)	)	PUNCT
ap-2272	145	7	the	the	DET
ap-2272	145	8	following	follow	VERB
ap-2272	145	9	parameters	parameter	NOUN
ap-2272	145	10	used	use	VERB
ap-2272	145	11	:	:	PUNCT
ap-2272	145	12	γ	γ	PROPN
ap-2272	145	13	∈	∈	PROPN
ap-2272	145	14	〈	〈	PROPN
ap-2272	145	15	0	0	NUM
ap-2272	145	16	;	;	PUNCT
ap-2272	145	17	1	1	NUM
ap-2272	145	18	)	)	PUNCT
ap-2272	145	19	is	be	AUX
ap-2272	145	20	a	a	DET
ap-2272	145	21	forgetting	forget	VERB
ap-2272	145	22	factor	factor	NOUN
ap-2272	145	23	and	and	CCONJ
ap-2272	145	24	α	α	PRON
ap-2272	145	25	∈	∈	PROPN
ap-2272	145	26	(	(	PUNCT
ap-2272	145	27	0	0	NUM
ap-2272	145	28	;	;	PUNCT
ap-2272	145	29	1	1	NUM
ap-2272	145	30	〉	〉	NOUN
ap-2272	145	31	is	be	AUX
ap-2272	145	32	a	a	DET
ap-2272	145	33	learning	learning	NOUN
ap-2272	145	34	rate	rate	NOUN
ap-2272	145	35	.	.	PUNCT
ap-2272	146	1	according	accord	VERB
ap-2272	146	2	to	to	ADP
ap-2272	146	3	the	the	DET
ap-2272	146	4	equation	equation	NOUN
ap-2272	146	5	(	(	PUNCT
ap-2272	146	6	3	3	NUM
ap-2272	146	7	)	)	PUNCT
ap-2272	146	8	,	,	PUNCT
ap-2272	146	9	the	the	DET
ap-2272	146	10	q	q	ADJ
ap-2272	146	11	-	-	PUNCT
ap-2272	146	12	learning	learn	VERB
ap-2272	146	13	algorithm	algorithm	NOUN
ap-2272	146	14	updates	update	VERB
ap-2272	146	15	only	only	ADV
ap-2272	146	16	one	one	NUM
ap-2272	146	17	value	value	NOUN
ap-2272	146	18	at	at	ADP
ap-2272	146	19	a	a	DET
ap-2272	146	20	time	time	NOUN
ap-2272	146	21	.	.	PUNCT
ap-2272	147	1	the	the	DET
ap-2272	147	2	learning	learning	NOUN
ap-2272	147	3	speed	speed	NOUN
ap-2272	147	4	can	can	AUX
ap-2272	147	5	be	be	AUX
ap-2272	147	6	enhanced	enhance	VERB
ap-2272	147	7	by	by	ADP
ap-2272	147	8	modification	modification	NOUN
ap-2272	147	9	called	call	VERB
ap-2272	147	10	eligibility	eligibility	NOUN
ap-2272	147	11	trace	trace	NOUN
ap-2272	147	12	,	,	PUNCT
ap-2272	147	13	which	which	PRON
ap-2272	147	14	enables	enable	VERB
ap-2272	147	15	the	the	DET
ap-2272	147	16	algorithm	algorithm	NOUN
ap-2272	147	17	updates	update	VERB
ap-2272	147	18	values	value	NOUN
ap-2272	147	19	of	of	ADP
ap-2272	147	20	multiple	multiple	ADJ
ap-2272	147	21	past	past	ADP
ap-2272	147	22	state	state	NOUN
ap-2272	147	23	-	-	PUNCT
ap-2272	147	24	action	action	NOUN
ap-2272	147	25	pairs	pair	NOUN
ap-2272	147	26	at	at	ADP
ap-2272	147	27	one	one	NUM
ap-2272	147	28	step	step	NOUN
ap-2272	147	29	.	.	PUNCT
ap-2272	148	1	such	such	ADJ
ap-2272	148	2	modification	modification	NOUN
ap-2272	148	3	of	of	ADP
ap-2272	148	4	q	q	NOUN
ap-2272	148	5	-	-	PUNCT
ap-2272	148	6	learning	learning	NOUN
ap-2272	148	7	is	be	AUX
ap-2272	148	8	called	call	VERB
ap-2272	148	9	q	q	NOUN
ap-2272	148	10	-	-	NOUN
ap-2272	148	11	lambda	lambda	NOUN
ap-2272	148	12	,	,	PUNCT
ap-2272	148	13	or	or	CCONJ
ap-2272	148	14	q(λ	q(λ	ADJ
ap-2272	148	15	)	)	PUNCT
ap-2272	148	16	algorithm	algorithm	NOUN
ap-2272	148	17	.	.	PUNCT
ap-2272	149	1	by	by	ADP
ap-2272	149	2	introducing	introduce	VERB
ap-2272	149	3	the	the	DET
ap-2272	149	4	error	error	NOUN
ap-2272	149	5	function	function	NOUN
ap-2272	149	6	,	,	PUNCT
ap-2272	149	7	which	which	PRON
ap-2272	149	8	is	be	AUX
ap-2272	149	9	the	the	DET
ap-2272	149	10	fundamental	fundamental	ADJ
ap-2272	149	11	for	for	SCONJ
ap-2272	149	12	the	the	DET
ap-2272	149	13	eligibility	eligibility	NOUN
ap-2272	149	14	tracesbased	tracesbase	VERB
ap-2272	149	15	approaches	approach	NOUN
ap-2272	149	16	,	,	PUNCT
ap-2272	149	17	the	the	DET
ap-2272	149	18	equation	equation	NOUN
ap-2272	149	19	can	can	AUX
ap-2272	149	20	be	be	AUX
ap-2272	149	21	rewritten	rewrite	VERB
ap-2272	149	22	as	as	SCONJ
ap-2272	149	23	follows	follow	VERB
ap-2272	149	24	:	:	PUNCT
ap-2272	149	25	q(st	q(st	PROPN
ap-2272	149	26	,	,	PUNCT
ap-2272	149	27	at)←	at)←	PROPN
ap-2272	149	28	q(st	q(st	PROPN
ap-2272	149	29	,	,	PUNCT
ap-2272	149	30	at	at	ADP
ap-2272	149	31	)	)	PUNCT
ap-2272	149	32	+	+	CCONJ
ap-2272	149	33	αδe(s	αδe(s	ADJ
ap-2272	149	34	,	,	PUNCT
ap-2272	149	35	a	a	NOUN
ap-2272	149	36	)	)	PUNCT
ap-2272	149	37	,	,	PUNCT
ap-2272	149	38	(	(	PUNCT
ap-2272	149	39	4	4	X
ap-2272	149	40	)	)	PUNCT
ap-2272	149	41	where	where	SCONJ
ap-2272	149	42	the	the	DET
ap-2272	149	43	parameter	parameter	NOUN
ap-2272	149	44	error	error	NOUN
ap-2272	149	45	is	be	AUX
ap-2272	149	46	defined	define	VERB
ap-2272	149	47	for	for	ADP
ap-2272	149	48	each	each	DET
ap-2272	149	49	stateaction	stateaction	NOUN
ap-2272	149	50	pair	pair	NOUN
ap-2272	149	51	as	as	SCONJ
ap-2272	149	52	follows	follow	VERB
ap-2272	149	53	:	:	PUNCT
ap-2272	149	54	et(s	et(s	NUM
ap-2272	149	55	,	,	PUNCT
ap-2272	149	56	a	a	X
ap-2272	149	57	)	)	PUNCT
ap-2272	149	58	=	=	SYM
ap-2272	149	59	{	{	PUNCT
ap-2272	149	60	γλet−1(s	γλet−1(	NOUN
ap-2272	149	61	,	,	PUNCT
ap-2272	149	62	a	a	PRON
ap-2272	149	63	)	)	PUNCT
ap-2272	149	64	if	if	SCONJ
ap-2272	149	65	(	(	PUNCT
ap-2272	149	66	s	s	X
ap-2272	149	67	,	,	PUNCT
ap-2272	149	68	a	a	PRON
ap-2272	149	69	)	)	PUNCT
ap-2272	149	70	6=	6=	ADP
ap-2272	149	71	(	(	PUNCT
ap-2272	149	72	st	st	PROPN
ap-2272	149	73	,	,	PUNCT
ap-2272	149	74	at	at	ADP
ap-2272	149	75	)	)	PUNCT
ap-2272	149	76	γλet−1(s	γλet−1(	NOUN
ap-2272	149	77	,	,	PUNCT
ap-2272	149	78	a	a	PRON
ap-2272	149	79	)	)	PUNCT
ap-2272	150	1	+	+	NOUN
ap-2272	150	2	1	1	NUM
ap-2272	150	3	if	if	SCONJ
ap-2272	150	4	(	(	PUNCT
ap-2272	150	5	s	s	X
ap-2272	150	6	,	,	PUNCT
ap-2272	150	7	a	a	PRON
ap-2272	150	8	)	)	PUNCT
ap-2272	150	9	=	=	SYM
ap-2272	150	10	(	(	PUNCT
ap-2272	150	11	st	st	PROPN
ap-2272	150	12	,	,	PUNCT
ap-2272	150	13	at	at	ADP
ap-2272	150	14	)	)	PUNCT
ap-2272	150	15	(	(	PUNCT
ap-2272	150	16	5	5	X
ap-2272	150	17	)	)	PUNCT
ap-2272	150	18	the	the	DET
ap-2272	150	19	equation	equation	NOUN
ap-2272	150	20	states	state	VERB
ap-2272	150	21	that	that	SCONJ
ap-2272	150	22	for	for	ADP
ap-2272	150	23	all	all	DET
ap-2272	150	24	state	state	NOUN
ap-2272	150	25	-	-	PUNCT
ap-2272	150	26	action	action	NOUN
ap-2272	150	27	pairs	pair	NOUN
ap-2272	150	28	,	,	PUNCT
ap-2272	150	29	there	there	PRON
ap-2272	150	30	is	be	VERB
ap-2272	150	31	an	an	DET
ap-2272	150	32	error	error	NOUN
ap-2272	150	33	function	function	NOUN
ap-2272	150	34	value	value	NOUN
ap-2272	150	35	that	that	PRON
ap-2272	150	36	decays	decay	VERB
ap-2272	150	37	in	in	ADP
ap-2272	150	38	time	time	NOUN
ap-2272	150	39	.	.	PUNCT
ap-2272	151	1	if	if	SCONJ
ap-2272	151	2	the	the	DET
ap-2272	151	3	state	state	NOUN
ap-2272	151	4	-	-	PUNCT
ap-2272	151	5	action	action	NOUN
ap-2272	151	6	pair	pair	NOUN
ap-2272	151	7	is	be	AUX
ap-2272	151	8	used	use	VERB
ap-2272	151	9	,	,	PUNCT
ap-2272	151	10	the	the	DET
ap-2272	151	11	error	error	NOUN
ap-2272	151	12	function	function	NOUN
ap-2272	151	13	is	be	AUX
ap-2272	151	14	increased	increase	VERB
ap-2272	151	15	by	by	ADP
ap-2272	151	16	1	1	NUM
ap-2272	151	17	.	.	PUNCT
ap-2272	151	18	such	such	DET
ap-2272	151	19	a	a	DET
ap-2272	151	20	modified	modify	VERB
ap-2272	151	21	equation	equation	NOUN
ap-2272	151	22	(	(	PUNCT
ap-2272	151	23	4	4	X
ap-2272	151	24	)	)	PUNCT
ap-2272	151	25	means	mean	VERB
ap-2272	151	26	that	that	SCONJ
ap-2272	151	27	all	all	DET
ap-2272	151	28	state	state	NOUN
ap-2272	151	29	-	-	PUNCT
ap-2272	151	30	action	action	NOUN
ap-2272	151	31	pairs	pair	NOUN
ap-2272	151	32	are	be	AUX
ap-2272	151	33	updated	update	VERB
ap-2272	151	34	in	in	ADP
ap-2272	151	35	each	each	DET
ap-2272	151	36	step	step	NOUN
ap-2272	151	37	.	.	PUNCT
ap-2272	152	1	the	the	DET
ap-2272	152	2	decay	decay	NOUN
ap-2272	152	3	parameter	parameter	NOUN
ap-2272	152	4	λ	λ	PROPN
ap-2272	152	5	∈	∈	PROPN
ap-2272	152	6	〈	〈	PROPN
ap-2272	152	7	0	0	NUM
ap-2272	152	8	,	,	PUNCT
ap-2272	152	9	1	1	NUM
ap-2272	152	10	〉	〉	NOUN
ap-2272	152	11	defines	define	VERB
ap-2272	152	12	the	the	DET
ap-2272	152	13	magnitude	magnitude	NOUN
ap-2272	152	14	of	of	ADP
ap-2272	152	15	the	the	DET
ap-2272	152	16	update	update	NOUN
ap-2272	152	17	of	of	ADP
ap-2272	152	18	the	the	DET
ap-2272	152	19	previous	previous	ADJ
ap-2272	152	20	states	state	NOUN
ap-2272	152	21	.	.	PUNCT
ap-2272	153	1	in	in	ADP
ap-2272	153	2	the	the	DET
ap-2272	153	3	370	370	NUM
ap-2272	153	4	vol	vol	NOUN
ap-2272	153	5	.	.	PUNCT
ap-2272	154	1	54	54	NUM
ap-2272	154	2	no	no	NOUN
ap-2272	154	3	.	.	PUNCT
ap-2272	155	1	5/2014	5/2014	NUM
ap-2272	155	2	towards	towards	ADP
ap-2272	155	3	evolutionary	evolutionary	ADJ
ap-2272	155	4	design	design	NOUN
ap-2272	155	5	of	of	ADP
ap-2272	155	6	complex	complex	ADJ
ap-2272	155	7	systems	system	NOUN
ap-2272	155	8	inspired	inspire	VERB
ap-2272	155	9	by	by	ADP
ap-2272	155	10	nature	nature	NOUN
ap-2272	155	11	figure	figure	NOUN
ap-2272	155	12	3	3	NUM
ap-2272	155	13	.	.	PUNCT
ap-2272	156	1	the	the	DET
ap-2272	156	2	neural	neural	ADJ
ap-2272	156	3	module	module	NOUN
ap-2272	156	4	implementing	implement	VERB
ap-2272	156	5	the	the	DET
ap-2272	156	6	physiological	physiological	ADJ
ap-2272	156	7	state	state	NOUN
ap-2272	156	8	space	space	NOUN
ap-2272	156	9	.	.	PUNCT
ap-2272	157	1	this	this	DET
ap-2272	157	2	node	node	NOUN
ap-2272	157	3	produces	produce	VERB
ap-2272	157	4	/	/	SYM
ap-2272	157	5	represents	represent	VERB
ap-2272	157	6	motivation	motivation	NOUN
ap-2272	157	7	for	for	ADP
ap-2272	157	8	the	the	DET
ap-2272	157	9	behavior	behavior	NOUN
ap-2272	157	10	which	which	PRON
ap-2272	157	11	leads	lead	VERB
ap-2272	157	12	to	to	ADP
ap-2272	157	13	the	the	DET
ap-2272	157	14	correct	correct	ADJ
ap-2272	157	15	reinforcement	reinforcement	NOUN
ap-2272	157	16	.	.	PUNCT
ap-2272	158	1	the	the	DET
ap-2272	158	2	value	value	NOUN
ap-2272	158	3	of	of	ADP
ap-2272	158	4	its	its	PRON
ap-2272	158	5	physiological	physiological	ADJ
ap-2272	158	6	variable	variable	NOUN
ap-2272	158	7	decreases	decrease	NOUN
ap-2272	158	8	in	in	ADP
ap-2272	158	9	each	each	DET
ap-2272	158	10	time	time	NOUN
ap-2272	158	11	step	step	NOUN
ap-2272	158	12	with	with	ADP
ap-2272	158	13	given	give	VERB
ap-2272	158	14	dynamics	dynamic	NOUN
ap-2272	158	15	,	,	PUNCT
ap-2272	158	16	and	and	CCONJ
ap-2272	158	17	thus	thus	ADV
ap-2272	158	18	increases	increase	VERB
ap-2272	158	19	the	the	DET
ap-2272	158	20	motivation	motivation	NOUN
ap-2272	158	21	.	.	PUNCT
ap-2272	159	1	once	once	SCONJ
ap-2272	159	2	the	the	DET
ap-2272	159	3	correct	correct	ADJ
ap-2272	159	4	reinforcement	reinforcement	NOUN
ap-2272	159	5	is	be	AUX
ap-2272	159	6	received	receive	VERB
ap-2272	159	7	,	,	PUNCT
ap-2272	159	8	the	the	DET
ap-2272	159	9	value	value	NOUN
ap-2272	159	10	of	of	ADP
ap-2272	159	11	the	the	DET
ap-2272	159	12	variable	variable	NOUN
ap-2272	159	13	goes	go	VERB
ap-2272	159	14	back	back	ADV
ap-2272	159	15	towards	towards	ADP
ap-2272	159	16	the	the	DET
ap-2272	159	17	limbo	limbo	NOUN
ap-2272	159	18	area	area	NOUN
ap-2272	159	19	,	,	PUNCT
ap-2272	159	20	where	where	SCONJ
ap-2272	159	21	no	no	DET
ap-2272	159	22	motivation	motivation	NOUN
ap-2272	159	23	is	be	AUX
ap-2272	159	24	produced	produce	VERB
ap-2272	159	25	.	.	PUNCT
ap-2272	160	1	the	the	DET
ap-2272	160	2	value	value	NOUN
ap-2272	160	3	of	of	ADP
ap-2272	160	4	the	the	DET
ap-2272	160	5	prosperity	prosperity	NOUN
ap-2272	160	6	output	output	NOUN
ap-2272	160	7	is	be	AUX
ap-2272	160	8	defined	define	VERB
ap-2272	160	9	as	as	ADP
ap-2272	160	10	pt	pt	NOUN
ap-2272	160	11	=	=	SYM
ap-2272	160	12	1	1	NUM
ap-2272	160	13	−	−	PROPN
ap-2272	160	14	sf	sf	NOUN
ap-2272	160	15	t	t	PROPN
ap-2272	160	16	(	(	PUNCT
ap-2272	160	17	mean	mean	VERB
ap-2272	160	18	state	state	NOUN
ap-2272	160	19	distance	distance	NOUN
ap-2272	160	20	to	to	ADP
ap-2272	160	21	the	the	DET
ap-2272	160	22	limbo	limbo	NOUN
ap-2272	160	23	area	area	NOUN
ap-2272	160	24	)	)	PUNCT
ap-2272	160	25	.	.	PUNCT
ap-2272	161	1	case	case	NOUN
ap-2272	161	2	that	that	SCONJ
ap-2272	161	3	λ	λ	X
ap-2272	161	4	=	=	SYM
ap-2272	161	5	0	0	NUM
ap-2272	161	6	,	,	PUNCT
ap-2272	161	7	pure	pure	ADJ
ap-2272	161	8	one	one	NUM
ap-2272	161	9	-	-	PUNCT
ap-2272	161	10	step	step	NOUN
ap-2272	161	11	temporal	temporal	ADJ
ap-2272	161	12	difference	difference	NOUN
ap-2272	161	13	(	(	PUNCT
ap-2272	161	14	td	td	NOUN
ap-2272	161	15	)	)	PUNCT
ap-2272	161	16	learning	learning	NOUN
ap-2272	161	17	is	be	AUX
ap-2272	161	18	used	use	VERB
ap-2272	161	19	.	.	PUNCT
ap-2272	162	1	in	in	ADP
ap-2272	162	2	the	the	DET
ap-2272	162	3	case	case	NOUN
ap-2272	162	4	of	of	ADP
ap-2272	162	5	λ	λ	PROPN
ap-2272	162	6	=	=	SYM
ap-2272	162	7	1	1	NUM
ap-2272	162	8	,	,	PUNCT
ap-2272	162	9	montecarlo	montecarlo	NOUN
ap-2272	162	10	learning	learning	NOUN
ap-2272	162	11	is	be	AUX
ap-2272	162	12	obtained	obtain	VERB
ap-2272	162	13	.	.	PUNCT
ap-2272	163	1	correct	correct	ADJ
ap-2272	163	2	estimation	estimation	NOUN
ap-2272	163	3	of	of	ADP
ap-2272	163	4	λ	λ	PROPN
ap-2272	163	5	can	can	AUX
ap-2272	163	6	improve	improve	VERB
ap-2272	163	7	the	the	DET
ap-2272	163	8	speed	speed	NOUN
ap-2272	163	9	of	of	ADP
ap-2272	163	10	learning	learning	NOUN
ap-2272	163	11	,	,	PUNCT
ap-2272	163	12	but	but	CCONJ
ap-2272	163	13	also	also	ADV
ap-2272	163	14	can	can	AUX
ap-2272	163	15	cause	cause	VERB
ap-2272	163	16	oscillations	oscillation	NOUN
ap-2272	163	17	in	in	ADP
ap-2272	163	18	learning	learn	VERB
ap-2272	163	19	.	.	PUNCT
ap-2272	164	1	in	in	ADP
ap-2272	164	2	the	the	DET
ap-2272	164	3	implementation	implementation	NOUN
ap-2272	164	4	of	of	ADP
ap-2272	164	5	this	this	DET
ap-2272	164	6	neural	neural	ADJ
ap-2272	164	7	module	module	NOUN
ap-2272	164	8	,	,	PUNCT
ap-2272	164	9	the	the	DET
ap-2272	164	10	modification	modification	NOUN
ap-2272	164	11	of	of	ADP
ap-2272	164	12	the	the	DET
ap-2272	164	13	q(λ	q(λ	NOUN
ap-2272	164	14	)	)	PUNCT
ap-2272	164	15	algorithm	algorithm	NOUN
ap-2272	164	16	is	be	AUX
ap-2272	164	17	used	use	VERB
ap-2272	164	18	.	.	PUNCT
ap-2272	165	1	here	here	ADV
ap-2272	165	2	,	,	PUNCT
ap-2272	165	3	the	the	DET
ap-2272	165	4	eligibility	eligibility	NOUN
ap-2272	165	5	trace	trace	NOUN
ap-2272	165	6	is	be	AUX
ap-2272	165	7	constrained	constrain	VERB
ap-2272	165	8	to	to	PART
ap-2272	165	9	finite	finite	VERB
ap-2272	165	10	length	length	NOUN
ap-2272	165	11	of	of	ADP
ap-2272	165	12	n	n	CCONJ
ap-2272	165	13	previous	previous	ADJ
ap-2272	165	14	steps	step	NOUN
ap-2272	165	15	,	,	PUNCT
ap-2272	165	16	which	which	PRON
ap-2272	165	17	saves	save	VERB
ap-2272	165	18	computational	computational	ADJ
ap-2272	165	19	resources	resource	NOUN
ap-2272	165	20	and	and	CCONJ
ap-2272	165	21	prevents	prevent	VERB
ap-2272	165	22	bigger	big	ADJ
ap-2272	165	23	destabilization	destabilization	NOUN
ap-2272	165	24	of	of	ADP
ap-2272	165	25	learning	learn	VERB
ap-2272	165	26	convergence	convergence	NOUN
ap-2272	165	27	by	by	ADP
ap-2272	165	28	an	an	DET
ap-2272	165	29	incorrect	incorrect	ADJ
ap-2272	165	30	value	value	NOUN
ap-2272	165	31	of	of	ADP
ap-2272	165	32	the	the	DET
ap-2272	165	33	λ	λ	PROPN
ap-2272	165	34	parameter	parameter	NOUN
ap-2272	165	35	.	.	PUNCT
ap-2272	166	1	3.1.2	3.1.2	X
ap-2272	166	2	.	.	PUNCT
ap-2272	166	3	action	action	NOUN
ap-2272	166	4	selection	selection	NOUN
ap-2272	166	5	method	method	NOUN
ap-2272	166	6	in	in	ADP
ap-2272	166	7	non	non	ADJ
ap-2272	166	8	-	-	ADJ
ap-2272	166	9	episodic	episodic	ADJ
ap-2272	166	10	experiments	experiment	NOUN
ap-2272	166	11	a	a	DET
ap-2272	166	12	typical	typical	ADJ
ap-2272	166	13	use	use	NOUN
ap-2272	166	14	of	of	ADP
ap-2272	166	15	the	the	DET
ap-2272	166	16	q(λ	q(λ	NOUN
ap-2272	166	17	)	)	PUNCT
ap-2272	166	18	algorithm	algorithm	NOUN
ap-2272	166	19	is	be	AUX
ap-2272	166	20	in	in	ADP
ap-2272	166	21	episodic	episodic	ADJ
ap-2272	166	22	experiments	experiment	NOUN
ap-2272	166	23	.	.	PUNCT
ap-2272	167	1	in	in	ADP
ap-2272	167	2	episodic	episodic	ADJ
ap-2272	167	3	experiments	experiment	NOUN
ap-2272	167	4	,	,	PUNCT
ap-2272	167	5	the	the	DET
ap-2272	167	6	initial	initial	ADJ
ap-2272	167	7	state	state	NOUN
ap-2272	167	8	of	of	ADP
ap-2272	167	9	the	the	DET
ap-2272	167	10	environment	environment	NOUN
ap-2272	167	11	is	be	AUX
ap-2272	167	12	selected	select	VERB
ap-2272	167	13	randomly	randomly	ADV
ap-2272	167	14	.	.	PUNCT
ap-2272	168	1	this	this	PRON
ap-2272	168	2	helps	help	VERB
ap-2272	168	3	toward	toward	ADP
ap-2272	168	4	uniform	uniform	ADJ
ap-2272	168	5	exploration	exploration	NOUN
ap-2272	168	6	of	of	ADP
ap-2272	168	7	(	(	PUNCT
ap-2272	168	8	and	and	CCONJ
ap-2272	168	9	learning	learn	VERB
ap-2272	168	10	in	in	ADP
ap-2272	168	11	)	)	PUNCT
ap-2272	168	12	the	the	DET
ap-2272	168	13	entire	entire	ADJ
ap-2272	168	14	state	state	NOUN
ap-2272	168	15	-	-	PUNCT
ap-2272	168	16	space	space	NOUN
ap-2272	168	17	.	.	PUNCT
ap-2272	169	1	in	in	ADP
ap-2272	169	2	order	order	NOUN
ap-2272	169	3	to	to	PART
ap-2272	169	4	add	add	VERB
ap-2272	169	5	domain	domain	NOUN
ap-2272	169	6	-	-	PUNCT
ap-2272	169	7	independence	independence	NOUN
ap-2272	169	8	,	,	PUNCT
ap-2272	169	9	the	the	DET
ap-2272	169	10	designed	design	VERB
ap-2272	169	11	module	module	NOUN
ap-2272	169	12	has	have	VERB
ap-2272	169	13	to	to	PART
ap-2272	169	14	be	be	AUX
ap-2272	169	15	able	able	ADJ
ap-2272	169	16	to	to	PART
ap-2272	169	17	operate	operate	VERB
ap-2272	169	18	in	in	ADP
ap-2272	169	19	nonepisodic	nonepisodic	ADJ
ap-2272	169	20	experiments	experiment	NOUN
ap-2272	169	21	.	.	PUNCT
ap-2272	170	1	in	in	ADP
ap-2272	170	2	non	non	ADJ
ap-2272	170	3	-	-	ADJ
ap-2272	170	4	episodic	episodic	ADJ
ap-2272	170	5	experiments	experiment	NOUN
ap-2272	170	6	(	(	PUNCT
ap-2272	170	7	particularly	particularly	ADV
ap-2272	170	8	those	those	PRON
ap-2272	170	9	simpler	simple	ADJ
ap-2272	170	10	with	with	ADP
ap-2272	170	11	one	one	NUM
ap-2272	170	12	attractor	attractor	NOUN
ap-2272	170	13	)	)	PUNCT
ap-2272	170	14	,	,	PUNCT
ap-2272	170	15	it	it	PRON
ap-2272	170	16	is	be	AUX
ap-2272	170	17	necessary	necessary	ADJ
ap-2272	170	18	to	to	PART
ap-2272	170	19	achieve	achieve	VERB
ap-2272	170	20	balance	balance	NOUN
ap-2272	170	21	between	between	ADP
ap-2272	170	22	knowledge	knowledge	NOUN
ap-2272	170	23	exploitation	exploitation	NOUN
ap-2272	170	24	and	and	CCONJ
ap-2272	170	25	exploration	exploration	NOUN
ap-2272	170	26	/	/	SYM
ap-2272	170	27	learning	learning	NOUN
ap-2272	170	28	.	.	PUNCT
ap-2272	171	1	a	a	DET
ap-2272	171	2	typical	typical	ADJ
ap-2272	171	3	action	action	NOUN
ap-2272	171	4	selection	selection	NOUN
ap-2272	171	5	method	method	NOUN
ap-2272	171	6	(	(	PUNCT
ap-2272	171	7	asm	asm	NOUN
ap-2272	171	8	)	)	PUNCT
ap-2272	171	9	for	for	ADP
ap-2272	171	10	efficient	efficient	ADJ
ap-2272	171	11	knowledge	knowledge	NOUN
ap-2272	171	12	exploitation	exploitation	NOUN
ap-2272	171	13	is	be	AUX
ap-2272	171	14	called	call	VERB
ap-2272	171	15	agreedy	agreedy	NOUN
ap-2272	171	16	strategy	strategy	NOUN
ap-2272	171	17	,	,	PUNCT
ap-2272	171	18	where	where	SCONJ
ap-2272	171	19	the	the	DET
ap-2272	171	20	action	action	NOUN
ap-2272	171	21	with	with	ADP
ap-2272	171	22	the	the	DET
ap-2272	171	23	highest	high	ADJ
ap-2272	171	24	utility	utility	NOUN
ap-2272	171	25	is	be	AUX
ap-2272	171	26	selected	select	VERB
ap-2272	171	27	:	:	PUNCT
ap-2272	171	28	at+1	at+1	X
ap-2272	171	29	=	=	SYM
ap-2272	171	30	a∗t+1	a∗t+1	PROPN
ap-2272	171	31	=	=	SYM
ap-2272	171	32	maxaq(st+1	maxaq(st+1	PROPN
ap-2272	171	33	,	,	PUNCT
ap-2272	171	34	at+1	at+1	NOUN
ap-2272	171	35	)	)	PUNCT
ap-2272	171	36	.	.	PUNCT
ap-2272	172	1	(	(	PUNCT
ap-2272	172	2	6	6	X
ap-2272	172	3	)	)	PUNCT
ap-2272	172	4	this	this	DET
ap-2272	172	5	strategy	strategy	NOUN
ap-2272	172	6	may	may	AUX
ap-2272	172	7	stick	stick	VERB
ap-2272	172	8	at	at	ADP
ap-2272	172	9	a	a	DET
ap-2272	172	10	local	local	ADJ
ap-2272	172	11	optimum	optimum	NOUN
ap-2272	172	12	,	,	PUNCT
ap-2272	172	13	so	so	SCONJ
ap-2272	172	14	the	the	DET
ap-2272	172	15	εgreedy	εgreedy	NOUN
ap-2272	172	16	ams	am	NOUN
ap-2272	172	17	is	be	AUX
ap-2272	172	18	often	often	ADV
ap-2272	172	19	used	use	VERB
ap-2272	172	20	.	.	PUNCT
ap-2272	173	1	in	in	ADP
ap-2272	173	2	this	this	DET
ap-2272	173	3	asm	asm	NOUN
ap-2272	173	4	,	,	PUNCT
ap-2272	173	5	parameter	parameter	PROPN
ap-2272	173	6	ε	ε	PROPN
ap-2272	173	7	affects	affect	VERB
ap-2272	173	8	the	the	DET
ap-2272	173	9	amount	amount	NOUN
ap-2272	173	10	of	of	ADP
ap-2272	173	11	randomization	randomization	NOUN
ap-2272	173	12	.	.	PUNCT
ap-2272	174	1	random	random	ADJ
ap-2272	174	2	action	action	NOUN
ap-2272	174	3	is	be	AUX
ap-2272	174	4	selected	select	VERB
ap-2272	174	5	with	with	ADP
ap-2272	174	6	probability	probability	NOUN
ap-2272	174	7	of	of	ADP
ap-2272	174	8	ε	ε	PROPN
ap-2272	174	9	,	,	PUNCT
ap-2272	174	10	while	while	SCONJ
ap-2272	174	11	the	the	DET
ap-2272	174	12	greedy	greedy	ADJ
ap-2272	174	13	strategy	strategy	NOUN
ap-2272	174	14	is	be	AUX
ap-2272	174	15	followed	follow	VERB
ap-2272	174	16	with	with	ADP
ap-2272	174	17	probability	probability	NOUN
ap-2272	174	18	of	of	ADP
ap-2272	174	19	:	:	PUNCT
ap-2272	174	20	p	p	X
ap-2272	174	21	(	(	PUNCT
ap-2272	174	22	a∗t+1	a∗t+1	PROPN
ap-2272	174	23	)	)	PUNCT
ap-2272	174	24	=	=	SYM
ap-2272	174	25	1−	1−	NUM
ap-2272	174	26	ε	ε	PROPN
ap-2272	174	27	.	.	PUNCT
ap-2272	175	1	(	(	PUNCT
ap-2272	175	2	7	7	X
ap-2272	175	3	)	)	PUNCT
ap-2272	175	4	parameter	parameter	NOUN
ap-2272	175	5	ε	ε	PROPN
ap-2272	175	6	therefore	therefore	ADV
ap-2272	175	7	directly	directly	ADV
ap-2272	175	8	balances	balance	VERB
ap-2272	175	9	between	between	ADP
ap-2272	175	10	exploitation	exploitation	NOUN
ap-2272	175	11	of	of	ADP
ap-2272	175	12	knowledge	knowledge	NOUN
ap-2272	175	13	and	and	CCONJ
ap-2272	175	14	exploration	exploration	NOUN
ap-2272	175	15	of	of	ADP
ap-2272	175	16	the	the	DET
ap-2272	175	17	state	state	NOUN
ap-2272	175	18	space	space	NOUN
ap-2272	175	19	around	around	ADP
ap-2272	175	20	the	the	DET
ap-2272	175	21	nearest	near	ADJ
ap-2272	175	22	attractor	attractor	NOUN
ap-2272	175	23	.	.	PUNCT
ap-2272	176	1	in	in	ADP
ap-2272	176	2	order	order	NOUN
ap-2272	176	3	to	to	PART
ap-2272	176	4	provide	provide	VERB
ap-2272	176	5	efficient	efficient	ADJ
ap-2272	176	6	learning	learning	NOUN
ap-2272	176	7	ability	ability	NOUN
ap-2272	176	8	in	in	ADP
ap-2272	176	9	nonepisodic	nonepisodic	ADJ
ap-2272	176	10	experiments	experiment	NOUN
ap-2272	176	11	,	,	PUNCT
ap-2272	176	12	authors	author	NOUN
ap-2272	176	13	introduce	introduce	VERB
ap-2272	176	14	an	an	DET
ap-2272	176	15	input	input	NOUN
ap-2272	176	16	to	to	ADP
ap-2272	176	17	the	the	DET
ap-2272	176	18	neural	neural	ADJ
ap-2272	176	19	module	module	NOUN
ap-2272	176	20	called	call	VERB
ap-2272	176	21	“	"	PUNCT
ap-2272	176	22	importance	importance	NOUN
ap-2272	176	23	”	"	PUNCT
ap-2272	176	24	which	which	PRON
ap-2272	176	25	generally	generally	ADV
ap-2272	176	26	defines	define	VERB
ap-2272	176	27	the	the	DET
ap-2272	176	28	current	current	ADJ
ap-2272	176	29	need	need	NOUN
ap-2272	176	30	for	for	ADP
ap-2272	176	31	“	"	PUNCT
ap-2272	176	32	services	service	NOUN
ap-2272	176	33	”	"	PUNCT
ap-2272	176	34	provided	provide	VERB
ap-2272	176	35	by	by	ADP
ap-2272	176	36	the	the	DET
ap-2272	176	37	module	module	NOUN
ap-2272	176	38	.	.	PUNCT
ap-2272	177	1	for	for	ADP
ap-2272	177	2	the	the	DET
ap-2272	177	3	q(λ	q(λ	ADJ
ap-2272	177	4	)	)	PUNCT
ap-2272	177	5	module	module	NOUN
ap-2272	177	6	,	,	PUNCT
ap-2272	177	7	the	the	DET
ap-2272	177	8	importance	importance	NOUN
ap-2272	177	9	input	input	NOUN
ap-2272	177	10	represents	represent	VERB
ap-2272	177	11	the	the	DET
ap-2272	177	12	motivation	motivation	NOUN
ap-2272	177	13	for	for	ADP
ap-2272	177	14	the	the	DET
ap-2272	177	15	behavior	behavior	NOUN
ap-2272	177	16	represented	represent	VERB
ap-2272	177	17	by	by	ADP
ap-2272	177	18	this	this	DET
ap-2272	177	19	node	node	NOUN
ap-2272	177	20	,	,	PUNCT
ap-2272	177	21	see	see	VERB
ap-2272	177	22	fig	fig	NOUN
ap-2272	177	23	.	.	PUNCT
ap-2272	178	1	2	2	X
ap-2272	178	2	.	.	X
ap-2272	178	3	the	the	DET
ap-2272	178	4	amount	amount	NOUN
ap-2272	178	5	of	of	ADP
ap-2272	178	6	randomization	randomization	NOUN
ap-2272	178	7	in	in	ADP
ap-2272	178	8	the	the	DET
ap-2272	178	9	asm	asm	NOUN
ap-2272	178	10	should	should	AUX
ap-2272	178	11	be	be	AUX
ap-2272	178	12	indirectly	indirectly	ADV
ap-2272	178	13	proportional	proportional	ADJ
ap-2272	178	14	to	to	ADP
ap-2272	178	15	the	the	DET
ap-2272	178	16	importance	importance	NOUN
ap-2272	178	17	input	input	NOUN
ap-2272	178	18	.	.	PUNCT
ap-2272	179	1	here	here	ADV
ap-2272	179	2	,	,	PUNCT
ap-2272	179	3	the	the	DET
ap-2272	179	4	ε	ε	PROPN
ap-2272	179	5	-	-	PUNCT
ap-2272	179	6	greedy	greedy	ADJ
ap-2272	179	7	asm	asm	NOUN
ap-2272	179	8	is	be	AUX
ap-2272	179	9	used	use	VERB
ap-2272	179	10	,	,	PUNCT
ap-2272	179	11	but	but	CCONJ
ap-2272	179	12	the	the	DET
ap-2272	179	13	randomization	randomization	NOUN
ap-2272	179	14	is	be	AUX
ap-2272	179	15	defined	define	VERB
ap-2272	179	16	as	as	ADP
ap-2272	179	17	:	:	PUNCT
ap-2272	179	18	ε	ε	PROPN
ap-2272	179	19	=	=	SYM
ap-2272	179	20	1−	1−	NUM
ap-2272	179	21	importance	importance	NOUN
ap-2272	179	22	.	.	PUNCT
ap-2272	180	1	(	(	PUNCT
ap-2272	180	2	8)	8)	NUM
ap-2272	180	3	by	by	ADP
ap-2272	180	4	increasing	increase	VERB
ap-2272	180	5	the	the	DET
ap-2272	180	6	importance	importance	NOUN
ap-2272	180	7	of	of	ADP
ap-2272	180	8	the	the	DET
ap-2272	180	9	q(λ	q(λ	ADJ
ap-2272	180	10	)	)	PUNCT
ap-2272	180	11	module	module	NOUN
ap-2272	180	12	(	(	PUNCT
ap-2272	180	13	increasing	increase	VERB
ap-2272	180	14	the	the	DET
ap-2272	180	15	motivation	motivation	NOUN
ap-2272	180	16	for	for	ADP
ap-2272	180	17	executing	execute	VERB
ap-2272	180	18	a	a	DET
ap-2272	180	19	behavior	behavior	NOUN
ap-2272	180	20	represented	represent	VERB
ap-2272	180	21	by	by	ADP
ap-2272	180	22	this	this	DET
ap-2272	180	23	node	node	NOUN
ap-2272	180	24	)	)	PUNCT
ap-2272	180	25	,	,	PUNCT
ap-2272	180	26	the	the	DET
ap-2272	180	27	probability	probability	NOUN
ap-2272	180	28	of	of	ADP
ap-2272	180	29	taking	take	VERB
ap-2272	180	30	the	the	DET
ap-2272	180	31	greedy	greedy	ADJ
ap-2272	180	32	action	action	NOUN
ap-2272	180	33	a∗	a∗	NOUN
ap-2272	180	34	increases	increase	NOUN
ap-2272	180	35	.	.	PUNCT
ap-2272	181	1	this	this	PRON
ap-2272	181	2	means	mean	VERB
ap-2272	181	3	that	that	SCONJ
ap-2272	181	4	the	the	DET
ap-2272	181	5	importance	importance	NOUN
ap-2272	181	6	enables	enable	VERB
ap-2272	181	7	the	the	DET
ap-2272	181	8	agent	agent	NOUN
ap-2272	181	9	to	to	PART
ap-2272	181	10	learn	learn	VERB
ap-2272	181	11	by	by	ADP
ap-2272	181	12	exploration	exploration	NOUN
ap-2272	181	13	in	in	ADP
ap-2272	181	14	free	free	ADJ
ap-2272	181	15	time	time	NOUN
ap-2272	181	16	and	and	CCONJ
ap-2272	181	17	to	to	PART
ap-2272	181	18	exploit	exploit	VERB
ap-2272	181	19	the	the	DET
ap-2272	181	20	information	information	NOUN
ap-2272	181	21	if	if	SCONJ
ap-2272	181	22	needed	need	VERB
ap-2272	181	23	.	.	PUNCT
ap-2272	182	1	3.1.3	3.1.3	NUM
ap-2272	182	2	.	.	PUNCT
ap-2272	182	3	prosperity	prosperity	NOUN
ap-2272	182	4	of	of	ADP
ap-2272	182	5	the	the	DET
ap-2272	182	6	reinforcement	reinforcement	NOUN
ap-2272	182	7	learning	learning	NOUN
ap-2272	182	8	module	module	NOUN
ap-2272	182	9	this	this	DET
ap-2272	182	10	subjective	subjective	ADJ
ap-2272	182	11	online	online	ADJ
ap-2272	182	12	heuristics	heuristic	NOUN
ap-2272	182	13	estimates	estimate	VERB
ap-2272	182	14	how	how	SCONJ
ap-2272	182	15	efficiently	efficiently	ADV
ap-2272	182	16	the	the	DET
ap-2272	182	17	module	module	NOUN
ap-2272	182	18	is	be	AUX
ap-2272	182	19	used	use	VERB
ap-2272	182	20	in	in	ADP
ap-2272	182	21	the	the	DET
ap-2272	182	22	current	current	ADJ
ap-2272	182	23	topology	topology	NOUN
ap-2272	182	24	during	during	ADP
ap-2272	182	25	the	the	DET
ap-2272	182	26	current	current	ADJ
ap-2272	182	27	simulation	simulation	NOUN
ap-2272	182	28	(	(	PUNCT
ap-2272	182	29	task	task	NOUN
ap-2272	182	30	)	)	PUNCT
ap-2272	182	31	.	.	PUNCT
ap-2272	183	1	since	since	SCONJ
ap-2272	183	2	the	the	DET
ap-2272	183	3	q(λ	q(λ	ADJ
ap-2272	183	4	)	)	PUNCT
ap-2272	183	5	module	module	NOUN
ap-2272	183	6	has	have	VERB
ap-2272	183	7	to	to	PART
ap-2272	183	8	follow	follow	VERB
ap-2272	183	9	two	two	NUM
ap-2272	183	10	antagonistic	antagonistic	ADJ
ap-2272	183	11	objectives	objective	NOUN
ap-2272	183	12	(	(	PUNCT
ap-2272	183	13	exploitation	exploitation	NOUN
ap-2272	183	14	vs.	vs.	ADP
ap-2272	183	15	exploration	exploration	NOUN
ap-2272	183	16	)	)	PUNCT
ap-2272	183	17	,	,	PUNCT
ap-2272	183	18	it	it	PRON
ap-2272	183	19	can	can	AUX
ap-2272	183	20	be	be	AUX
ap-2272	183	21	difficult	difficult	ADJ
ap-2272	183	22	to	to	PART
ap-2272	183	23	represent	represent	VERB
ap-2272	183	24	the	the	DET
ap-2272	183	25	efficiency	efficiency	NOUN
ap-2272	183	26	of	of	ADP
ap-2272	183	27	its	its	PRON
ap-2272	183	28	use	use	NOUN
ap-2272	183	29	by	by	ADP
ap-2272	183	30	a	a	DET
ap-2272	183	31	single	single	ADJ
ap-2272	183	32	value	value	NOUN
ap-2272	183	33	.	.	PUNCT
ap-2272	184	1	the	the	DET
ap-2272	184	2	heuristics	heuristic	NOUN
ap-2272	184	3	that	that	PRON
ap-2272	184	4	is	be	AUX
ap-2272	184	5	currently	currently	ADV
ap-2272	184	6	being	be	AUX
ap-2272	184	7	used	use	VERB
ap-2272	184	8	is	be	AUX
ap-2272	184	9	represented	represent	VERB
ap-2272	184	10	by	by	ADP
ap-2272	184	11	the	the	DET
ap-2272	184	12	following	follow	VERB
ap-2272	184	13	equation	equation	NOUN
ap-2272	184	14	:	:	PUNCT
ap-2272	184	15	pt	pt	PROPN
ap-2272	184	16	=	=	PUNCT
ap-2272	184	17	cover	cover	NOUN
ap-2272	184	18	t	t	NOUN
ap-2272	184	19	+	+	CCONJ
ap-2272	184	20	mcrt	mcrt	PROPN
ap-2272	184	21	2	2	NUM
ap-2272	184	22	,	,	PUNCT
ap-2272	184	23	(	(	PUNCT
ap-2272	184	24	9	9	NUM
ap-2272	184	25	)	)	PUNCT
ap-2272	184	26	371	371	NUM
ap-2272	184	27	jaroslav	jaroslav	PROPN
ap-2272	184	28	vítků	vítků	PROPN
ap-2272	184	29	,	,	PUNCT
ap-2272	184	30	pavel	pavel	PROPN
ap-2272	184	31	nahodil	nahodil	PROPN
ap-2272	184	32	acta	acta	PROPN
ap-2272	184	33	polytechnica	polytechnica	PROPN
ap-2272	184	34	figure	figure	NOUN
ap-2272	184	35	4	4	NUM
ap-2272	184	36	.	.	PUNCT
ap-2272	184	37	scheme	scheme	NOUN
ap-2272	184	38	of	of	ADP
ap-2272	184	39	mapping	map	VERB
ap-2272	184	40	the	the	DET
ap-2272	184	41	genotype	genotype	NOUN
ap-2272	184	42	(	(	PUNCT
ap-2272	184	43	vector	vector	NOUN
ap-2272	184	44	of	of	ADP
ap-2272	184	45	binary	binary	ADJ
ap-2272	184	46	/	/	SYM
ap-2272	184	47	real	real	ADJ
ap-2272	184	48	values	value	NOUN
ap-2272	184	49	)	)	PUNCT
ap-2272	184	50	to	to	ADP
ap-2272	184	51	the	the	DET
ap-2272	184	52	phenotype	phenotype	NOUN
ap-2272	184	53	(	(	PUNCT
ap-2272	184	54	working	work	VERB
ap-2272	184	55	agent	agent	NOUN
ap-2272	184	56	architecture	architecture	NOUN
ap-2272	184	57	)	)	PUNCT
ap-2272	184	58	.	.	PUNCT
ap-2272	185	1	the	the	DET
ap-2272	185	2	physiological	physiological	ADJ
ap-2272	185	3	module	module	NOUN
ap-2272	185	4	is	be	AUX
ap-2272	185	5	wired	wire	VERB
ap-2272	185	6	to	to	ADP
ap-2272	185	7	the	the	DET
ap-2272	185	8	reward	reward	NOUN
ap-2272	185	9	source	source	NOUN
ap-2272	185	10	in	in	ADP
ap-2272	185	11	the	the	DET
ap-2272	185	12	map	map	NOUN
ap-2272	185	13	,	,	PUNCT
ap-2272	185	14	and	and	CCONJ
ap-2272	185	15	this	this	PRON
ap-2272	185	16	determines	determine	VERB
ap-2272	185	17	the	the	DET
ap-2272	185	18	main	main	ADJ
ap-2272	185	19	goal	goal	NOUN
ap-2272	185	20	of	of	ADP
ap-2272	185	21	the	the	DET
ap-2272	185	22	agent	agent	NOUN
ap-2272	185	23	(	(	PUNCT
ap-2272	185	24	by	by	ADP
ap-2272	185	25	the	the	DET
ap-2272	185	26	module	module	NOUN
ap-2272	185	27	’s	’s	PART
ap-2272	185	28	prosperity	prosperity	NOUN
ap-2272	185	29	value	value	NOUN
ap-2272	185	30	)	)	PUNCT
ap-2272	185	31	.	.	PUNCT
ap-2272	186	1	all	all	DET
ap-2272	186	2	configuration	configuration	NOUN
ap-2272	186	3	inputs	input	NOUN
ap-2272	186	4	are	be	AUX
ap-2272	186	5	unconnected	unconnected	ADJ
ap-2272	186	6	,	,	PUNCT
ap-2272	186	7	so	so	CCONJ
ap-2272	186	8	the	the	DET
ap-2272	186	9	default	default	NOUN
ap-2272	186	10	parameters	parameter	NOUN
ap-2272	186	11	are	be	AUX
ap-2272	186	12	used	use	VERB
ap-2272	186	13	.	.	PUNCT
ap-2272	187	1	outputs	output	NOUN
ap-2272	187	2	of	of	ADP
ap-2272	187	3	the	the	DET
ap-2272	187	4	q	q	ADJ
ap-2272	187	5	-	-	PUNCT
ap-2272	187	6	lambda	lambda	ADJ
ap-2272	187	7	module	module	NOUN
ap-2272	187	8	are	be	AUX
ap-2272	187	9	directly	directly	ADV
ap-2272	187	10	wired	wire	VERB
ap-2272	187	11	to	to	ADP
ap-2272	187	12	agent	agent	NOUN
ap-2272	187	13	’s	’s	PART
ap-2272	187	14	actuators	actuator	NOUN
ap-2272	187	15	.	.	PUNCT
ap-2272	188	1	the	the	DET
ap-2272	188	2	genotype	genotype	NOUN
ap-2272	188	3	of	of	ADP
ap-2272	188	4	the	the	DET
ap-2272	188	5	hand	hand	NOUN
ap-2272	188	6	-	-	PUNCT
ap-2272	188	7	designed	design	VERB
ap-2272	188	8	architecture	architecture	NOUN
ap-2272	188	9	is	be	AUX
ap-2272	188	10	depicted	depict	VERB
ap-2272	188	11	at	at	ADP
ap-2272	188	12	the	the	DET
ap-2272	188	13	bottom	bottom	NOUN
ap-2272	188	14	and	and	CCONJ
ap-2272	188	15	its	its	PRON
ap-2272	188	16	connections	connection	NOUN
ap-2272	188	17	are	be	AUX
ap-2272	188	18	highlighted	highlight	VERB
ap-2272	188	19	in	in	ADP
ap-2272	188	20	the	the	DET
ap-2272	188	21	scheme	scheme	NOUN
ap-2272	188	22	.	.	PUNCT
ap-2272	189	1	variables	variable	NOUN
ap-2272	189	2	representing	represent	VERB
ap-2272	189	3	the	the	DET
ap-2272	189	4	state	state	NOUN
ap-2272	189	5	of	of	ADP
ap-2272	189	6	the	the	DET
ap-2272	189	7	environment	environment	NOUN
ap-2272	189	8	(	(	PUNCT
ap-2272	189	9	x	x	X
ap-2272	189	10	,	,	PUNCT
ap-2272	189	11	y	y	PROPN
ap-2272	189	12	coordinates	coordinate	NOUN
ap-2272	189	13	)	)	PUNCT
ap-2272	189	14	are	be	AUX
ap-2272	189	15	connected	connect	VERB
ap-2272	189	16	to	to	ADP
ap-2272	189	17	the	the	DET
ap-2272	189	18	data	data	NOUN
ap-2272	189	19	inputs	input	NOUN
ap-2272	189	20	of	of	ADP
ap-2272	189	21	the	the	DET
ap-2272	189	22	q	q	ADJ
ap-2272	189	23	-	-	PUNCT
ap-2272	189	24	lambda	lambda	ADJ
ap-2272	189	25	node	node	NOUN
ap-2272	189	26	.	.	PUNCT
ap-2272	190	1	the	the	DET
ap-2272	190	2	reinforcement	reinforcement	NOUN
ap-2272	190	3	is	be	AUX
ap-2272	190	4	connected	connect	VERB
ap-2272	190	5	to	to	ADP
ap-2272	190	6	the	the	DET
ap-2272	190	7	physiological	physiological	ADJ
ap-2272	190	8	module	module	NOUN
ap-2272	190	9	,	,	PUNCT
ap-2272	190	10	which	which	PRON
ap-2272	190	11	produces	produce	VERB
ap-2272	190	12	motivation	motivation	NOUN
ap-2272	190	13	for	for	ADP
ap-2272	190	14	the	the	DET
ap-2272	190	15	asm	asm	NOUN
ap-2272	190	16	and	and	CCONJ
ap-2272	190	17	a	a	DET
ap-2272	190	18	reward	reward	NOUN
ap-2272	190	19	for	for	ADP
ap-2272	190	20	learning	learn	VERB
ap-2272	190	21	in	in	ADP
ap-2272	190	22	the	the	DET
ap-2272	190	23	q	q	ADJ
ap-2272	190	24	-	-	PUNCT
ap-2272	190	25	lambda	lambda	ADJ
ap-2272	190	26	module	module	NOUN
ap-2272	190	27	.	.	PUNCT
ap-2272	191	1	where	where	SCONJ
ap-2272	191	2	the	the	DET
ap-2272	191	3	mean	mean	ADJ
ap-2272	191	4	cumulative	cumulative	ADJ
ap-2272	191	5	reward	reward	NOUN
ap-2272	191	6	(	(	PUNCT
ap-2272	191	7	mcr	mcr	PROPN
ap-2272	191	8	)	)	PUNCT
ap-2272	191	9	is	be	AUX
ap-2272	191	10	defined	define	VERB
ap-2272	191	11	as	as	ADP
ap-2272	191	12	the	the	DET
ap-2272	191	13	mean	mean	ADJ
ap-2272	191	14	reward	reward	NOUN
ap-2272	191	15	(	(	PUNCT
ap-2272	191	16	r	r	NOUN
ap-2272	191	17	)	)	PUNCT
ap-2272	191	18	received	receive	VERB
ap-2272	191	19	during	during	ADP
ap-2272	191	20	the	the	DET
ap-2272	191	21	simulation	simulation	NOUN
ap-2272	191	22	until	until	SCONJ
ap-2272	191	23	time	time	NOUN
ap-2272	191	24	step	step	NOUN
ap-2272	191	25	t.	t.	NOUN
ap-2272	191	26	this	this	PRON
ap-2272	191	27	represents	represent	VERB
ap-2272	191	28	the	the	DET
ap-2272	191	29	efficiency	efficiency	NOUN
ap-2272	191	30	of	of	ADP
ap-2272	191	31	knowledge	knowledge	NOUN
ap-2272	191	32	exploitation	exploitation	NOUN
ap-2272	191	33	:	:	PUNCT
ap-2272	191	34	mcrt	mcrt	NOUN
ap-2272	191	35	=	=	PUNCT
ap-2272	191	36	∑	∑	PUNCT
ap-2272	191	37	i	i	PRON
ap-2272	191	38	ri	ri	VERB
ap-2272	191	39	i	i	PRON
ap-2272	191	40	∀i	∀i	AUX
ap-2272	191	41	=	=	SYM
ap-2272	191	42	0	0	NUM
ap-2272	191	43	,	,	PUNCT
ap-2272	191	44	1	1	NUM
ap-2272	191	45	,	,	PUNCT
ap-2272	191	46	.	.	PUNCT
ap-2272	191	47	.	.	PUNCT
ap-2272	192	1	.	.	PUNCT
ap-2272	193	1	,	,	PUNCT
ap-2272	193	2	t.	t.	NOUN
ap-2272	193	3	(	(	PUNCT
ap-2272	193	4	10	10	NUM
ap-2272	193	5	)	)	PUNCT
ap-2272	193	6	the	the	DET
ap-2272	193	7	value	value	NOUN
ap-2272	193	8	of	of	ADP
ap-2272	193	9	cover	cover	NOUN
ap-2272	193	10	t	t	NOUN
ap-2272	193	11	represents	represent	VERB
ap-2272	193	12	how	how	SCONJ
ap-2272	193	13	many	many	ADJ
ap-2272	193	14	states	state	NOUN
ap-2272	193	15	of	of	ADP
ap-2272	193	16	the	the	DET
ap-2272	193	17	entire	entire	ADJ
ap-2272	193	18	state	state	NOUN
ap-2272	193	19	-	-	PUNCT
ap-2272	193	20	space	space	NOUN
ap-2272	193	21	have	have	AUX
ap-2272	193	22	been	be	AUX
ap-2272	193	23	visited	visit	VERB
ap-2272	193	24	so	so	ADV
ap-2272	193	25	far	far	ADV
ap-2272	193	26	:	:	PUNCT
ap-2272	193	27	cover	cover	VERB
ap-2272	193	28	t	t	NOUN
ap-2272	193	29	=	=	PUNCT
ap-2272	193	30	∑	∑	PUNCT
ap-2272	193	31	i∈visited	i∈visite	VERB
ap-2272	193	32	si∑	si∑	NOUN
ap-2272	193	33	s∈s	s∈s	NOUN
ap-2272	193	34	,	,	PUNCT
ap-2272	193	35	(	(	PUNCT
ap-2272	193	36	11	11	NUM
ap-2272	193	37	)	)	PUNCT
ap-2272	193	38	this	this	DET
ap-2272	193	39	value	value	NOUN
ap-2272	193	40	represents	represent	VERB
ap-2272	193	41	exploration	exploration	NOUN
ap-2272	193	42	efficiency	efficiency	NOUN
ap-2272	193	43	.	.	PUNCT
ap-2272	194	1	3.2	3.2	NUM
ap-2272	194	2	.	.	PUNCT
ap-2272	194	3	motivation	motivation	NOUN
ap-2272	194	4	source	source	NOUN
ap-2272	194	5	module	module	NOUN
ap-2272	194	6	in	in	ADP
ap-2272	194	7	order	order	NOUN
ap-2272	194	8	to	to	PART
ap-2272	194	9	represent	represent	VERB
ap-2272	194	10	agents	agent	NOUN
ap-2272	194	11	’	'	PUNCT
ap-2272	194	12	needs	need	NOUN
ap-2272	194	13	,	,	PUNCT
ap-2272	194	14	their	their	PRON
ap-2272	194	15	physiology	physiology	NOUN
ap-2272	194	16	can	can	AUX
ap-2272	194	17	be	be	AUX
ap-2272	194	18	modeled	model	VERB
ap-2272	194	19	[	[	X
ap-2272	194	20	12	12	NUM
ap-2272	194	21	]	]	PUNCT
ap-2272	194	22	.	.	PUNCT
ap-2272	195	1	it	it	PRON
ap-2272	195	2	has	have	AUX
ap-2272	195	3	been	be	AUX
ap-2272	195	4	shown	show	VERB
ap-2272	195	5	that	that	SCONJ
ap-2272	195	6	decomposing	decompose	VERB
ap-2272	195	7	the	the	DET
ap-2272	195	8	task	task	NOUN
ap-2272	195	9	into	into	ADP
ap-2272	195	10	subtasks	subtask	NOUN
ap-2272	195	11	can	can	AUX
ap-2272	195	12	help	help	VERB
ap-2272	195	13	the	the	DET
ap-2272	195	14	rl	rl	NOUN
ap-2272	195	15	to	to	PART
ap-2272	195	16	learn	learn	VERB
ap-2272	195	17	more	more	ADV
ap-2272	195	18	efficiently	efficiently	ADV
ap-2272	195	19	,	,	PUNCT
ap-2272	195	20	which	which	PRON
ap-2272	195	21	is	be	AUX
ap-2272	195	22	beneficial	beneficial	ADJ
ap-2272	195	23	especially	especially	ADV
ap-2272	195	24	in	in	ADP
ap-2272	195	25	more	more	ADV
ap-2272	195	26	complex	complex	ADJ
ap-2272	195	27	tasks	task	NOUN
ap-2272	195	28	or	or	CCONJ
ap-2272	195	29	in	in	ADP
ap-2272	195	30	tasks	task	NOUN
ap-2272	195	31	that	that	PRON
ap-2272	195	32	are	be	AUX
ap-2272	195	33	difficult	difficult	ADJ
ap-2272	195	34	for	for	SCONJ
ap-2272	195	35	rl	rl	NOUN
ap-2272	195	36	to	to	PART
ap-2272	195	37	learn	learn	VERB
ap-2272	195	38	[	[	X
ap-2272	195	39	13	13	NUM
ap-2272	195	40	]	]	PUNCT
ap-2272	195	41	.	.	PUNCT
ap-2272	196	1	the	the	DET
ap-2272	196	2	agents	agent	NOUN
ap-2272	196	3	’	'	PUNCT
ap-2272	196	4	needs	need	NOUN
ap-2272	196	5	can	can	AUX
ap-2272	196	6	represent	represent	VERB
ap-2272	196	7	the	the	DET
ap-2272	196	8	motivation	motivation	NOUN
ap-2272	196	9	to	to	PART
ap-2272	196	10	execute	execute	VERB
ap-2272	196	11	/	/	SYM
ap-2272	196	12	learn	learn	VERB
ap-2272	196	13	these	these	DET
ap-2272	196	14	subtasks	subtask	NOUN
ap-2272	196	15	of	of	ADP
ap-2272	196	16	such	such	DET
ap-2272	196	17	a	a	DET
ap-2272	196	18	more	more	ADV
ap-2272	196	19	complicated	complicated	ADJ
ap-2272	196	20	policy	policy	NOUN
ap-2272	196	21	.	.	PUNCT
ap-2272	197	1	the	the	DET
ap-2272	197	2	second	second	ADJ
ap-2272	197	3	neural	neural	ADJ
ap-2272	197	4	module	module	NOUN
ap-2272	197	5	,	,	PUNCT
ap-2272	197	6	which	which	PRON
ap-2272	197	7	serves	serve	VERB
ap-2272	197	8	as	as	ADP
ap-2272	197	9	a	a	DET
ap-2272	197	10	motivation	motivation	NOUN
ap-2272	197	11	source	source	NOUN
ap-2272	197	12	and	and	CCONJ
ap-2272	197	13	holds	hold	VERB
ap-2272	197	14	one	one	NUM
ap-2272	197	15	physiological	physiological	ADJ
ap-2272	197	16	variable	variable	NOUN
ap-2272	197	17	is	be	AUX
ap-2272	197	18	used	use	VERB
ap-2272	197	19	here	here	ADV
ap-2272	197	20	.	.	PUNCT
ap-2272	198	1	the	the	DET
ap-2272	198	2	value	value	NOUN
ap-2272	198	3	of	of	ADP
ap-2272	198	4	this	this	DET
ap-2272	198	5	variable	variable	ADJ
ap-2272	198	6	decays	decay	VERB
ap-2272	198	7	with	with	ADP
ap-2272	198	8	predefined	predefine	VERB
ap-2272	198	9	dynamics	dynamic	NOUN
ap-2272	198	10	in	in	ADP
ap-2272	198	11	time	time	NOUN
ap-2272	198	12	.	.	PUNCT
ap-2272	199	1	the	the	DET
ap-2272	199	2	value	value	NOUN
ap-2272	199	3	of	of	ADP
ap-2272	199	4	0	0	NUM
ap-2272	199	5	represents	represent	VERB
ap-2272	199	6	purgatory	purgatory	ADJ
ap-2272	199	7	area	area	NOUN
ap-2272	199	8	and	and	CCONJ
ap-2272	199	9	the	the	DET
ap-2272	199	10	value	value	NOUN
ap-2272	199	11	of	of	ADP
ap-2272	199	12	1	1	NUM
ap-2272	199	13	represents	represent	VERB
ap-2272	199	14	the	the	DET
ap-2272	199	15	limbo	limbo	NOUN
ap-2272	199	16	area	area	NOUN
ap-2272	199	17	.	.	PUNCT
ap-2272	200	1	the	the	DET
ap-2272	200	2	amount	amount	NOUN
ap-2272	200	3	of	of	ADP
ap-2272	200	4	motivation	motivation	NOUN
ap-2272	200	5	is	be	AUX
ap-2272	200	6	indirectly	indirectly	ADV
ap-2272	200	7	dependent	dependent	ADJ
ap-2272	200	8	on	on	ADP
ap-2272	200	9	the	the	DET
ap-2272	200	10	physiological	physiological	ADJ
ap-2272	200	11	variable	variable	NOUN
ap-2272	200	12	.	.	PUNCT
ap-2272	201	1	in	in	ADP
ap-2272	201	2	the	the	DET
ap-2272	201	3	limbo	limbo	NOUN
ap-2272	201	4	area	area	NOUN
ap-2272	201	5	,	,	PUNCT
ap-2272	201	6	no	no	DET
ap-2272	201	7	motivation	motivation	NOUN
ap-2272	201	8	is	be	AUX
ap-2272	201	9	produced	produce	VERB
ap-2272	201	10	,	,	PUNCT
ap-2272	201	11	while	while	SCONJ
ap-2272	201	12	the	the	DET
ap-2272	201	13	purgatory	purgatory	ADJ
ap-2272	201	14	area	area	NOUN
ap-2272	201	15	represents	represent	VERB
ap-2272	201	16	the	the	DET
ap-2272	201	17	maximum	maximum	ADJ
ap-2272	201	18	motivation	motivation	NOUN
ap-2272	201	19	/	/	SYM
ap-2272	201	20	need	need	NOUN
ap-2272	201	21	.	.	PUNCT
ap-2272	202	1	the	the	DET
ap-2272	202	2	simple	simple	ADJ
ap-2272	202	3	dynamics	dynamic	NOUN
ap-2272	202	4	of	of	ADP
ap-2272	202	5	the	the	DET
ap-2272	202	6	physiological	physiological	ADJ
ap-2272	202	7	variable	variable	NOUN
ap-2272	202	8	is	be	AUX
ap-2272	202	9	defined	define	VERB
ap-2272	202	10	as	as	SCONJ
ap-2272	202	11	follows	follow	VERB
ap-2272	202	12	:	:	PUNCT
ap-2272	203	1	vt+1	vt+1	PROPN
ap-2272	203	2	=	=	SYM
ap-2272	203	3	vt	vt	PROPN
ap-2272	203	4	−	−	PROPN
ap-2272	203	5	decay	decay	NOUN
ap-2272	203	6	.	.	PUNCT
ap-2272	204	1	(	(	PUNCT
ap-2272	204	2	12	12	NUM
ap-2272	204	3	)	)	PUNCT
ap-2272	204	4	the	the	DET
ap-2272	204	5	amount	amount	NOUN
ap-2272	204	6	of	of	ADP
ap-2272	204	7	motivation	motivation	NOUN
ap-2272	204	8	that	that	PRON
ap-2272	204	9	is	be	AUX
ap-2272	204	10	produced	produce	VERB
ap-2272	204	11	is	be	AUX
ap-2272	204	12	determined	determine	VERB
ap-2272	204	13	by	by	ADP
ap-2272	204	14	applying	apply	VERB
ap-2272	204	15	the	the	DET
ap-2272	204	16	sigmoid	sigmoid	NOUN
ap-2272	204	17	to	to	ADP
ap-2272	204	18	the	the	DET
ap-2272	204	19	inverse	inverse	NOUN
ap-2272	204	20	value	value	NOUN
ap-2272	204	21	of	of	ADP
ap-2272	204	22	physiological	physiological	ADJ
ap-2272	204	23	variable	variable	NOUN
ap-2272	204	24	v	v	NOUN
ap-2272	204	25	.	.	PUNCT
ap-2272	205	1	the	the	DET
ap-2272	205	2	resulting	result	VERB
ap-2272	205	3	amount	amount	NOUN
ap-2272	205	4	of	of	ADP
ap-2272	205	5	motivation	motivation	NOUN
ap-2272	205	6	m	m	VERB
ap-2272	205	7	at	at	ADP
ap-2272	205	8	time	time	NOUN
ap-2272	205	9	t	t	PROPN
ap-2272	205	10	is	be	AUX
ap-2272	205	11	:	:	PUNCT
ap-2272	205	12	mt	mt	PROPN
ap-2272	205	13	=	=	NOUN
ap-2272	205	14	1	1	NUM
ap-2272	205	15	1	1	NUM
ap-2272	205	16	+	+	NUM
ap-2272	205	17	emin+(max−min)×(1−vt	emin+(max−min)×(1−vt	NOUN
ap-2272	205	18	)	)	PUNCT
ap-2272	205	19	,	,	PUNCT
ap-2272	205	20	(	(	PUNCT
ap-2272	205	21	13	13	NUM
ap-2272	205	22	)	)	PUNCT
ap-2272	205	23	where	where	SCONJ
ap-2272	205	24	themin	themin	PROPN
ap-2272	205	25	andmax	andmax	PROPN
ap-2272	205	26	parameters	parameter	NOUN
ap-2272	205	27	are	be	AUX
ap-2272	205	28	chosen	choose	VERB
ap-2272	205	29	so	so	SCONJ
ap-2272	205	30	that	that	SCONJ
ap-2272	205	31	the	the	DET
ap-2272	205	32	value	value	NOUN
ap-2272	205	33	of	of	ADP
ap-2272	205	34	the	the	DET
ap-2272	205	35	variable	variable	ADJ
ap-2272	205	36	vt	vt	NOUN
ap-2272	205	37	=	=	SYM
ap-2272	205	38	0	0	NUM
ap-2272	205	39	roughly	roughly	ADV
ap-2272	205	40	corresponds	correspond	VERB
ap-2272	205	41	to	to	ADP
ap-2272	205	42	the	the	DET
ap-2272	205	43	motivation	motivation	NOUN
ap-2272	205	44	of	of	ADP
ap-2272	205	45	mt	mt	PROPN
ap-2272	205	46	=	=	PROPN
ap-2272	206	1	1	1	X
ap-2272	206	2	.	.	PUNCT
ap-2272	207	1	if	if	SCONJ
ap-2272	207	2	the	the	DET
ap-2272	207	3	reward	reward	NOUN
ap-2272	207	4	is	be	AUX
ap-2272	207	5	received	receive	VERB
ap-2272	207	6	,	,	PUNCT
ap-2272	207	7	the	the	DET
ap-2272	207	8	value	value	NOUN
ap-2272	207	9	of	of	ADP
ap-2272	207	10	vt+1	vt+1	PROPN
ap-2272	207	11	is	be	AUX
ap-2272	207	12	set	set	VERB
ap-2272	207	13	to	to	ADP
ap-2272	207	14	one	one	NUM
ap-2272	207	15	,	,	PUNCT
ap-2272	207	16	and	and	CCONJ
ap-2272	207	17	therefore	therefore	ADV
ap-2272	207	18	the	the	DET
ap-2272	207	19	motivation	motivation	NOUN
ap-2272	207	20	decreases	decrease	VERB
ap-2272	207	21	towards	towards	ADP
ap-2272	207	22	0	0	NUM
ap-2272	207	23	,	,	PUNCT
ap-2272	207	24	which	which	PRON
ap-2272	207	25	switches	switch	VERB
ap-2272	207	26	the	the	DET
ap-2272	207	27	agent	agent	NOUN
ap-2272	207	28	back	back	ADV
ap-2272	207	29	towards	towards	ADP
ap-2272	207	30	exploration	exploration	NOUN
ap-2272	207	31	.	.	PUNCT
ap-2272	208	1	3.2.1	3.2.1	X
ap-2272	208	2	.	.	PUNCT
ap-2272	208	3	prosperity	prosperity	NOUN
ap-2272	208	4	of	of	ADP
ap-2272	208	5	the	the	DET
ap-2272	208	6	motivation	motivation	NOUN
ap-2272	208	7	source	source	NOUN
ap-2272	208	8	module	module	NOUN
ap-2272	208	9	if	if	SCONJ
ap-2272	208	10	the	the	DET
ap-2272	208	11	agent	agent	NOUN
ap-2272	208	12	behaves	behave	VERB
ap-2272	208	13	efficiently	efficiently	ADV
ap-2272	208	14	enough	enough	ADV
ap-2272	208	15	,	,	PUNCT
ap-2272	208	16	the	the	DET
ap-2272	208	17	mean	mean	ADJ
ap-2272	208	18	motivation	motivation	NOUN
ap-2272	208	19	produced	produce	VERB
ap-2272	208	20	by	by	ADP
ap-2272	208	21	this	this	DET
ap-2272	208	22	module	module	NOUN
ap-2272	208	23	is	be	AUX
ap-2272	208	24	low	low	ADJ
ap-2272	208	25	.	.	PUNCT
ap-2272	209	1	the	the	DET
ap-2272	209	2	mean	mean	ADJ
ap-2272	209	3	motivation	motivation	NOUN
ap-2272	209	4	value	value	NOUN
ap-2272	209	5	can	can	AUX
ap-2272	209	6	be	be	AUX
ap-2272	209	7	expressed	express	VERB
ap-2272	209	8	by	by	ADP
ap-2272	209	9	the	the	DET
ap-2272	209	10	mean	mean	ADJ
ap-2272	209	11	state	state	NOUN
ap-2272	209	12	distance	distance	NOUN
ap-2272	209	13	to	to	ADP
ap-2272	209	14	optimal	optimal	ADJ
ap-2272	209	15	conditions	condition	NOUN
ap-2272	209	16	(	(	PUNCT
ap-2272	209	17	sf	sf	NOUN
ap-2272	209	18	)	)	PUNCT
ap-2272	209	19	,	,	PUNCT
ap-2272	209	20	which	which	PRON
ap-2272	209	21	is	be	AUX
ap-2272	209	22	defined	define	VERB
ap-2272	209	23	as	as	SCONJ
ap-2272	209	24	follows	follow	VERB
ap-2272	209	25	:	:	PUNCT
ap-2272	209	26	sf	sf	PROPN
ap-2272	209	27	t	t	PROPN
ap-2272	209	28	=	=	PUNCT
ap-2272	210	1	∑	∑	PUNCT
ap-2272	210	2	i	i	PRON
ap-2272	210	3	di	di	VERB
ap-2272	210	4	i	i	PRON
ap-2272	210	5	∀i	∀i	NOUN
ap-2272	210	6	=	=	SYM
ap-2272	210	7	0	0	NUM
ap-2272	210	8	,	,	PUNCT
ap-2272	210	9	1	1	NUM
ap-2272	210	10	,	,	PUNCT
ap-2272	210	11	.	.	PUNCT
ap-2272	210	12	.	.	PUNCT
ap-2272	211	1	.	.	PUNCT
ap-2272	212	1	,	,	PUNCT
ap-2272	212	2	t	t	PROPN
ap-2272	212	3	,	,	PUNCT
ap-2272	212	4	(	(	PUNCT
ap-2272	212	5	14	14	NUM
ap-2272	212	6	)	)	PUNCT
ap-2272	212	7	where	where	SCONJ
ap-2272	212	8	di	di	NOUN
ap-2272	212	9	is	be	AUX
ap-2272	212	10	the	the	DET
ap-2272	212	11	distance	distance	NOUN
ap-2272	212	12	of	of	ADP
ap-2272	212	13	state	state	NOUN
ap-2272	212	14	variable	variable	NOUN
ap-2272	212	15	vi	vi	PROPN
ap-2272	212	16	from	from	ADP
ap-2272	212	17	the	the	DET
ap-2272	212	18	optimal	optimal	ADJ
ap-2272	212	19	conditions	condition	NOUN
ap-2272	212	20	of	of	ADP
ap-2272	212	21	v	v	NOUN
ap-2272	212	22	=	=	SYM
ap-2272	212	23	1	1	NUM
ap-2272	212	24	.	.	PUNCT
ap-2272	213	1	sf	sf	PROPN
ap-2272	213	2	t	t	PROPN
ap-2272	213	3	is	be	AUX
ap-2272	213	4	computed	compute	VERB
ap-2272	213	5	372	372	NUM
ap-2272	213	6	vol	vol	NOUN
ap-2272	213	7	.	.	PUNCT
ap-2272	214	1	54	54	NUM
ap-2272	214	2	no	no	NOUN
ap-2272	214	3	.	.	PUNCT
ap-2272	215	1	5/2014	5/2014	NUM
ap-2272	215	2	towards	towards	ADP
ap-2272	215	3	evolutionary	evolutionary	ADJ
ap-2272	215	4	design	design	NOUN
ap-2272	215	5	of	of	ADP
ap-2272	215	6	complex	complex	ADJ
ap-2272	215	7	systems	system	NOUN
ap-2272	215	8	inspired	inspire	VERB
ap-2272	215	9	by	by	ADP
ap-2272	215	10	nature	nature	NOUN
ap-2272	215	11	figure	figure	NOUN
ap-2272	215	12	5	5	NUM
ap-2272	215	13	.	.	PUNCT
ap-2272	215	14	observing	observe	VERB
ap-2272	215	15	the	the	DET
ap-2272	215	16	motivation	motivation	NOUN
ap-2272	215	17	-	-	PUNCT
ap-2272	215	18	driven	drive	VERB
ap-2272	215	19	rl	rl	NOUN
ap-2272	215	20	behavior	behavior	NOUN
ap-2272	215	21	of	of	ADP
ap-2272	215	22	the	the	DET
ap-2272	215	23	architecture	architecture	NOUN
ap-2272	216	1	:	:	PUNCT
ap-2272	216	2	the	the	DET
ap-2272	216	3	exploration	exploration	NOUN
ap-2272	216	4	vs.	vs.	ADP
ap-2272	216	5	knowledge	knowledge	NOUN
ap-2272	216	6	exploitation	exploitation	NOUN
ap-2272	216	7	is	be	AUX
ap-2272	216	8	dynamically	dynamically	ADV
ap-2272	216	9	balanced	balanced	ADJ
ap-2272	216	10	,	,	PUNCT
ap-2272	216	11	according	accord	VERB
ap-2272	216	12	to	to	ADP
ap-2272	216	13	the	the	DET
ap-2272	216	14	agent	agent	NOUN
ap-2272	216	15	’s	’s	PART
ap-2272	216	16	current	current	ADJ
ap-2272	216	17	needs	need	NOUN
ap-2272	216	18	.	.	PUNCT
ap-2272	217	1	the	the	DET
ap-2272	217	2	x	x	X
ap-2272	217	3	-	-	NOUN
ap-2272	217	4	axis	axis	NOUN
ap-2272	217	5	represents	represent	VERB
ap-2272	217	6	the	the	DET
ap-2272	217	7	simulation	simulation	NOUN
ap-2272	217	8	steps	step	NOUN
ap-2272	217	9	;	;	PUNCT
ap-2272	217	10	the	the	DET
ap-2272	217	11	y	y	PROPN
ap-2272	217	12	axis	axis	NOUN
ap-2272	217	13	is	be	AUX
ap-2272	217	14	value	value	NOUN
ap-2272	217	15	of	of	ADP
ap-2272	217	16	the	the	DET
ap-2272	217	17	motivation	motivation	NOUN
ap-2272	217	18	/	/	SYM
ap-2272	217	19	reward	reward	NOUN
ap-2272	217	20	.	.	PUNCT
ap-2272	218	1	peaks	peak	NOUN
ap-2272	218	2	in	in	ADP
ap-2272	218	3	the	the	DET
ap-2272	218	4	lower	low	ADJ
ap-2272	218	5	graph	graph	NOUN
ap-2272	218	6	represent	represent	VERB
ap-2272	218	7	the	the	DET
ap-2272	218	8	binary	binary	ADJ
ap-2272	218	9	event	event	NOUN
ap-2272	218	10	of	of	ADP
ap-2272	218	11	receiving	receive	VERB
ap-2272	218	12	the	the	DET
ap-2272	218	13	reward	reward	NOUN
ap-2272	218	14	.	.	PUNCT
ap-2272	219	1	these	these	DET
ap-2272	219	2	events	event	NOUN
ap-2272	219	3	correlate	correlate	VERB
ap-2272	219	4	with	with	ADP
ap-2272	219	5	the	the	DET
ap-2272	219	6	amount	amount	NOUN
ap-2272	219	7	of	of	ADP
ap-2272	219	8	motivation	motivation	NOUN
ap-2272	219	9	that	that	PRON
ap-2272	219	10	is	be	AUX
ap-2272	219	11	currently	currently	ADV
ap-2272	219	12	produced	produce	VERB
ap-2272	219	13	(	(	PUNCT
ap-2272	219	14	upper	upper	ADJ
ap-2272	219	15	graph	graph	NOUN
ap-2272	219	16	)	)	PUNCT
ap-2272	219	17	.	.	PUNCT
ap-2272	220	1	the	the	DET
ap-2272	220	2	speed	speed	NOUN
ap-2272	220	3	of	of	ADP
ap-2272	220	4	receiving	receive	VERB
ap-2272	220	5	the	the	DET
ap-2272	220	6	motivation	motivation	NOUN
ap-2272	220	7	depends	depend	VERB
ap-2272	220	8	on	on	ADP
ap-2272	220	9	quality	quality	NOUN
ap-2272	220	10	of	of	ADP
ap-2272	220	11	the	the	DET
ap-2272	220	12	agent	agent	NOUN
ap-2272	220	13	’s	’s	PART
ap-2272	220	14	knowledge	knowledge	NOUN
ap-2272	220	15	(	(	PUNCT
ap-2272	220	16	fig	fig	NOUN
ap-2272	220	17	.	.	PUNCT
ap-2272	221	1	6b	6b	NOUN
ap-2272	221	2	and	and	CCONJ
ap-2272	221	3	fig	fig	NOUN
ap-2272	221	4	.	.	PUNCT
ap-2272	222	1	6c	6c	NOUN
ap-2272	222	2	)	)	PUNCT
ap-2272	222	3	and	and	CCONJ
ap-2272	222	4	the	the	DET
ap-2272	222	5	agent	agent	NOUN
ap-2272	222	6	’s	’s	PART
ap-2272	222	7	current	current	ADJ
ap-2272	222	8	distance	distance	NOUN
ap-2272	222	9	to	to	ADP
ap-2272	222	10	the	the	DET
ap-2272	222	11	reward	reward	NOUN
ap-2272	222	12	source	source	NOUN
ap-2272	222	13	.	.	PUNCT
ap-2272	223	1	online	online	ADV
ap-2272	223	2	for	for	ADP
ap-2272	223	3	each	each	DET
ap-2272	223	4	simulation	simulation	NOUN
ap-2272	223	5	step	step	NOUN
ap-2272	223	6	.	.	PUNCT
ap-2272	224	1	since	since	SCONJ
ap-2272	224	2	the	the	DET
ap-2272	224	3	prosperity	prosperity	NOUN
ap-2272	224	4	is	be	AUX
ap-2272	224	5	indirectly	indirectly	ADV
ap-2272	224	6	proportional	proportional	ADJ
ap-2272	224	7	,	,	PUNCT
ap-2272	224	8	its	its	PRON
ap-2272	224	9	value	value	NOUN
ap-2272	224	10	is	be	AUX
ap-2272	224	11	computed	compute	VERB
ap-2272	224	12	as	as	ADP
ap-2272	224	13	:	:	PUNCT
ap-2272	224	14	pt	pt	PROPN
ap-2272	224	15	=	=	SYM
ap-2272	224	16	1−	1−	NUM
ap-2272	224	17	sf	sf	NOUN
ap-2272	224	18	t.	t.	PROPN
ap-2272	224	19	(	(	PUNCT
ap-2272	224	20	15	15	NUM
ap-2272	224	21	)	)	PUNCT
ap-2272	224	22	4	4	NUM
ap-2272	224	23	.	.	PUNCT
ap-2272	225	1	experiments	experiment	NOUN
ap-2272	225	2	first	first	ADV
ap-2272	225	3	,	,	PUNCT
ap-2272	225	4	experiments	experiment	NOUN
ap-2272	225	5	which	which	PRON
ap-2272	225	6	validate	validate	VERB
ap-2272	225	7	the	the	DET
ap-2272	225	8	expected	expect	VERB
ap-2272	225	9	functionality	functionality	NOUN
ap-2272	225	10	of	of	ADP
ap-2272	225	11	particular	particular	ADJ
ap-2272	225	12	neural	neural	ADJ
ap-2272	225	13	modules	module	NOUN
ap-2272	225	14	are	be	AUX
ap-2272	225	15	performed	perform	VERB
ap-2272	225	16	.	.	PUNCT
ap-2272	226	1	then	then	ADV
ap-2272	226	2	their	their	PRON
ap-2272	226	3	correct	correct	ADJ
ap-2272	226	4	interaction	interaction	NOUN
ap-2272	226	5	is	be	AUX
ap-2272	226	6	evaluated	evaluate	VERB
ap-2272	226	7	on	on	ADP
ap-2272	226	8	the	the	DET
ap-2272	226	9	architecture	architecture	NOUN
ap-2272	226	10	,	,	PUNCT
ap-2272	226	11	which	which	PRON
ap-2272	226	12	is	be	AUX
ap-2272	226	13	hand	hand	NOUN
ap-2272	226	14	-	-	PUNCT
ap-2272	226	15	wired	wire	VERB
ap-2272	226	16	for	for	ADP
ap-2272	226	17	a	a	DET
ap-2272	226	18	given	give	VERB
ap-2272	226	19	experiment	experiment	NOUN
ap-2272	226	20	.	.	PUNCT
ap-2272	227	1	two	two	NUM
ap-2272	227	2	types	type	NOUN
ap-2272	227	3	of	of	ADP
ap-2272	227	4	evolutionary	evolutionary	ADJ
ap-2272	227	5	algorithms	algorithm	NOUN
ap-2272	227	6	(	(	PUNCT
ap-2272	227	7	eas	ea	NOUN
ap-2272	227	8	)	)	PUNCT
ap-2272	227	9	were	be	AUX
ap-2272	227	10	used	use	VERB
ap-2272	227	11	.	.	PUNCT
ap-2272	228	1	the	the	DET
ap-2272	228	2	standard	standard	ADJ
ap-2272	228	3	generational	generational	ADJ
ap-2272	228	4	model	model	NOUN
ap-2272	228	5	of	of	ADP
ap-2272	228	6	the	the	DET
ap-2272	228	7	genetic	genetic	ADJ
ap-2272	228	8	algorithm	algorithm	NOUN
ap-2272	228	9	(	(	PUNCT
ap-2272	228	10	ga	ga	NOUN
ap-2272	228	11	)	)	PUNCT
ap-2272	228	12	and	and	CCONJ
ap-2272	228	13	its	its	PRON
ap-2272	228	14	modification	modification	NOUN
ap-2272	228	15	for	for	ADP
ap-2272	228	16	vector	vector	NOUN
ap-2272	228	17	of	of	ADP
ap-2272	228	18	real	real	ADV
ap-2272	228	19	-	-	PUNCT
ap-2272	228	20	valued	value	VERB
ap-2272	228	21	numbers	number	NOUN
ap-2272	228	22	called	call	VERB
ap-2272	228	23	real	real	ADV
ap-2272	228	24	-	-	PUNCT
ap-2272	228	25	valued	value	VERB
ap-2272	228	26	ga	ga	PROPN
ap-2272	228	27	(	(	PUNCT
ap-2272	228	28	rga	rga	PROPN
ap-2272	228	29	)	)	PUNCT
ap-2272	228	30	were	be	AUX
ap-2272	228	31	used	use	VERB
ap-2272	228	32	.	.	PUNCT
ap-2272	229	1	both	both	PRON
ap-2272	229	2	,	,	PUNCT
ap-2272	229	3	the	the	DET
ap-2272	229	4	ga	ga	PROPN
ap-2272	229	5	and	and	CCONJ
ap-2272	229	6	rga	rga	PROPN
ap-2272	229	7	were	be	AUX
ap-2272	229	8	tested	test	VERB
ap-2272	229	9	and	and	CCONJ
ap-2272	229	10	compared	compare	VERB
ap-2272	229	11	on	on	ADP
ap-2272	229	12	designing	design	VERB
ap-2272	229	13	new	new	ADJ
ap-2272	229	14	architectures	architecture	NOUN
ap-2272	229	15	for	for	ADP
ap-2272	229	16	a	a	DET
ap-2272	229	17	given	give	VERB
ap-2272	229	18	task	task	NOUN
ap-2272	229	19	.	.	PUNCT
ap-2272	230	1	in	in	ADP
ap-2272	230	2	the	the	DET
ap-2272	230	3	experiments	experiment	NOUN
ap-2272	230	4	,	,	PUNCT
ap-2272	230	5	the	the	DET
ap-2272	230	6	agents	agent	NOUN
ap-2272	230	7	are	be	AUX
ap-2272	230	8	allowed	allow	VERB
ap-2272	230	9	to	to	PART
ap-2272	230	10	move	move	VERB
ap-2272	230	11	in	in	ADP
ap-2272	230	12	a	a	DET
ap-2272	230	13	2d	2d	NUM
ap-2272	230	14	discrete	discrete	ADJ
ap-2272	230	15	world	world	NOUN
ap-2272	230	16	15×	15×	NUM
ap-2272	230	17	15	15	NUM
ap-2272	230	18	positions	position	NOUN
ap-2272	230	19	in	in	ADP
ap-2272	230	20	size	size	NOUN
ap-2272	230	21	.	.	PUNCT
ap-2272	231	1	the	the	DET
ap-2272	231	2	map	map	NOUN
ap-2272	231	3	contains	contain	VERB
ap-2272	231	4	two	two	NUM
ap-2272	231	5	obstacles	obstacle	NOUN
ap-2272	231	6	and	and	CCONJ
ap-2272	231	7	one	one	NUM
ap-2272	231	8	source	source	NOUN
ap-2272	231	9	of	of	ADP
ap-2272	231	10	motivation	motivation	NOUN
ap-2272	231	11	(	(	PUNCT
ap-2272	231	12	see	see	VERB
ap-2272	231	13	fig	fig	NOUN
ap-2272	231	14	.	.	PUNCT
ap-2272	232	1	6b	6b	NUM
ap-2272	232	2	)	)	PUNCT
ap-2272	232	3	.	.	PUNCT
ap-2272	233	1	the	the	DET
ap-2272	233	2	agent	agent	NOUN
ap-2272	233	3	has	have	VERB
ap-2272	233	4	4	4	NUM
ap-2272	233	5	actions	action	NOUN
ap-2272	233	6	—	—	PUNCT
ap-2272	233	7	moving	move	VERB
ap-2272	233	8	in	in	ADP
ap-2272	233	9	four	four	NUM
ap-2272	233	10	directions	direction	NOUN
ap-2272	233	11	—	—	PUNCT
ap-2272	233	12	and	and	CCONJ
ap-2272	233	13	if	if	SCONJ
ap-2272	233	14	the	the	DET
ap-2272	233	15	agent	agent	NOUN
ap-2272	233	16	steps	step	VERB
ap-2272	233	17	on	on	ADP
ap-2272	233	18	a	a	DET
ap-2272	233	19	tale	tale	NOUN
ap-2272	233	20	with	with	ADP
ap-2272	233	21	the	the	DET
ap-2272	233	22	reward	reward	NOUN
ap-2272	233	23	,	,	PUNCT
ap-2272	233	24	a	a	DET
ap-2272	233	25	positive	positive	ADJ
ap-2272	233	26	reinforcement	reinforcement	NOUN
ap-2272	233	27	is	be	AUX
ap-2272	233	28	received	receive	VERB
ap-2272	233	29	.	.	PUNCT
ap-2272	234	1	therefore	therefore	ADV
ap-2272	234	2	,	,	PUNCT
ap-2272	234	3	the	the	DET
ap-2272	234	4	q	q	ADJ
ap-2272	234	5	-	-	PUNCT
ap-2272	234	6	lambda	lambda	ADJ
ap-2272	234	7	module	module	NOUN
ap-2272	234	8	is	be	AUX
ap-2272	234	9	configured	configure	VERB
ap-2272	234	10	to	to	PART
ap-2272	234	11	have	have	VERB
ap-2272	234	12	four	four	NUM
ap-2272	234	13	outputs	output	NOUN
ap-2272	234	14	(	(	PUNCT
ap-2272	234	15	four	four	NUM
ap-2272	234	16	actions	action	NOUN
ap-2272	234	17	)	)	PUNCT
ap-2272	234	18	and	and	CCONJ
ap-2272	234	19	two	two	NUM
ap-2272	234	20	inputs	input	NOUN
ap-2272	234	21	(	(	PUNCT
ap-2272	234	22	x	x	X
ap-2272	234	23	,	,	PUNCT
ap-2272	234	24	y	y	PROPN
ap-2272	234	25	coordinates	coordinate	VERB
ap-2272	234	26	on	on	ADP
ap-2272	234	27	the	the	DET
ap-2272	234	28	map	map	NOUN
ap-2272	234	29	)	)	PUNCT
ap-2272	234	30	sampled	sample	VERB
ap-2272	234	31	into	into	ADP
ap-2272	234	32	15	15	NUM
ap-2272	234	33	expected	expect	VERB
ap-2272	234	34	values	value	NOUN
ap-2272	234	35	(	(	PUNCT
ap-2272	234	36	see	see	VERB
ap-2272	234	37	fig	fig	NOUN
ap-2272	234	38	.	.	PUNCT
ap-2272	235	1	4	4	NUM
ap-2272	235	2	)	)	PUNCT
ap-2272	235	3	.	.	PUNCT
ap-2272	236	1	the	the	DET
ap-2272	236	2	value	value	NOUN
ap-2272	236	3	of	of	ADP
ap-2272	236	4	physiological	physiological	ADJ
ap-2272	236	5	variable	variable	NOUN
ap-2272	236	6	is	be	AUX
ap-2272	236	7	configured	configure	VERB
ap-2272	236	8	to	to	PART
ap-2272	236	9	decrease	decrease	VERB
ap-2272	236	10	with	with	ADP
ap-2272	236	11	value	value	NOUN
ap-2272	236	12	of	of	ADP
ap-2272	236	13	decay	decay	NOUN
ap-2272	236	14	=	=	NOUN
ap-2272	236	15	0.01	0.01	NUM
ap-2272	236	16	each	each	DET
ap-2272	236	17	step	step	NOUN
ap-2272	236	18	.	.	PUNCT
ap-2272	237	1	the	the	DET
ap-2272	237	2	simulated	simulate	VERB
ap-2272	237	3	environment	environment	NOUN
ap-2272	237	4	is	be	AUX
ap-2272	237	5	also	also	ADV
ap-2272	237	6	implemented	implement	VERB
ap-2272	237	7	as	as	ADP
ap-2272	237	8	an	an	DET
ap-2272	237	9	ros	ros	PROPN
ap-2272	237	10	node	node	NOUN
ap-2272	237	11	and	and	CCONJ
ap-2272	237	12	is	be	AUX
ap-2272	237	13	also	also	ADV
ap-2272	237	14	used	use	VERB
ap-2272	237	15	in	in	ADP
ap-2272	237	16	the	the	DET
ap-2272	237	17	nengoros	nengoros	ADJ
ap-2272	237	18	simulator	simulator	NOUN
ap-2272	237	19	as	as	ADP
ap-2272	237	20	a	a	DET
ap-2272	237	21	neural	neural	ADJ
ap-2272	237	22	module	module	NOUN
ap-2272	237	23	.	.	PUNCT
ap-2272	238	1	the	the	DET
ap-2272	238	2	simulation	simulation	NOUN
ap-2272	238	3	is	be	AUX
ap-2272	238	4	nonepisodic	nonepisodic	ADJ
ap-2272	238	5	;	;	PUNCT
ap-2272	238	6	the	the	DET
ap-2272	238	7	agent	agent	NOUN
ap-2272	238	8	is	be	AUX
ap-2272	238	9	placed	place	VERB
ap-2272	238	10	in	in	ADP
ap-2272	238	11	the	the	DET
ap-2272	238	12	environment	environment	NOUN
ap-2272	238	13	and	and	CCONJ
ap-2272	238	14	is	be	AUX
ap-2272	238	15	allowed	allow	VERB
ap-2272	238	16	to	to	PART
ap-2272	238	17	interact	interact	VERB
ap-2272	238	18	with	with	ADP
ap-2272	238	19	the	the	DET
ap-2272	238	20	world	world	NOUN
ap-2272	238	21	for	for	ADP
ap-2272	238	22	a	a	DET
ap-2272	238	23	predefined	predefine	VERB
ap-2272	238	24	number	number	NOUN
ap-2272	238	25	of	of	ADP
ap-2272	238	26	simulation	simulation	NOUN
ap-2272	238	27	steps	step	NOUN
ap-2272	238	28	.	.	PUNCT
ap-2272	239	1	4.1	4.1	NUM
ap-2272	239	2	.	.	PUNCT
ap-2272	239	3	description	description	NOUN
ap-2272	239	4	of	of	ADP
ap-2272	239	5	hardwired	hardwired	ADJ
ap-2272	239	6	agent	agent	NOUN
ap-2272	239	7	architecture	architecture	NOUN
ap-2272	239	8	the	the	DET
ap-2272	239	9	modules	module	NOUN
ap-2272	239	10	are	be	AUX
ap-2272	239	11	connected	connect	VERB
ap-2272	239	12	so	so	SCONJ
ap-2272	239	13	that	that	SCONJ
ap-2272	239	14	the	the	DET
ap-2272	239	15	physiological	physiological	ADJ
ap-2272	239	16	module	module	NOUN
ap-2272	239	17	receives	receive	VERB
ap-2272	239	18	a	a	DET
ap-2272	239	19	reward	reward	NOUN
ap-2272	239	20	from	from	ADP
ap-2272	239	21	the	the	DET
ap-2272	239	22	environment	environment	NOUN
ap-2272	239	23	and	and	CCONJ
ap-2272	239	24	produces	produce	VERB
ap-2272	239	25	motivation	motivation	NOUN
ap-2272	239	26	for	for	ADP
ap-2272	239	27	the	the	DET
ap-2272	239	28	q	q	ADJ
ap-2272	239	29	-	-	PUNCT
ap-2272	239	30	lambda	lambda	ADJ
ap-2272	239	31	module	module	NOUN
ap-2272	239	32	.	.	PUNCT
ap-2272	240	1	states	state	NOUN
ap-2272	240	2	of	of	ADP
ap-2272	240	3	the	the	DET
ap-2272	240	4	environment	environment	NOUN
ap-2272	240	5	are	be	AUX
ap-2272	240	6	connected	connect	VERB
ap-2272	240	7	to	to	ADP
ap-2272	240	8	the	the	DET
ap-2272	240	9	data	data	NOUN
ap-2272	240	10	inputs	input	NOUN
ap-2272	240	11	of	of	ADP
ap-2272	240	12	the	the	DET
ap-2272	240	13	q	q	ADJ
ap-2272	240	14	-	-	PUNCT
ap-2272	240	15	lambda	lambda	ADJ
ap-2272	240	16	module	module	NOUN
ap-2272	240	17	.	.	PUNCT
ap-2272	241	1	actions	action	NOUN
ap-2272	241	2	produced	produce	VERB
ap-2272	241	3	by	by	ADP
ap-2272	241	4	the	the	DET
ap-2272	241	5	q	q	ADJ
ap-2272	241	6	-	-	PUNCT
ap-2272	241	7	lambda	lambda	ADJ
ap-2272	241	8	module	module	NOUN
ap-2272	241	9	are	be	AUX
ap-2272	241	10	then	then	ADV
ap-2272	241	11	directly	directly	ADV
ap-2272	241	12	applied	apply	VERB
ap-2272	241	13	as	as	ADP
ap-2272	241	14	actions	action	NOUN
ap-2272	241	15	of	of	ADP
ap-2272	241	16	an	an	DET
ap-2272	241	17	agent	agent	NOUN
ap-2272	241	18	in	in	ADP
ap-2272	241	19	the	the	DET
ap-2272	241	20	environment	environment	NOUN
ap-2272	241	21	.	.	PUNCT
ap-2272	242	1	the	the	DET
ap-2272	242	2	scheme	scheme	NOUN
ap-2272	242	3	of	of	ADP
ap-2272	242	4	the	the	DET
ap-2272	242	5	hand	hand	NOUN
ap-2272	242	6	-	-	PUNCT
ap-2272	242	7	wired	wire	VERB
ap-2272	242	8	architecture	architecture	NOUN
ap-2272	242	9	represented	represent	VERB
ap-2272	242	10	as	as	ADP
ap-2272	242	11	a	a	DET
ap-2272	242	12	hybrid	hybrid	ADJ
ap-2272	242	13	artificial	artificial	ADJ
ap-2272	242	14	neural	neural	ADJ
ap-2272	242	15	network	network	NOUN
ap-2272	242	16	is	be	AUX
ap-2272	242	17	depicted	depict	VERB
ap-2272	242	18	in	in	ADP
ap-2272	242	19	fig	fig	NOUN
ap-2272	242	20	.	.	PUNCT
ap-2272	243	1	4	4	X
ap-2272	243	2	.	.	X
ap-2272	243	3	together	together	ADV
ap-2272	243	4	,	,	PUNCT
ap-2272	243	5	this	this	DET
ap-2272	243	6	network	network	NOUN
ap-2272	243	7	implements	implement	VERB
ap-2272	243	8	the	the	DET
ap-2272	243	9	motivation	motivation	NOUN
ap-2272	243	10	-	-	PUNCT
ap-2272	243	11	driven	drive	VERB
ap-2272	243	12	reinforcement	reinforcement	NOUN
ap-2272	243	13	learning	learning	NOUN
ap-2272	243	14	used	use	VERB
ap-2272	243	15	in	in	ADP
ap-2272	243	16	a	a	DET
ap-2272	243	17	non	non	ADJ
ap-2272	243	18	-	-	ADJ
ap-2272	243	19	episodic	episodic	ADJ
ap-2272	243	20	simulation	simulation	NOUN
ap-2272	243	21	.	.	PUNCT
ap-2272	244	1	4.1.1	4.1.1	NUM
ap-2272	244	2	.	.	PUNCT
ap-2272	244	3	simulation	simulation	NOUN
ap-2272	244	4	of	of	ADP
ap-2272	244	5	hardwired	hardwired	ADJ
ap-2272	244	6	architecture	architecture	NOUN
ap-2272	244	7	during	during	ADP
ap-2272	244	8	the	the	DET
ap-2272	244	9	simulation	simulation	NOUN
ap-2272	244	10	,	,	PUNCT
ap-2272	244	11	the	the	DET
ap-2272	244	12	prosperity	prosperity	NOUN
ap-2272	244	13	values	value	NOUN
ap-2272	244	14	of	of	ADP
ap-2272	244	15	both	both	CCONJ
ap-2272	244	16	the	the	DET
ap-2272	244	17	q	q	NOUN
ap-2272	244	18	-	-	PUNCT
ap-2272	244	19	lambda	lambda	ADJ
ap-2272	244	20	and	and	CCONJ
ap-2272	244	21	physiological	physiological	ADJ
ap-2272	244	22	module	module	NOUN
ap-2272	244	23	are	be	AUX
ap-2272	244	24	observed	observe	VERB
ap-2272	244	25	.	.	PUNCT
ap-2272	245	1	these	these	PRON
ap-2272	245	2	should	should	AUX
ap-2272	245	3	correlate	correlate	VERB
ap-2272	245	4	with	with	ADP
ap-2272	245	5	the	the	DET
ap-2272	245	6	successfulness	successfulness	NOUN
ap-2272	245	7	of	of	ADP
ap-2272	245	8	the	the	DET
ap-2272	245	9	behavior	behavior	NOUN
ap-2272	245	10	of	of	ADP
ap-2272	245	11	the	the	DET
ap-2272	245	12	agent	agent	NOUN
ap-2272	245	13	.	.	PUNCT
ap-2272	246	1	note	note	VERB
ap-2272	246	2	that	that	SCONJ
ap-2272	246	3	q	q	ADJ
ap-2272	246	4	-	-	PUNCT
ap-2272	246	5	lambda	lambda	ADJ
ap-2272	246	6	prosperity	prosperity	NOUN
ap-2272	246	7	is	be	AUX
ap-2272	246	8	composed	compose	VERB
ap-2272	246	9	of	of	ADP
ap-2272	246	10	mcrt	mcrt	NOUN
ap-2272	246	11	and	and	CCONJ
ap-2272	246	12	cover	cover	VERB
ap-2272	246	13	t	t	NOUN
ap-2272	246	14	values	value	NOUN
ap-2272	246	15	(	(	PUNCT
ap-2272	246	16	how	how	SCONJ
ap-2272	246	17	successful	successful	ADJ
ap-2272	246	18	the	the	DET
ap-2272	246	19	learning	learning	NOUN
ap-2272	246	20	is	be	AUX
ap-2272	246	21	and	and	CCONJ
ap-2272	246	22	how	how	SCONJ
ap-2272	246	23	efficient	efficient	ADJ
ap-2272	246	24	the	the	DET
ap-2272	246	25	exploitation	exploitation	NOUN
ap-2272	246	26	is	be	AUX
ap-2272	246	27	)	)	PUNCT
ap-2272	246	28	and	and	CCONJ
ap-2272	246	29	the	the	DET
ap-2272	246	30	prosperity	prosperity	NOUN
ap-2272	246	31	of	of	ADP
ap-2272	246	32	the	the	DET
ap-2272	246	33	physiological	physiological	ADJ
ap-2272	246	34	module	module	NOUN
ap-2272	246	35	is	be	AUX
ap-2272	246	36	defined	define	VERB
ap-2272	246	37	as	as	ADP
ap-2272	246	38	1−	1−	NUM
ap-2272	246	39	sf	sf	PROPN
ap-2272	246	40	t	t	PROPN
ap-2272	246	41	(	(	PUNCT
ap-2272	246	42	defining	define	VERB
ap-2272	246	43	how	how	SCONJ
ap-2272	246	44	satisfied	satisfied	ADJ
ap-2272	246	45	the	the	DET
ap-2272	246	46	agent	agent	NOUN
ap-2272	246	47	is	be	AUX
ap-2272	246	48	)	)	PUNCT
ap-2272	246	49	.	.	PUNCT
ap-2272	247	1	figure	figure	VERB
ap-2272	247	2	6a	6a	NOUN
ap-2272	247	3	shows	show	VERB
ap-2272	247	4	the	the	DET
ap-2272	247	5	course	course	NOUN
ap-2272	247	6	of	of	ADP
ap-2272	247	7	these	these	DET
ap-2272	247	8	values	value	NOUN
ap-2272	247	9	in	in	ADP
ap-2272	247	10	time	time	NOUN
ap-2272	247	11	.	.	PUNCT
ap-2272	248	1	it	it	PRON
ap-2272	248	2	can	can	AUX
ap-2272	248	3	be	be	AUX
ap-2272	248	4	seen	see	VERB
ap-2272	248	5	that	that	SCONJ
ap-2272	248	6	at	at	ADP
ap-2272	248	7	about	about	ADP
ap-2272	248	8	step	step	NOUN
ap-2272	248	9	20000	20000	NUM
ap-2272	248	10	,	,	PUNCT
ap-2272	248	11	the	the	DET
ap-2272	248	12	prosperity	prosperity	NOUN
ap-2272	248	13	of	of	ADP
ap-2272	248	14	the	the	DET
ap-2272	248	15	physiological	physiological	ADJ
ap-2272	248	16	module	module	NOUN
ap-2272	248	17	and	and	CCONJ
ap-2272	248	18	the	the	DET
ap-2272	248	19	agent	agent	NOUN
ap-2272	248	20	’s	’s	PART
ap-2272	248	21	average	average	ADJ
ap-2272	248	22	reward	reward	NOUN
ap-2272	248	23	/	/	SYM
ap-2272	248	24	step	step	NOUN
ap-2272	248	25	converge	converge	NOUN
ap-2272	248	26	.	.	PUNCT
ap-2272	249	1	since	since	SCONJ
ap-2272	249	2	the	the	DET
ap-2272	249	3	behavior	behavior	NOUN
ap-2272	249	4	is	be	AUX
ap-2272	249	5	learned	learn	VERB
ap-2272	249	6	reliably	reliably	ADV
ap-2272	249	7	at	at	ADP
ap-2272	249	8	about	about	ADP
ap-2272	249	9	step	step	NOUN
ap-2272	249	10	20000	20000	NUM
ap-2272	249	11	,	,	PUNCT
ap-2272	249	12	the	the	DET
ap-2272	249	13	agent	agent	NOUN
ap-2272	249	14	is	be	AUX
ap-2272	249	15	able	able	ADJ
ap-2272	249	16	to	to	PART
ap-2272	249	17	exploit	exploit	VERB
ap-2272	249	18	the	the	DET
ap-2272	249	19	knowledge	knowledge	NOUN
ap-2272	249	20	efficiently	efficiently	ADV
ap-2272	249	21	(	(	PUNCT
ap-2272	249	22	fulfills	fulfill	VERB
ap-2272	249	23	the	the	DET
ap-2272	249	24	requirements	requirement	NOUN
ap-2272	249	25	for	for	ADP
ap-2272	249	26	a	a	DET
ap-2272	249	27	reward	reward	NOUN
ap-2272	249	28	faster	fast	ADV
ap-2272	249	29	)	)	PUNCT
ap-2272	249	30	and	and	CCONJ
ap-2272	249	31	therefore	therefore	ADV
ap-2272	249	32	it	it	PRON
ap-2272	249	33	has	have	VERB
ap-2272	249	34	more	more	ADJ
ap-2272	249	35	time	time	NOUN
ap-2272	249	36	to	to	PART
ap-2272	249	37	explore	explore	VERB
ap-2272	249	38	.	.	PUNCT
ap-2272	250	1	this	this	PRON
ap-2272	250	2	causes	cause	VERB
ap-2272	250	3	further	further	ADJ
ap-2272	250	4	discovering	discover	VERB
ap-2272	250	5	of	of	ADP
ap-2272	250	6	new	new	ADJ
ap-2272	250	7	states	state	NOUN
ap-2272	250	8	between	between	ADP
ap-2272	250	9	steps	step	NOUN
ap-2272	250	10	20000	20000	NUM
ap-2272	250	11	and	and	CCONJ
ap-2272	250	12	40000	40000	NUM
ap-2272	250	13	.	.	PUNCT
ap-2272	251	1	figure	figure	NOUN
ap-2272	251	2	5	5	NUM
ap-2272	251	3	shows	show	VERB
ap-2272	251	4	relatively	relatively	ADV
ap-2272	251	5	stable	stable	ADJ
ap-2272	251	6	behavior	behavior	NOUN
ap-2272	251	7	of	of	ADP
ap-2272	251	8	the	the	DET
ap-2272	251	9	motivation	motivation	NOUN
ap-2272	251	10	-	-	PUNCT
ap-2272	251	11	driven	drive	VERB
ap-2272	251	12	rl	rl	NOUN
ap-2272	251	13	system	system	NOUN
ap-2272	251	14	during	during	ADP
ap-2272	251	15	this	this	DET
ap-2272	251	16	part	part	NOUN
ap-2272	251	17	of	of	ADP
ap-2272	251	18	the	the	DET
ap-2272	251	19	simulation	simulation	NOUN
ap-2272	251	20	.	.	PUNCT
ap-2272	252	1	here	here	ADV
ap-2272	252	2	,	,	PUNCT
ap-2272	252	3	the	the	DET
ap-2272	252	4	agent	agent	NOUN
ap-2272	252	5	balances	balance	NOUN
ap-2272	252	6	between	between	ADP
ap-2272	252	7	exploration	exploration	NOUN
ap-2272	252	8	and	and	CCONJ
ap-2272	252	9	exploitation	exploitation	NOUN
ap-2272	252	10	373	373	NUM
ap-2272	252	11	jaroslav	jaroslav	ADJ
ap-2272	252	12	vítků	vítků	PROPN
ap-2272	252	13	,	,	PUNCT
ap-2272	252	14	pavel	pavel	PROPN
ap-2272	252	15	nahodil	nahodil	PROPN
ap-2272	252	16	acta	acta	PROPN
ap-2272	252	17	polytechnica	polytechnica	PROPN
ap-2272	252	18	0	0	NUM
ap-2272	252	19	2	2	NUM
ap-2272	252	20	4	4	NUM
ap-2272	252	21	6	6	NUM
ap-2272	252	22	8	8	NUM
ap-2272	252	23	10	10	NUM
ap-2272	252	24	x	x	SYM
ap-2272	252	25	10	10	NUM
ap-2272	252	26	4	4	NUM
ap-2272	252	27	0	0	NUM
ap-2272	252	28	0.1	0.1	NUM
ap-2272	252	29	0.2	0.2	NUM
ap-2272	252	30	0.3	0.3	NUM
ap-2272	252	31	0.4	0.4	NUM
ap-2272	252	32	0.5	0.5	NUM
ap-2272	252	33	0.6	0.6	NUM
ap-2272	252	34	0.7	0.7	NUM
ap-2272	252	35	0.8	0.8	NUM
ap-2272	252	36	0.9	0.9	NUM
ap-2272	252	37	1	1	NUM
ap-2272	252	38	simulation	simulation	NOUN
ap-2272	252	39	steps	step	NOUN
ap-2272	252	40	p	p	PROPN
ap-2272	252	41	ro	ro	X
ap-2272	252	42	sp	sp	ADP
ap-2272	252	43	e	e	X
ap-2272	252	44	ri	ri	NOUN
ap-2272	252	45	ty	ty	INTJ
ap-2272	252	46	v	v	ADP
ap-2272	252	47	a	a	DET
ap-2272	252	48	lu	lu	NOUN
ap-2272	252	49	e	e	NOUN
ap-2272	252	50	prosperity	prosperity	NOUN
ap-2272	252	51	of	of	ADP
ap-2272	252	52	neural	neural	ADJ
ap-2272	252	53	modules	module	NOUN
ap-2272	252	54	during	during	ADP
ap-2272	252	55	the	the	DET
ap-2272	252	56	agent	agent	NOUN
ap-2272	252	57	's	's	PART
ap-2272	252	58	life	life	NOUN
ap-2272	252	59	prosperity	prosperity	NOUN
ap-2272	252	60	of	of	ADP
ap-2272	252	61	physiology	physiology	NOUN
ap-2272	252	62	module	module	NOUN
ap-2272	252	63	(	(	PUNCT
ap-2272	252	64	1!msd	1!msd	NUM
ap-2272	252	65	)	)	PUNCT
ap-2272	252	66	prosperity	prosperity	NOUN
ap-2272	252	67	of	of	ADP
ap-2272	252	68	rl	rl	PROPN
ap-2272	252	69	module	module	NOUN
ap-2272	252	70	no	no	PROPN
ap-2272	252	71	.	.	PUNCT
ap-2272	252	72	of	of	ADP
ap-2272	252	73	visited	visit	VERB
ap-2272	252	74	states	state	NOUN
ap-2272	252	75	reward	reward	VERB
ap-2272	252	76	per	per	ADP
ap-2272	252	77	step	step	NOUN
ap-2272	252	78	(	(	PUNCT
ap-2272	252	79	a	a	NOUN
ap-2272	252	80	)	)	PUNCT
ap-2272	252	81	convergence	convergence	NOUN
ap-2272	252	82	of	of	ADP
ap-2272	252	83	prosperity	prosperity	NOUN
ap-2272	252	84	values	value	NOUN
ap-2272	252	85	of	of	ADP
ap-2272	252	86	both	both	CCONJ
ap-2272	252	87	neural	neural	ADJ
ap-2272	252	88	modules	module	NOUN
ap-2272	252	89	in	in	ADP
ap-2272	252	90	time	time	NOUN
ap-2272	252	91	.	.	PUNCT
ap-2272	253	1	since	since	SCONJ
ap-2272	253	2	the	the	DET
ap-2272	253	3	behavior	behavior	NOUN
ap-2272	253	4	is	be	AUX
ap-2272	253	5	learned	learn	VERB
ap-2272	253	6	reliably	reliably	ADV
ap-2272	253	7	around	around	ADP
ap-2272	253	8	the	the	DET
ap-2272	253	9	step	step	NOUN
ap-2272	253	10	20000	20000	NUM
ap-2272	253	11	,	,	PUNCT
ap-2272	253	12	the	the	DET
ap-2272	253	13	agent	agent	NOUN
ap-2272	253	14	is	be	AUX
ap-2272	253	15	satisfied	satisfied	ADJ
ap-2272	253	16	and	and	CCONJ
ap-2272	253	17	systematically	systematically	ADV
ap-2272	253	18	explores	explore	VERB
ap-2272	253	19	further	further	ADJ
ap-2272	253	20	new	new	ADJ
ap-2272	253	21	states	state	NOUN
ap-2272	253	22	.	.	PUNCT
ap-2272	254	1	(	(	PUNCT
ap-2272	254	2	b	b	X
ap-2272	254	3	)	)	PUNCT
ap-2272	254	4	visualization	visualization	NOUN
ap-2272	254	5	of	of	ADP
ap-2272	254	6	knowledge	knowledge	NOUN
ap-2272	254	7	learned	learn	VERB
ap-2272	254	8	by	by	ADP
ap-2272	254	9	the	the	DET
ap-2272	254	10	agent	agent	NOUN
ap-2272	254	11	during	during	ADP
ap-2272	254	12	the	the	DET
ap-2272	254	13	first	first	ADJ
ap-2272	254	14	10000	10000	NUM
ap-2272	254	15	simulation	simulation	NOUN
ap-2272	254	16	steps	step	NOUN
ap-2272	254	17	.	.	PUNCT
ap-2272	255	1	each	each	DET
ap-2272	255	2	position	position	NOUN
ap-2272	255	3	in	in	ADP
ap-2272	255	4	the	the	DET
ap-2272	255	5	table	table	NOUN
ap-2272	255	6	is	be	AUX
ap-2272	255	7	filled	fill	VERB
ap-2272	255	8	with	with	ADP
ap-2272	255	9	representation	representation	NOUN
ap-2272	255	10	of	of	ADP
ap-2272	255	11	action	action	NOUN
ap-2272	255	12	with	with	ADP
ap-2272	255	13	the	the	DET
ap-2272	255	14	highest	high	ADJ
ap-2272	255	15	utility	utility	NOUN
ap-2272	255	16	value	value	NOUN
ap-2272	255	17	.	.	PUNCT
ap-2272	256	1	5	5	NUM
ap-2272	256	2	10	10	NUM
ap-2272	256	3	15	15	NUM
ap-2272	256	4	5	5	NUM
ap-2272	256	5	10	10	NUM
ap-2272	256	6	15	15	NUM
ap-2272	256	7	0	0	NUM
ap-2272	256	8	10	10	NUM
ap-2272	256	9	20	20	NUM
ap-2272	256	10	30	30	NUM
ap-2272	256	11	40	40	NUM
ap-2272	256	12	s2	s2	NOUN
ap-2272	256	13	=	=	SYM
ap-2272	256	14	ypos	ypos	PROPN
ap-2272	256	15	utility	utility	NOUN
ap-2272	256	16	values	value	NOUN
ap-2272	256	17	of	of	ADP
ap-2272	256	18	best	good	ADJ
ap-2272	256	19	actions	action	NOUN
ap-2272	256	20	in	in	ADP
ap-2272	256	21	a	a	DET
ap-2272	256	22	given	give	VERB
ap-2272	256	23	state	state	NOUN
ap-2272	256	24	!	!	PUNCT
ap-2272	257	1	q(s	q(s	PROPN
ap-2272	257	2	,	,	PUNCT
ap-2272	257	3	a	a	PRON
ap-2272	257	4	)	)	PUNCT
ap-2272	257	5	s1	s1	NOUN
ap-2272	257	6	=	=	SYM
ap-2272	257	7	xpos	xpos	PROPN
ap-2272	257	8	u	u	PROPN
ap-2272	257	9	til	til	PROPN
ap-2272	257	10	ity	ity	PROPN
ap-2272	257	11	o	o	X
ap-2272	257	12	f	f	X
ap-2272	257	13	th	th	X
ap-2272	257	14	e	e	X
ap-2272	257	15	b	b	PROPN
ap-2272	257	16	e	e	PROPN
ap-2272	257	17	st	st	PROPN
ap-2272	258	1	a	a	DET
ap-2272	258	2	ct	ct	PROPN
ap-2272	258	3	io	io	X
ap-2272	258	4	n	n	PROPN
ap-2272	258	5	(	(	PUNCT
ap-2272	258	6	c	c	NOUN
ap-2272	258	7	)	)	PUNCT
ap-2272	258	8	utility	utility	NOUN
ap-2272	258	9	value	value	NOUN
ap-2272	258	10	of	of	ADP
ap-2272	258	11	the	the	DET
ap-2272	258	12	best	good	ADJ
ap-2272	258	13	action	action	NOUN
ap-2272	258	14	(	(	PUNCT
ap-2272	258	15	see	see	VERB
ap-2272	258	16	b	b	NOUN
ap-2272	258	17	)	)	PUNCT
ap-2272	258	18	based	base	VERB
ap-2272	258	19	on	on	ADP
ap-2272	258	20	agent	agent	NOUN
ap-2272	258	21	’s	’s	PART
ap-2272	258	22	current	current	ADJ
ap-2272	258	23	position	position	NOUN
ap-2272	258	24	in	in	ADP
ap-2272	258	25	the	the	DET
ap-2272	258	26	map	map	NOUN
ap-2272	258	27	.	.	PUNCT
ap-2272	259	1	the	the	DET
ap-2272	259	2	nearer	nearer	PROPN
ap-2272	259	3	to	to	ADP
ap-2272	259	4	the	the	DET
ap-2272	259	5	reward	reward	NOUN
ap-2272	259	6	source	source	NOUN
ap-2272	259	7	,	,	PUNCT
ap-2272	259	8	the	the	PRON
ap-2272	259	9	higher	high	ADJ
ap-2272	259	10	the	the	DET
ap-2272	259	11	expected	expect	VERB
ap-2272	259	12	outcome	outcome	NOUN
ap-2272	259	13	of	of	ADP
ap-2272	259	14	the	the	DET
ap-2272	259	15	best	good	ADJ
ap-2272	259	16	action	action	NOUN
ap-2272	259	17	is	be	AUX
ap-2272	259	18	.	.	PUNCT
ap-2272	260	1	figure	figure	VERB
ap-2272	260	2	6	6	NUM
ap-2272	260	3	.	.	PUNCT
ap-2272	261	1	simulation	simulation	NOUN
ap-2272	261	2	of	of	ADP
ap-2272	261	3	the	the	DET
ap-2272	261	4	hand	hand	NOUN
ap-2272	261	5	-	-	PUNCT
ap-2272	261	6	designed	design	VERB
ap-2272	261	7	agent	agent	NOUN
ap-2272	261	8	architecture	architecture	NOUN
ap-2272	261	9	.	.	PUNCT
ap-2272	262	1	each	each	DET
ap-2272	262	2	position	position	NOUN
ap-2272	262	3	in	in	ADP
ap-2272	262	4	b	b	NOUN
ap-2272	262	5	)	)	PUNCT
ap-2272	262	6	and	and	CCONJ
ap-2272	262	7	c	c	X
ap-2272	262	8	)	)	PUNCT
ap-2272	262	9	represents	represent	VERB
ap-2272	262	10	one	one	NUM
ap-2272	262	11	position	position	NOUN
ap-2272	262	12	in	in	ADP
ap-2272	262	13	the	the	DET
ap-2272	262	14	map	map	NOUN
ap-2272	262	15	.	.	PUNCT
ap-2272	263	1	there	there	PRON
ap-2272	263	2	are	be	VERB
ap-2272	263	3	two	two	NUM
ap-2272	263	4	obstacles	obstacle	NOUN
ap-2272	263	5	and	and	CCONJ
ap-2272	263	6	one	one	NUM
ap-2272	263	7	source	source	NOUN
ap-2272	263	8	reward	reward	NOUN
ap-2272	263	9	in	in	ADP
ap-2272	263	10	the	the	DET
ap-2272	263	11	environment	environment	NOUN
ap-2272	263	12	.	.	PUNCT
ap-2272	264	1	b	b	X
ap-2272	264	2	)	)	PUNCT
ap-2272	264	3	and	and	CCONJ
ap-2272	264	4	c	c	X
ap-2272	264	5	)	)	PUNCT
ap-2272	264	6	show	show	VERB
ap-2272	264	7	the	the	DET
ap-2272	264	8	agent	agent	NOUN
ap-2272	264	9	’s	’s	PART
ap-2272	264	10	learned	learn	VERB
ap-2272	264	11	knowledge	knowledge	NOUN
ap-2272	264	12	.	.	PUNCT
ap-2272	265	1	greedy	greedy	ADJ
ap-2272	265	2	asm	asm	NOUN
ap-2272	265	3	selects	select	VERB
ap-2272	265	4	the	the	DET
ap-2272	265	5	action	action	NOUN
ap-2272	265	6	with	with	ADP
ap-2272	265	7	the	the	DET
ap-2272	265	8	highest	high	ADJ
ap-2272	265	9	utility	utility	NOUN
ap-2272	265	10	in	in	ADP
ap-2272	265	11	each	each	DET
ap-2272	265	12	state	state	NOUN
ap-2272	265	13	.	.	PUNCT
ap-2272	266	1	these	these	DET
ap-2272	266	2	actions	action	NOUN
ap-2272	266	3	are	be	AUX
ap-2272	266	4	shown	show	VERB
ap-2272	266	5	in	in	ADP
ap-2272	266	6	b	b	NOUN
ap-2272	266	7	)	)	PUNCT
ap-2272	266	8	and	and	CCONJ
ap-2272	266	9	their	their	PRON
ap-2272	266	10	utility	utility	NOUN
ap-2272	266	11	is	be	AUX
ap-2272	266	12	shown	show	VERB
ap-2272	266	13	in	in	ADP
ap-2272	266	14	c	c	PROPN
ap-2272	266	15	)	)	PUNCT
ap-2272	266	16	.	.	PUNCT
ap-2272	267	1	note	note	VERB
ap-2272	267	2	that	that	SCONJ
ap-2272	267	3	the	the	DET
ap-2272	267	4	utility	utility	NOUN
ap-2272	267	5	values	value	NOUN
ap-2272	267	6	on	on	ADP
ap-2272	267	7	the	the	DET
ap-2272	267	8	z	z	NOUN
ap-2272	267	9	-	-	PUNCT
ap-2272	267	10	axis	axis	NOUN
ap-2272	267	11	are	be	AUX
ap-2272	267	12	rescaled	rescale	VERB
ap-2272	267	13	for	for	ADP
ap-2272	267	14	better	well	ADJ
ap-2272	267	15	visibility	visibility	NOUN
ap-2272	267	16	.	.	PUNCT
ap-2272	268	1	of	of	ADP
ap-2272	268	2	knowledge	knowledge	NOUN
ap-2272	268	3	based	base	VERB
ap-2272	268	4	on	on	ADP
ap-2272	268	5	the	the	DET
ap-2272	268	6	current	current	ADJ
ap-2272	268	7	motivation	motivation	NOUN
ap-2272	268	8	value	value	NOUN
ap-2272	268	9	.	.	PUNCT
ap-2272	269	1	the	the	DET
ap-2272	269	2	longer	long	ADJ
ap-2272	269	3	delay	delay	NOUN
ap-2272	269	4	between	between	ADP
ap-2272	269	5	satisfying	satisfy	VERB
ap-2272	269	6	the	the	DET
ap-2272	269	7	motivation	motivation	NOUN
ap-2272	269	8	,	,	PUNCT
ap-2272	269	9	the	the	DET
ap-2272	269	10	further	further	ADJ
ap-2272	269	11	the	the	DET
ap-2272	269	12	agent	agent	NOUN
ap-2272	269	13	was	be	AUX
ap-2272	269	14	from	from	ADP
ap-2272	269	15	the	the	DET
ap-2272	269	16	source	source	NOUN
ap-2272	269	17	of	of	ADP
ap-2272	269	18	a	a	DET
ap-2272	269	19	reward	reward	NOUN
ap-2272	269	20	(	(	PUNCT
ap-2272	269	21	potentially	potentially	ADV
ap-2272	269	22	unexplored	unexplored	ADJ
ap-2272	269	23	area	area	NOUN
ap-2272	269	24	)	)	PUNCT
ap-2272	269	25	.	.	PUNCT
ap-2272	270	1	the	the	DET
ap-2272	270	2	knowledge	knowledge	NOUN
ap-2272	270	3	that	that	PRON
ap-2272	270	4	has	have	AUX
ap-2272	270	5	been	be	AUX
ap-2272	270	6	learned	learn	VERB
ap-2272	270	7	by	by	ADP
ap-2272	270	8	the	the	DET
ap-2272	270	9	agent	agent	NOUN
ap-2272	270	10	can	can	AUX
ap-2272	270	11	be	be	AUX
ap-2272	270	12	visualized	visualize	VERB
ap-2272	270	13	in	in	ADP
ap-2272	270	14	two	two	NUM
ap-2272	270	15	ways	way	NOUN
ap-2272	270	16	.	.	PUNCT
ap-2272	271	1	figure	figure	NOUN
ap-2272	271	2	6b	6b	PROPN
ap-2272	271	3	shows	show	VERB
ap-2272	271	4	a	a	DET
ap-2272	271	5	graphical	graphical	ADJ
ap-2272	271	6	representation	representation	NOUN
ap-2272	271	7	of	of	ADP
ap-2272	271	8	the	the	DET
ap-2272	271	9	best	good	ADJ
ap-2272	271	10	action	action	NOUN
ap-2272	271	11	(	(	PUNCT
ap-2272	271	12	a∗	a∗	PROPN
ap-2272	271	13	)	)	PUNCT
ap-2272	271	14	based	base	VERB
ap-2272	271	15	on	on	ADP
ap-2272	271	16	the	the	DET
ap-2272	271	17	agent	agent	NOUN
ap-2272	271	18	’s	’s	PART
ap-2272	271	19	current	current	ADJ
ap-2272	271	20	position	position	NOUN
ap-2272	271	21	in	in	ADP
ap-2272	271	22	the	the	DET
ap-2272	271	23	map	map	NOUN
ap-2272	271	24	(	(	PUNCT
ap-2272	271	25	state	state	NOUN
ap-2272	271	26	s	s	PROPN
ap-2272	271	27	of	of	ADP
ap-2272	271	28	the	the	DET
ap-2272	271	29	environment	environment	NOUN
ap-2272	271	30	)	)	PUNCT
ap-2272	271	31	.	.	PUNCT
ap-2272	272	1	convergence	convergence	NOUN
ap-2272	272	2	to	to	ADP
ap-2272	272	3	the	the	DET
ap-2272	272	4	optimal	optimal	ADJ
ap-2272	272	5	strategy	strategy	NOUN
ap-2272	272	6	can	can	AUX
ap-2272	272	7	be	be	AUX
ap-2272	272	8	observed	observe	VERB
ap-2272	272	9	especially	especially	ADV
ap-2272	272	10	near	near	ADP
ap-2272	272	11	the	the	DET
ap-2272	272	12	source	source	NOUN
ap-2272	272	13	of	of	ADP
ap-2272	272	14	the	the	DET
ap-2272	272	15	reward	reward	NOUN
ap-2272	272	16	.	.	PUNCT
ap-2272	273	1	figure	figure	NOUN
ap-2272	273	2	6c	6c	PROPN
ap-2272	273	3	depicts	depict	VERB
ap-2272	273	4	the	the	DET
ap-2272	273	5	actual	actual	ADJ
ap-2272	273	6	utility	utility	NOUN
ap-2272	273	7	values	value	NOUN
ap-2272	273	8	in	in	ADP
ap-2272	273	9	the	the	DET
ap-2272	273	10	q(s	q(s	PROPN
ap-2272	273	11	,	,	PUNCT
ap-2272	273	12	a	a	DET
ap-2272	273	13	)	)	PUNCT
ap-2272	273	14	matrix	matrix	NOUN
ap-2272	273	15	for	for	ADP
ap-2272	273	16	the	the	DET
ap-2272	273	17	best	good	ADJ
ap-2272	273	18	action	action	NOUN
ap-2272	273	19	a∗	a∗	NOUN
ap-2272	273	20	in	in	ADP
ap-2272	273	21	the	the	DET
ap-2272	273	22	state	state	NOUN
ap-2272	273	23	.	.	PUNCT
ap-2272	274	1	the	the	PRON
ap-2272	274	2	higher	high	ADJ
ap-2272	274	3	the	the	DET
ap-2272	274	4	surface	surface	NOUN
ap-2272	274	5	is	be	AUX
ap-2272	274	6	,	,	PUNCT
ap-2272	274	7	the	the	DET
ap-2272	274	8	higher	high	ADJ
ap-2272	274	9	is	be	AUX
ap-2272	274	10	the	the	DET
ap-2272	274	11	expected	expect	VERB
ap-2272	274	12	reward	reward	NOUN
ap-2272	274	13	.	.	PUNCT
ap-2272	275	1	zero	zero	NUM
ap-2272	275	2	values	value	NOUN
ap-2272	275	3	represent	represent	VERB
ap-2272	275	4	unexplored	unexplored	ADJ
ap-2272	275	5	states	state	NOUN
ap-2272	275	6	,	,	PUNCT
ap-2272	275	7	such	such	ADJ
ap-2272	275	8	as	as	ADP
ap-2272	275	9	obstacles	obstacle	NOUN
ap-2272	275	10	.	.	PUNCT
ap-2272	276	1	note	note	VERB
ap-2272	276	2	that	that	SCONJ
ap-2272	276	3	the	the	DET
ap-2272	276	4	behavior	behavior	NOUN
ap-2272	276	5	of	of	ADP
ap-2272	276	6	this	this	DET
ap-2272	276	7	architecture	architecture	NOUN
ap-2272	276	8	can	can	AUX
ap-2272	276	9	be	be	AUX
ap-2272	276	10	seen	see	VERB
ap-2272	276	11	in	in	ADP
ap-2272	276	12	the	the	DET
ap-2272	276	13	attached	attached	ADJ
ap-2272	276	14	movie	movie	NOUN
ap-2272	276	15	.	.	PUNCT
ap-2272	277	1	4.2	4.2	NUM
ap-2272	277	2	.	.	PUNCT
ap-2272	278	1	principle	principle	NOUN
ap-2272	278	2	of	of	ADP
ap-2272	278	3	the	the	DET
ap-2272	278	4	evolutionary	evolutionary	ADJ
ap-2272	278	5	design	design	NOUN
ap-2272	278	6	of	of	ADP
ap-2272	278	7	new	new	ADJ
ap-2272	278	8	architectures	architecture	NOUN
ap-2272	278	9	two	two	NUM
ap-2272	278	10	types	type	NOUN
ap-2272	278	11	of	of	ADP
ap-2272	278	12	simple	simple	ADJ
ap-2272	278	13	genetic	genetic	ADJ
ap-2272	278	14	algorithm	algorithm	NOUN
ap-2272	278	15	(	(	PUNCT
ap-2272	278	16	ga	ga	NOUN
ap-2272	278	17	)	)	PUNCT
ap-2272	278	18	were	be	AUX
ap-2272	278	19	used	use	VERB
ap-2272	278	20	for	for	ADP
ap-2272	278	21	the	the	DET
ap-2272	278	22	neuro	neuro	NOUN
ap-2272	278	23	-	-	PUNCT
ap-2272	278	24	evolutionary	evolutionary	ADJ
ap-2272	278	25	design	design	NOUN
ap-2272	278	26	(	(	PUNCT
ap-2272	278	27	optimizing	optimize	VERB
ap-2272	278	28	the	the	DET
ap-2272	278	29	connection	connection	NOUN
ap-2272	278	30	weights	weight	NOUN
ap-2272	278	31	between	between	ADP
ap-2272	278	32	modules	module	NOUN
ap-2272	278	33	)	)	PUNCT
ap-2272	278	34	of	of	ADP
ap-2272	278	35	new	new	ADJ
ap-2272	278	36	architectures	architecture	NOUN
ap-2272	278	37	here	here	ADV
ap-2272	278	38	.	.	PUNCT
ap-2272	279	1	as	as	SCONJ
ap-2272	279	2	was	be	AUX
ap-2272	279	3	mentioned	mention	VERB
ap-2272	279	4	above	above	ADV
ap-2272	279	5	,	,	PUNCT
ap-2272	279	6	the	the	DET
ap-2272	279	7	agent	agent	NOUN
ap-2272	279	8	architecture	architecture	NOUN
ap-2272	279	9	is	be	AUX
ap-2272	279	10	represented	represent	VERB
ap-2272	279	11	as	as	ADP
ap-2272	279	12	an	an	DET
ap-2272	279	13	oriented	orient	VERB
ap-2272	279	14	graph	graph	NOUN
ap-2272	279	15	,	,	PUNCT
ap-2272	279	16	where	where	SCONJ
ap-2272	279	17	the	the	DET
ap-2272	279	18	nodes	node	NOUN
ap-2272	279	19	are	be	AUX
ap-2272	279	20	neural	neural	ADJ
ap-2272	279	21	modules	module	NOUN
ap-2272	279	22	and	and	CCONJ
ap-2272	279	23	the	the	DET
ap-2272	279	24	edges	edge	NOUN
ap-2272	279	25	are	be	AUX
ap-2272	279	26	the	the	DET
ap-2272	279	27	connection	connection	NOUN
ap-2272	279	28	weights	weight	NOUN
ap-2272	279	29	between	between	ADP
ap-2272	279	30	their	their	PRON
ap-2272	279	31	inputs	input	NOUN
ap-2272	279	32	/	/	SYM
ap-2272	279	33	outputs	output	NOUN
ap-2272	279	34	.	.	PUNCT
ap-2272	280	1	similarly	similarly	ADV
ap-2272	280	2	to	to	ADP
ap-2272	280	3	the	the	DET
ap-2272	280	4	neuro	neuro	NOUN
ap-2272	280	5	-	-	PUNCT
ap-2272	280	6	evolutionary	evolutionary	ADJ
ap-2272	280	7	design	design	NOUN
ap-2272	280	8	of	of	ADP
ap-2272	280	9	anns	anns	NOUN
ap-2272	280	10	[	[	X
ap-2272	280	11	14	14	NUM
ap-2272	280	12	]	]	PUNCT
ap-2272	280	13	,	,	PUNCT
ap-2272	280	14	the	the	DET
ap-2272	280	15	topology	topology	NOUN
ap-2272	280	16	of	of	ADP
ap-2272	280	17	agent	agent	NOUN
ap-2272	280	18	architecture	architecture	NOUN
ap-2272	280	19	is	be	AUX
ap-2272	280	20	optimized	optimize	VERB
ap-2272	280	21	by	by	ADP
ap-2272	280	22	modifying	modify	VERB
ap-2272	280	23	the	the	DET
ap-2272	280	24	connection	connection	NOUN
ap-2272	280	25	weights	weight	NOUN
ap-2272	280	26	between	between	ADP
ap-2272	280	27	nodes	node	NOUN
ap-2272	280	28	.	.	PUNCT
ap-2272	281	1	each	each	DET
ap-2272	281	2	individual	individual	NOUN
ap-2272	281	3	consists	consist	VERB
ap-2272	281	4	of	of	ADP
ap-2272	281	5	a	a	DET
ap-2272	281	6	genome	genome	NOUN
ap-2272	281	7	and	and	CCONJ
ap-2272	281	8	fitness	fitness	NOUN
ap-2272	281	9	value	value	NOUN
ap-2272	281	10	.	.	PUNCT
ap-2272	282	1	a	a	DET
ap-2272	282	2	genome	genome	NOUN
ap-2272	282	3	is	be	AUX
ap-2272	282	4	a	a	DET
ap-2272	282	5	vector	vector	NOUN
ap-2272	282	6	of	of	ADP
ap-2272	282	7	binary	binary	ADJ
ap-2272	282	8	/	/	SYM
ap-2272	282	9	real	real	ADJ
ap-2272	282	10	values	value	NOUN
ap-2272	282	11	representing	represent	VERB
ap-2272	282	12	the	the	DET
ap-2272	282	13	connection	connection	NOUN
ap-2272	282	14	weights	weight	NOUN
ap-2272	282	15	between	between	ADP
ap-2272	282	16	modules	module	NOUN
ap-2272	282	17	.	.	PUNCT
ap-2272	283	1	the	the	DET
ap-2272	283	2	fitness	fitness	NOUN
ap-2272	283	3	value	value	NOUN
ap-2272	283	4	represents	represent	VERB
ap-2272	283	5	the	the	DET
ap-2272	283	6	quality	quality	NOUN
ap-2272	283	7	of	of	ADP
ap-2272	283	8	a	a	DET
ap-2272	283	9	given	give	VERB
ap-2272	283	10	architecture	architecture	NOUN
ap-2272	283	11	(	(	PUNCT
ap-2272	283	12	its	its	PRON
ap-2272	283	13	performance	performance	NOUN
ap-2272	283	14	on	on	ADP
ap-2272	283	15	a	a	DET
ap-2272	283	16	given	give	VERB
ap-2272	283	17	task	task	NOUN
ap-2272	283	18	)	)	PUNCT
ap-2272	283	19	and	and	CCONJ
ap-2272	283	20	is	be	AUX
ap-2272	283	21	determined	determine	VERB
ap-2272	283	22	by	by	ADP
ap-2272	283	23	means	mean	NOUN
ap-2272	283	24	of	of	ADP
ap-2272	283	25	prosperity	prosperity	NOUN
ap-2272	283	26	values	value	NOUN
ap-2272	283	27	(	(	PUNCT
ap-2272	283	28	see	see	VERB
ap-2272	283	29	below	below	ADV
ap-2272	283	30	)	)	PUNCT
ap-2272	283	31	.	.	PUNCT
ap-2272	284	1	the	the	DET
ap-2272	284	2	generational	generational	ADJ
ap-2272	284	3	model	model	NOUN
ap-2272	284	4	of	of	ADP
ap-2272	284	5	the	the	DET
ap-2272	284	6	ga	ga	PROPN
ap-2272	284	7	/	/	SYM
ap-2272	284	8	rga	rga	PROPN
ap-2272	284	9	(	(	PUNCT
ap-2272	284	10	real	real	ADV
ap-2272	284	11	-	-	PUNCT
ap-2272	284	12	valued	value	VERB
ap-2272	284	13	ga	ga	NOUN
ap-2272	284	14	)	)	PUNCT
ap-2272	284	15	is	be	AUX
ap-2272	284	16	used	use	VERB
ap-2272	284	17	here	here	ADV
ap-2272	284	18	.	.	PUNCT
ap-2272	285	1	in	in	ADP
ap-2272	285	2	this	this	DET
ap-2272	285	3	particular	particular	ADJ
ap-2272	285	4	case	case	NOUN
ap-2272	285	5	,	,	PUNCT
ap-2272	285	6	the	the	DET
ap-2272	285	7	mapping	mapping	NOUN
ap-2272	285	8	of	of	ADP
ap-2272	285	9	genotype	genotype	NOUN
ap-2272	285	10	(	(	PUNCT
ap-2272	285	11	genome	genome	NOUN
ap-2272	285	12	)	)	PUNCT
ap-2272	285	13	to	to	PART
ap-2272	285	14	phenotype	phenotype	VERB
ap-2272	285	15	(	(	PUNCT
ap-2272	285	16	architecture	architecture	NOUN
ap-2272	285	17	)	)	PUNCT
ap-2272	285	18	is	be	AUX
ap-2272	285	19	depicted	depict	VERB
ap-2272	285	20	in	in	ADP
ap-2272	285	21	the	the	DET
ap-2272	285	22	fig	fig	NOUN
ap-2272	285	23	.	.	PUNCT
ap-2272	286	1	4	4	X
ap-2272	286	2	.	.	X
ap-2272	286	3	the	the	DET
ap-2272	286	4	representation	representation	NOUN
ap-2272	286	5	of	of	ADP
ap-2272	286	6	the	the	DET
ap-2272	286	7	architecture	architecture	NOUN
ap-2272	286	8	is	be	AUX
ap-2272	286	9	inspired	inspire	VERB
ap-2272	286	10	in	in	ADP
ap-2272	286	11	feed	feed	NOUN
ap-2272	286	12	-	-	PUNCT
ap-2272	286	13	forward	forward	NOUN
ap-2272	286	14	ann	ann	PROPN
ap-2272	286	15	topologies	topology	NOUN
ap-2272	286	16	,	,	PUNCT
ap-2272	286	17	where	where	SCONJ
ap-2272	286	18	the	the	DET
ap-2272	286	19	inputs	input	NOUN
ap-2272	286	20	/	/	SYM
ap-2272	286	21	outputs	output	NOUN
ap-2272	286	22	between	between	ADP
ap-2272	286	23	particular	particular	ADJ
ap-2272	286	24	layers	layer	NOUN
ap-2272	286	25	are	be	AUX
ap-2272	286	26	fully	fully	ADV
ap-2272	286	27	connected	connect	VERB
ap-2272	286	28	.	.	PUNCT
ap-2272	287	1	the	the	DET
ap-2272	287	2	weights	weight	NOUN
ap-2272	287	3	of	of	ADP
ap-2272	287	4	these	these	DET
ap-2272	287	5	connections	connection	NOUN
ap-2272	287	6	are	be	AUX
ap-2272	287	7	optimized	optimize	VERB
ap-2272	287	8	by	by	ADP
ap-2272	287	9	the	the	DET
ap-2272	287	10	ga	ga	PROPN
ap-2272	287	11	/	/	SYM
ap-2272	287	12	rga	rga	PROPN
ap-2272	287	13	.	.	PUNCT
ap-2272	288	1	the	the	DET
ap-2272	288	2	previous	previous	ADJ
ap-2272	288	3	experiment	experiment	NOUN
ap-2272	288	4	suggested	suggest	VERB
ap-2272	288	5	that	that	SCONJ
ap-2272	288	6	during	during	ADP
ap-2272	288	7	the	the	DET
ap-2272	288	8	simulation	simulation	NOUN
ap-2272	288	9	of	of	ADP
ap-2272	288	10	20000	20000	NUM
ap-2272	288	11	steps	step	NOUN
ap-2272	288	12	the	the	DET
ap-2272	288	13	architecture	architecture	NOUN
ap-2272	288	14	should	should	AUX
ap-2272	288	15	be	be	AUX
ap-2272	288	16	able	able	ADJ
ap-2272	288	17	to	to	PART
ap-2272	288	18	successfully	successfully	ADV
ap-2272	288	19	learn	learn	VERB
ap-2272	288	20	the	the	DET
ap-2272	288	21	desired	desire	VERB
ap-2272	288	22	behavior	behavior	NOUN
ap-2272	288	23	.	.	PUNCT
ap-2272	289	1	the	the	DET
ap-2272	289	2	evaluation	evaluation	NOUN
ap-2272	289	3	of	of	ADP
ap-2272	289	4	an	an	DET
ap-2272	289	5	individual	individual	NOUN
ap-2272	289	6	is	be	AUX
ap-2272	289	7	therefore	therefore	ADV
ap-2272	289	8	determined	determine	VERB
ap-2272	289	9	by	by	ADP
ap-2272	289	10	means	mean	NOUN
ap-2272	289	11	of	of	ADP
ap-2272	289	12	prosperity	prosperity	NOUN
ap-2272	289	13	values	value	NOUN
ap-2272	289	14	of	of	ADP
ap-2272	289	15	the	the	DET
ap-2272	289	16	physiological	physiological	ADJ
ap-2272	289	17	neural	neural	ADJ
ap-2272	289	18	module	module	NOUN
ap-2272	289	19	,	,	PUNCT
ap-2272	289	20	and	and	CCONJ
ap-2272	289	21	is	be	AUX
ap-2272	289	22	obtained	obtain	VERB
ap-2272	289	23	after	after	ADP
ap-2272	289	24	simulation	simulation	NOUN
ap-2272	289	25	of	of	ADP
ap-2272	289	26	the	the	DET
ap-2272	289	27	architecture	architecture	NOUN
ap-2272	289	28	for	for	ADP
ap-2272	289	29	20000	20000	NUM
ap-2272	289	30	steps	step	NOUN
ap-2272	289	31	.	.	PUNCT
ap-2272	290	1	the	the	DET
ap-2272	290	2	parameters	parameter	NOUN
ap-2272	290	3	of	of	ADP
ap-2272	290	4	gas	gas	NOUN
ap-2272	290	5	and	and	CCONJ
ap-2272	290	6	rgas	rgas	NOUN
ap-2272	290	7	were	be	AUX
ap-2272	290	8	empirically	empirically	ADV
ap-2272	290	9	set	set	VERB
ap-2272	290	10	to	to	ADP
ap-2272	290	11	the	the	DET
ap-2272	290	12	following	follow	VERB
ap-2272	290	13	values	value	NOUN
ap-2272	290	14	.	.	PUNCT
ap-2272	291	1	the	the	DET
ap-2272	291	2	population	population	NOUN
ap-2272	291	3	size	size	NOUN
ap-2272	291	4	is	be	AUX
ap-2272	291	5	popsize	popsize	NOUN
ap-2272	291	6	=	=	SYM
ap-2272	291	7	50	50	NUM
ap-2272	291	8	,	,	PUNCT
ap-2272	291	9	the	the	DET
ap-2272	291	10	number	number	NOUN
ap-2272	291	11	of	of	ADP
ap-2272	291	12	generations	generation	NOUN
ap-2272	291	13	maxgens	maxgen	VERB
ap-2272	291	14	=	=	SYM
ap-2272	291	15	80	80	NUM
ap-2272	291	16	.	.	PUNCT
ap-2272	292	1	each	each	DET
ap-2272	292	2	gene	gene	NOUN
ap-2272	292	3	is	be	AUX
ap-2272	292	4	mutated	mutate	VERB
ap-2272	292	5	with	with	ADP
ap-2272	292	6	probability	probability	NOUN
ap-2272	292	7	of	of	ADP
ap-2272	292	8	pmut	pmut	NOUN
ap-2272	292	9	=	=	NOUN
ap-2272	292	10	0.05	0.05	NUM
ap-2272	292	11	.	.	PUNCT
ap-2272	293	1	the	the	DET
ap-2272	293	2	one	one	NUM
ap-2272	293	3	-	-	PUNCT
ap-2272	293	4	point	point	NOUN
ap-2272	293	5	crossover	crossover	NOUN
ap-2272	293	6	is	be	AUX
ap-2272	293	7	applied	apply	VERB
ap-2272	293	8	to	to	ADP
ap-2272	293	9	two	two	NUM
ap-2272	293	10	individuals	individual	NOUN
ap-2272	293	11	with	with	ADP
ap-2272	293	12	the	the	DET
ap-2272	293	13	probability	probability	NOUN
ap-2272	293	14	of	of	ADP
ap-2272	293	15	pcross	pcross	NOUN
ap-2272	293	16	=	=	NUM
ap-2272	293	17	0.8	0.8	NUM
ap-2272	293	18	.	.	PUNCT
ap-2272	294	1	the	the	DET
ap-2272	294	2	ga	ga	PROPN
ap-2272	294	3	mutation	mutation	NOUN
ap-2272	294	4	is	be	AUX
ap-2272	294	5	defined	define	VERB
ap-2272	294	6	as	as	ADP
ap-2272	294	7	flipping	flip	VERB
ap-2272	294	8	the	the	DET
ap-2272	294	9	value	value	NOUN
ap-2272	294	10	of	of	ADP
ap-2272	294	11	a	a	DET
ap-2272	294	12	given	give	VERB
ap-2272	294	13	gene	gene	NOUN
ap-2272	294	14	.	.	PUNCT
ap-2272	295	1	for	for	ADP
ap-2272	295	2	the	the	DET
ap-2272	295	3	rga	rga	NOUN
ap-2272	295	4	,	,	PUNCT
ap-2272	295	5	the	the	DET
ap-2272	295	6	mutation	mutation	NOUN
ap-2272	295	7	was	be	AUX
ap-2272	295	8	implemented	implement	VERB
ap-2272	295	9	as	as	ADP
ap-2272	295	10	sampling	sample	VERB
ap-2272	295	11	the	the	DET
ap-2272	295	12	gaussian	gaussian	ADJ
ap-2272	295	13	function	function	NOUN
ap-2272	295	14	with	with	ADP
ap-2272	295	15	the	the	DET
ap-2272	295	16	standard	standard	ADJ
ap-2272	295	17	deviation	deviation	NOUN
ap-2272	295	18	of	of	ADP
ap-2272	295	19	σ	σ	NOUN
ap-2272	295	20	=	=	NOUN
ap-2272	295	21	1	1	NUM
ap-2272	295	22	with	with	ADP
ap-2272	295	23	mean	mean	ADJ
ap-2272	295	24	value	value	NOUN
ap-2272	295	25	of	of	ADP
ap-2272	295	26	µ	µ	X
ap-2272	295	27	=	=	SYM
ap-2272	295	28	genei	genei	PROPN
ap-2272	295	29	,	,	PUNCT
ap-2272	295	30	where	where	SCONJ
ap-2272	295	31	genei	genei	PROPN
ap-2272	295	32	is	be	AUX
ap-2272	295	33	the	the	DET
ap-2272	295	34	value	value	NOUN
ap-2272	295	35	of	of	ADP
ap-2272	295	36	mutated	mutate	VERB
ap-2272	295	37	genei	genei	PROPN
ap-2272	295	38	∈	∈	PROPN
ap-2272	295	39	r	r	NOUN
ap-2272	295	40	(	(	PUNCT
ap-2272	295	41	the	the	DET
ap-2272	295	42	constraints	constraint	NOUN
ap-2272	295	43	of	of	ADP
ap-2272	295	44	interval	interval	NOUN
ap-2272	295	45	are	be	AUX
ap-2272	295	46	applied	apply	VERB
ap-2272	295	47	after	after	ADP
ap-2272	295	48	the	the	DET
ap-2272	295	49	mutation	mutation	NOUN
ap-2272	295	50	)	)	PUNCT
ap-2272	295	51	.	.	PUNCT
ap-2272	296	1	4.3	4.3	NUM
ap-2272	296	2	.	.	PUNCT
ap-2272	296	3	evolutionary	evolutionary	ADJ
ap-2272	296	4	design	design	NOUN
ap-2272	296	5	of	of	ADP
ap-2272	296	6	new	new	ADJ
ap-2272	296	7	architectures	architecture	NOUN
ap-2272	296	8	since	since	SCONJ
ap-2272	296	9	the	the	DET
ap-2272	296	10	prosperity	prosperity	NOUN
ap-2272	296	11	of	of	ADP
ap-2272	296	12	the	the	DET
ap-2272	296	13	physiological	physiological	ADJ
ap-2272	296	14	module	module	NOUN
ap-2272	296	15	is	be	AUX
ap-2272	296	16	determined	determine	VERB
ap-2272	296	17	by	by	ADP
ap-2272	296	18	the	the	DET
ap-2272	296	19	agent	agent	NOUN
ap-2272	296	20	’s	’s	PART
ap-2272	296	21	ability	ability	NOUN
ap-2272	296	22	to	to	PART
ap-2272	296	23	learn	learn	VERB
ap-2272	296	24	new	new	ADJ
ap-2272	296	25	knowledge	knowledge	NOUN
ap-2272	296	26	and	and	CCONJ
ap-2272	296	27	use	use	VERB
ap-2272	296	28	it	it	PRON
ap-2272	296	29	,	,	PUNCT
ap-2272	296	30	the	the	DET
ap-2272	296	31	suitability	suitability	NOUN
ap-2272	296	32	of	of	ADP
ap-2272	296	33	the	the	DET
ap-2272	296	34	wiring	wiring	NOUN
ap-2272	296	35	of	of	ADP
ap-2272	296	36	both	both	DET
ap-2272	296	37	modules	module	NOUN
ap-2272	296	38	is	be	AUX
ap-2272	296	39	represented	represent	VERB
ap-2272	296	40	in	in	ADP
ap-2272	296	41	the	the	DET
ap-2272	296	42	prosperity	prosperity	NOUN
ap-2272	296	43	of	of	ADP
ap-2272	296	44	the	the	DET
ap-2272	296	45	physiological	physiological	ADJ
ap-2272	296	46	module	module	NOUN
ap-2272	296	47	.	.	PUNCT
ap-2272	297	1	we	we	PRON
ap-2272	297	2	therefore	therefore	ADV
ap-2272	297	3	define	define	VERB
ap-2272	297	4	the	the	DET
ap-2272	297	5	simple	simple	ADJ
ap-2272	297	6	fitness	fitness	NOUN
ap-2272	297	7	(	(	PUNCT
ap-2272	297	8	sf	sf	PROPN
ap-2272	297	9	)	)	PUNCT
ap-2272	297	10	is	be	AUX
ap-2272	297	11	defined	define	VERB
ap-2272	297	12	,	,	PUNCT
ap-2272	297	13	which	which	PRON
ap-2272	297	14	is	be	AUX
ap-2272	297	15	equal	equal	ADJ
ap-2272	297	16	to	to	ADP
ap-2272	297	17	the	the	DET
ap-2272	297	18	prosperity	prosperity	NOUN
ap-2272	297	19	of	of	ADP
ap-2272	297	20	the	the	DET
ap-2272	297	21	physiological	physiological	ADJ
ap-2272	297	22	module	module	NOUN
ap-2272	297	23	:	:	PUNCT
ap-2272	297	24	parch	parch	NOUN
ap-2272	297	25	=	=	SYM
ap-2272	297	26	sfarch	sfarch	NOUN
ap-2272	297	27	=	=	PUNCT
ap-2272	297	28	pphys	pphy	NOUN
ap-2272	297	29	=	=	SYM
ap-2272	297	30	1−	1−	NUM
ap-2272	297	31	sf	sf	PROPN
ap-2272	297	32	t	t	PROPN
ap-2272	297	33	,	,	PUNCT
ap-2272	297	34	(	(	PUNCT
ap-2272	297	35	16	16	NUM
ap-2272	297	36	)	)	PUNCT
ap-2272	297	37	374	374	NUM
ap-2272	297	38	vol	vol	NOUN
ap-2272	297	39	.	.	PUNCT
ap-2272	298	1	54	54	NUM
ap-2272	298	2	no	no	NOUN
ap-2272	298	3	.	.	PUNCT
ap-2272	299	1	5/2014	5/2014	NUM
ap-2272	299	2	towards	towards	ADP
ap-2272	299	3	evolutionary	evolutionary	ADJ
ap-2272	299	4	design	design	NOUN
ap-2272	299	5	of	of	ADP
ap-2272	299	6	complex	complex	ADJ
ap-2272	299	7	systems	system	NOUN
ap-2272	299	8	inspired	inspire	VERB
ap-2272	299	9	by	by	ADP
ap-2272	299	10	nature	nature	NOUN
ap-2272	299	11	0	0	NUM
ap-2272	300	1	10	10	NUM
ap-2272	300	2	20	20	NUM
ap-2272	300	3	30	30	NUM
ap-2272	300	4	40	40	NUM
ap-2272	300	5	50	50	NUM
ap-2272	300	6	60	60	NUM
ap-2272	300	7	70	70	NUM
ap-2272	300	8	80	80	NUM
ap-2272	300	9	0	0	NUM
ap-2272	300	10	0.1	0.1	NUM
ap-2272	300	11	0.2	0.2	NUM
ap-2272	300	12	0.3	0.3	NUM
ap-2272	300	13	0.4	0.4	NUM
ap-2272	300	14	0.5	0.5	NUM
ap-2272	300	15	0.6	0.6	NUM
ap-2272	300	16	0.7	0.7	NUM
ap-2272	300	17	0.8	0.8	NUM
ap-2272	300	18	generations	generation	NOUN
ap-2272	300	19	v	v	ADP
ap-2272	300	20	a	a	DET
ap-2272	300	21	lu	lu	NOUN
ap-2272	300	22	e	e	NOUN
ap-2272	300	23	o	o	NOUN
ap-2272	300	24	f	f	X
ap-2272	300	25	th	th	X
ap-2272	300	26	e	e	X
ap-2272	300	27	b	b	PROPN
ap-2272	300	28	e	e	PROPN
ap-2272	300	29	st	st	PROPN
ap-2272	300	30	f	f	PROPN
ap-2272	300	31	itn	itn	PROPN
ap-2272	300	32	e	e	PROPN
ap-2272	300	33	ss	ss	PROPN
ap-2272	300	34	in	in	ADP
ap-2272	300	35	t	t	PROPN
ap-2272	300	36	h	h	NOUN
ap-2272	301	1	e	e	NOUN
ap-2272	301	2	p	p	NOUN
ap-2272	301	3	o	o	X
ap-2272	301	4	p	p	X
ap-2272	301	5	u	u	X
ap-2272	301	6	la	la	X
ap-2272	301	7	tio	tio	NOUN
ap-2272	301	8	n	n	PRON
ap-2272	301	9	comparing	compare	VERB
ap-2272	301	10	sorga	sorga	NOUN
ap-2272	301	11	and	and	CCONJ
ap-2272	301	12	soga	soga	VERB
ap-2272	301	13	on	on	ADP
ap-2272	301	14	designing	design	VERB
ap-2272	301	15	new	new	ADJ
ap-2272	301	16	architectures	architecture	NOUN
ap-2272	301	17	best	good	ADJ
ap-2272	301	18	fitness	fitness	NOUN
ap-2272	301	19	during	during	ADP
ap-2272	301	20	sorga	sorga	NOUN
ap-2272	301	21	(	(	PUNCT
ap-2272	301	22	fitted	fit	VERB
ap-2272	301	23	by	by	ADP
ap-2272	301	24	pol	pol	PROPN
ap-2272	301	25	.	.	PUNCT
ap-2272	302	1	of	of	ADP
ap-2272	302	2	ord.5	ord.5	ADJ
ap-2272	302	3	)	)	PUNCT
ap-2272	302	4	best	good	ADJ
ap-2272	302	5	fitness	fitness	NOUN
ap-2272	302	6	during	during	ADP
ap-2272	302	7	soga	soga	NOUN
ap-2272	302	8	(	(	PUNCT
ap-2272	302	9	fitted	fit	VERB
ap-2272	302	10	by	by	ADP
ap-2272	302	11	pol	pol	PROPN
ap-2272	302	12	.	.	PUNCT
ap-2272	303	1	of	of	ADP
ap-2272	303	2	ord.8	ord.8	PROPN
ap-2272	303	3	)	)	PUNCT
ap-2272	303	4	mean	mean	NOUN
ap-2272	303	5	value	value	NOUN
ap-2272	303	6	of	of	ADP
ap-2272	303	7	best	good	ADJ
ap-2272	303	8	fitness	fitness	NOUN
ap-2272	303	9	mean	mean	NOUN
ap-2272	303	10	value	value	NOUN
ap-2272	303	11	of	of	ADP
ap-2272	304	1	best	good	ADJ
ap-2272	304	2	fitness	fitness	NOUN
ap-2272	304	3	95	95	NUM
ap-2272	304	4	%	%	NOUN
ap-2272	304	5	prediction	prediction	NOUN
ap-2272	304	6	intervals	interval	NOUN
ap-2272	304	7	figure	figure	VERB
ap-2272	304	8	7	7	NUM
ap-2272	304	9	.	.	PUNCT
ap-2272	304	10	comparing	compare	VERB
ap-2272	304	11	ga	ga	PROPN
ap-2272	304	12	and	and	CCONJ
ap-2272	304	13	rga	rga	PROPN
ap-2272	304	14	with	with	ADP
ap-2272	304	15	single	single	ADJ
ap-2272	304	16	objective	objective	ADJ
ap-2272	304	17	fitness	fitness	NOUN
ap-2272	304	18	(	(	PUNCT
ap-2272	304	19	sf	sf	PROPN
ap-2272	304	20	)	)	PUNCT
ap-2272	304	21	.	.	PUNCT
ap-2272	305	1	the	the	DET
ap-2272	305	2	fitness	fitness	NOUN
ap-2272	305	3	is	be	AUX
ap-2272	305	4	defined	define	VERB
ap-2272	305	5	as	as	ADP
ap-2272	305	6	a	a	DET
ap-2272	305	7	prosperity	prosperity	NOUN
ap-2272	305	8	of	of	ADP
ap-2272	305	9	the	the	DET
ap-2272	305	10	physiology	physiology	NOUN
ap-2272	305	11	module	module	NOUN
ap-2272	305	12	(	(	PUNCT
ap-2272	305	13	but	but	CCONJ
ap-2272	305	14	the	the	DET
ap-2272	305	15	courses	course	NOUN
ap-2272	305	16	of	of	ADP
ap-2272	305	17	evolution	evolution	NOUN
ap-2272	305	18	for	for	ADP
ap-2272	305	19	the	the	DET
ap-2272	305	20	composed	compose	VERB
ap-2272	305	21	-	-	PUNCT
ap-2272	305	22	fitness	fitness	NOUN
ap-2272	305	23	cf	cf	NOUN
ap-2272	305	24	look	look	NOUN
ap-2272	305	25	similar	similar	ADJ
ap-2272	305	26	)	)	PUNCT
ap-2272	305	27	.	.	PUNCT
ap-2272	306	1	the	the	DET
ap-2272	306	2	ga	ga	PROPN
ap-2272	306	3	finds	find	VERB
ap-2272	306	4	solution	solution	NOUN
ap-2272	306	5	with	with	ADP
ap-2272	306	6	similar	similar	ADJ
ap-2272	306	7	quality	quality	NOUN
ap-2272	306	8	faster	fast	ADV
ap-2272	306	9	than	than	ADP
ap-2272	306	10	the	the	DET
ap-2272	306	11	rga	rga	NOUN
ap-2272	306	12	in	in	ADP
ap-2272	306	13	both	both	DET
ap-2272	306	14	cases	case	NOUN
ap-2272	306	15	.	.	PUNCT
ap-2272	307	1	note	note	VERB
ap-2272	307	2	that	that	SCONJ
ap-2272	307	3	each	each	DET
ap-2272	307	4	result	result	NOUN
ap-2272	307	5	is	be	AUX
ap-2272	307	6	averaged	average	VERB
ap-2272	307	7	over	over	ADP
ap-2272	307	8	10	10	NUM
ap-2272	307	9	runs	run	NOUN
ap-2272	307	10	of	of	ADP
ap-2272	307	11	the	the	DET
ap-2272	307	12	algorithm	algorithm	NOUN
ap-2272	307	13	and	and	CCONJ
ap-2272	307	14	fitted	fit	VERB
ap-2272	307	15	by	by	ADP
ap-2272	307	16	a	a	DET
ap-2272	307	17	polynomial	polynomial	NOUN
ap-2272	307	18	for	for	ADP
ap-2272	307	19	better	well	ADJ
ap-2272	307	20	readability	readability	NOUN
ap-2272	307	21	.	.	PUNCT
ap-2272	308	1	where	where	SCONJ
ap-2272	308	2	pphys	pphy	NOUN
ap-2272	308	3	is	be	AUX
ap-2272	308	4	the	the	DET
ap-2272	308	5	prosperity	prosperity	NOUN
ap-2272	308	6	of	of	ADP
ap-2272	308	7	the	the	DET
ap-2272	308	8	physiological	physiological	ADJ
ap-2272	308	9	module	module	NOUN
ap-2272	308	10	.	.	PUNCT
ap-2272	309	1	this	this	PRON
ap-2272	309	2	means	mean	VERB
ap-2272	309	3	that	that	SCONJ
ap-2272	309	4	single	single	ADJ
ap-2272	309	5	-	-	PUNCT
ap-2272	309	6	objective	objective	ADJ
ap-2272	309	7	ga	ga	PROPN
ap-2272	309	8	(	(	PUNCT
ap-2272	309	9	soga	soga	NOUN
ap-2272	309	10	)	)	PUNCT
ap-2272	309	11	and	and	CCONJ
ap-2272	309	12	single	single	ADJ
ap-2272	309	13	-	-	PUNCT
ap-2272	309	14	objective	objective	ADJ
ap-2272	309	15	rga	rga	NOUN
ap-2272	309	16	(	(	PUNCT
ap-2272	309	17	sorga	sorga	NOUN
ap-2272	309	18	)	)	PUNCT
ap-2272	309	19	will	will	AUX
ap-2272	309	20	maximize	maximize	VERB
ap-2272	309	21	only	only	ADV
ap-2272	309	22	the	the	DET
ap-2272	309	23	prosperity	prosperity	NOUN
ap-2272	309	24	of	of	ADP
ap-2272	309	25	the	the	DET
ap-2272	309	26	physiological	physiological	ADJ
ap-2272	309	27	module	module	NOUN
ap-2272	309	28	.	.	PUNCT
ap-2272	310	1	here	here	ADV
ap-2272	310	2	,	,	PUNCT
ap-2272	310	3	ga	ga	PROPN
ap-2272	310	4	and	and	CCONJ
ap-2272	310	5	rga	rga	PROPN
ap-2272	310	6	were	be	AUX
ap-2272	310	7	used	use	VERB
ap-2272	310	8	to	to	PART
ap-2272	310	9	design	design	VERB
ap-2272	310	10	new	new	ADJ
ap-2272	310	11	architectures	architecture	NOUN
ap-2272	310	12	for	for	ADP
ap-2272	310	13	the	the	DET
ap-2272	310	14	described	describe	VERB
ap-2272	310	15	environment	environment	NOUN
ap-2272	310	16	.	.	PUNCT
ap-2272	311	1	the	the	DET
ap-2272	311	2	graph	graph	NOUN
ap-2272	311	3	in	in	ADP
ap-2272	311	4	fig	fig	NOUN
ap-2272	311	5	.	.	PUNCT
ap-2272	312	1	7	7	NUM
ap-2272	312	2	compares	compare	VERB
ap-2272	312	3	the	the	DET
ap-2272	312	4	convergence	convergence	NOUN
ap-2272	312	5	of	of	ADP
ap-2272	312	6	the	the	DET
ap-2272	312	7	two	two	NUM
ap-2272	312	8	types	type	NOUN
ap-2272	312	9	of	of	ADP
ap-2272	312	10	evolutionary	evolutionary	ADJ
ap-2272	312	11	design	design	NOUN
ap-2272	312	12	of	of	ADP
ap-2272	312	13	agent	agent	NOUN
ap-2272	312	14	architectures	architecture	NOUN
ap-2272	312	15	.	.	PUNCT
ap-2272	313	1	again	again	ADV
ap-2272	313	2	,	,	PUNCT
ap-2272	313	3	it	it	PRON
ap-2272	313	4	can	can	AUX
ap-2272	313	5	be	be	AUX
ap-2272	313	6	said	say	VERB
ap-2272	313	7	that	that	SCONJ
ap-2272	313	8	soga	soga	NOUN
ap-2272	313	9	is	be	AUX
ap-2272	313	10	able	able	ADJ
ap-2272	313	11	to	to	PART
ap-2272	313	12	find	find	VERB
ap-2272	313	13	a	a	DET
ap-2272	313	14	similarly	similarly	ADV
ap-2272	313	15	fit	fit	ADJ
ap-2272	313	16	solution	solution	NOUN
ap-2272	313	17	faster	fast	ADV
ap-2272	313	18	than	than	ADP
ap-2272	313	19	sorga	sorga	NOUN
ap-2272	313	20	.	.	PUNCT
ap-2272	314	1	the	the	DET
ap-2272	314	2	following	follow	VERB
ap-2272	314	3	sections	section	NOUN
ap-2272	314	4	will	will	AUX
ap-2272	314	5	describe	describe	VERB
ap-2272	314	6	some	some	DET
ap-2272	314	7	typical	typical	ADJ
ap-2272	314	8	automatically	automatically	ADV
ap-2272	314	9	found	find	VERB
ap-2272	314	10	architectures	architecture	NOUN
ap-2272	314	11	and	and	CCONJ
ap-2272	314	12	their	their	PRON
ap-2272	314	13	properties	property	NOUN
ap-2272	314	14	.	.	PUNCT
ap-2272	315	1	4.3.1	4.3.1	X
ap-2272	315	2	.	.	PUNCT
ap-2272	315	3	analyzing	analyze	VERB
ap-2272	315	4	new	new	ADJ
ap-2272	315	5	architectures	architecture	NOUN
ap-2272	315	6	found	find	VERB
ap-2272	315	7	by	by	ADP
ap-2272	315	8	soga	soga	NOUN
ap-2272	315	9	table	table	NOUN
ap-2272	315	10	1	1	NUM
ap-2272	315	11	shows	show	VERB
ap-2272	315	12	several	several	ADJ
ap-2272	315	13	automatically	automatically	ADV
ap-2272	315	14	-	-	PUNCT
ap-2272	315	15	designed	design	VERB
ap-2272	315	16	architectures	architecture	NOUN
ap-2272	315	17	by	by	ADP
ap-2272	315	18	means	mean	NOUN
ap-2272	315	19	of	of	ADP
ap-2272	315	20	sorga	sorga	NOUN
ap-2272	315	21	and	and	CCONJ
ap-2272	315	22	soga	soga	NOUN
ap-2272	315	23	,	,	PUNCT
ap-2272	315	24	and	and	CCONJ
ap-2272	315	25	compares	compare	VERB
ap-2272	315	26	them	they	PRON
ap-2272	315	27	to	to	ADP
ap-2272	315	28	the	the	DET
ap-2272	315	29	manually	manually	ADV
ap-2272	315	30	-	-	PUNCT
ap-2272	315	31	designed	design	VERB
ap-2272	315	32	architecture	architecture	NOUN
ap-2272	315	33	.	.	PUNCT
ap-2272	316	1	soga	soga	PROPN
ap-2272	316	2	found	find	VERB
ap-2272	316	3	functional	functional	ADJ
ap-2272	316	4	architectures	architecture	NOUN
ap-2272	316	5	relatively	relatively	ADV
ap-2272	316	6	fast	fast	ADV
ap-2272	316	7	.	.	PUNCT
ap-2272	317	1	both	both	PRON
ap-2272	317	2	selected	select	VERB
ap-2272	317	3	typical	typical	ADJ
ap-2272	317	4	individuals	individual	NOUN
ap-2272	317	5	(	(	PUNCT
ap-2272	317	6	marked	mark	VERB
ap-2272	317	7	as	as	ADP
ap-2272	317	8	ind1	ind1	NOUN
ap-2272	317	9	and	and	CCONJ
ap-2272	317	10	ind2	ind2	NOUN
ap-2272	317	11	in	in	ADP
ap-2272	317	12	the	the	DET
ap-2272	317	13	table	table	NOUN
ap-2272	317	14	)	)	PUNCT
ap-2272	317	15	have	have	VERB
ap-2272	317	16	the	the	DET
ap-2272	317	17	following	follow	VERB
ap-2272	317	18	properties	property	NOUN
ap-2272	317	19	:	:	PUNCT
ap-2272	317	20	•	•	ADP
ap-2272	317	21	the	the	DET
ap-2272	317	22	reward	reward	NOUN
ap-2272	317	23	input	input	NOUN
ap-2272	317	24	of	of	ADP
ap-2272	317	25	the	the	DET
ap-2272	317	26	q	q	ADJ
ap-2272	317	27	-	-	PUNCT
ap-2272	317	28	lambda	lambda	ADJ
ap-2272	317	29	module	module	NOUN
ap-2272	317	30	is	be	AUX
ap-2272	317	31	wired	wire	VERB
ap-2272	317	32	correctly	correctly	ADV
ap-2272	317	33	,	,	PUNCT
ap-2272	317	34	so	so	SCONJ
ap-2272	317	35	that	that	SCONJ
ap-2272	317	36	the	the	DET
ap-2272	317	37	rl	rl	PROPN
ap-2272	317	38	part	part	NOUN
ap-2272	317	39	works	work	VERB
ap-2272	317	40	as	as	SCONJ
ap-2272	317	41	expected	expect	VERB
ap-2272	317	42	.	.	PUNCT
ap-2272	318	1	•	•	X
ap-2272	319	1	both	both	DET
ap-2272	319	2	environment	environment	NOUN
ap-2272	319	3	state	state	NOUN
ap-2272	319	4	variables	variable	NOUN
ap-2272	319	5	,	,	PUNCT
ap-2272	319	6	and	and	CCONJ
ap-2272	319	7	also	also	ADV
ap-2272	319	8	the	the	DET
ap-2272	319	9	motivation	motivation	NOUN
ap-2272	319	10	output	output	NOUN
ap-2272	319	11	of	of	ADP
ap-2272	319	12	the	the	DET
ap-2272	319	13	physiology	physiology	NOUN
ap-2272	319	14	are	be	AUX
ap-2272	319	15	connected	connect	VERB
ap-2272	319	16	to	to	ADP
ap-2272	319	17	the	the	DET
ap-2272	319	18	motivation	motivation	NOUN
ap-2272	319	19	input	input	NOUN
ap-2272	319	20	of	of	ADP
ap-2272	319	21	the	the	DET
ap-2272	319	22	q	q	ADJ
ap-2272	319	23	-	-	PUNCT
ap-2272	319	24	lambda	lambda	ADJ
ap-2272	319	25	module	module	NOUN
ap-2272	319	26	.	.	PUNCT
ap-2272	320	1	this	this	PRON
ap-2272	320	2	means	mean	VERB
ap-2272	320	3	that	that	SCONJ
ap-2272	320	4	the	the	DET
ap-2272	320	5	motivation	motivation	NOUN
ap-2272	320	6	-	-	PUNCT
ap-2272	320	7	driven	drive	VERB
ap-2272	320	8	rl	rl	NOUN
ap-2272	320	9	is	be	AUX
ap-2272	320	10	also	also	ADV
ap-2272	320	11	used	use	VERB
ap-2272	320	12	.	.	PUNCT
ap-2272	321	1	the	the	DET
ap-2272	321	2	motivation	motivation	NOUN
ap-2272	321	3	is	be	AUX
ap-2272	321	4	directly	directly	ADV
ap-2272	321	5	proportional	proportional	ADJ
ap-2272	321	6	to	to	ADP
ap-2272	321	7	the	the	DET
ap-2272	321	8	motivation	motivation	NOUN
ap-2272	321	9	produced	produce	VERB
ap-2272	321	10	by	by	ADP
ap-2272	321	11	physiology	physiology	NOUN
ap-2272	321	12	and	and	CCONJ
ap-2272	321	13	to	to	ADP
ap-2272	321	14	the	the	DET
ap-2272	321	15	agent	agent	NOUN
ap-2272	321	16	’s	’s	PART
ap-2272	321	17	position	position	NOUN
ap-2272	321	18	/	/	SYM
ap-2272	321	19	distance	distance	NOUN
ap-2272	321	20	from	from	ADP
ap-2272	321	21	the	the	DET
ap-2272	321	22	reward	reward	NOUN
ap-2272	321	23	source	source	NOUN
ap-2272	321	24	.	.	PUNCT
ap-2272	322	1	•	•	NUM
ap-2272	323	1	the	the	DET
ap-2272	323	2	binary	binary	ADJ
ap-2272	323	3	reward	reward	NOUN
ap-2272	323	4	output	output	NOUN
ap-2272	323	5	of	of	ADP
ap-2272	323	6	the	the	DET
ap-2272	323	7	physiology	physiology	NOUN
ap-2272	323	8	is	be	AUX
ap-2272	323	9	also	also	ADV
ap-2272	323	10	connected	connect	VERB
ap-2272	323	11	to	to	ADP
ap-2272	323	12	the	the	DET
ap-2272	323	13	motivation	motivation	NOUN
ap-2272	323	14	source	source	NOUN
ap-2272	323	15	,	,	PUNCT
ap-2272	323	16	but	but	CCONJ
ap-2272	323	17	this	this	PRON
ap-2272	323	18	has	have	VERB
ap-2272	323	19	no	no	DET
ap-2272	323	20	significant	significant	ADJ
ap-2272	323	21	influence	influence	NOUN
ap-2272	323	22	on	on	ADP
ap-2272	323	23	the	the	DET
ap-2272	323	24	agent	agent	NOUN
ap-2272	323	25	’s	’s	PART
ap-2272	323	26	behavior	behavior	NOUN
ap-2272	323	27	.	.	PUNCT
ap-2272	324	1	parameters	parameter	NOUN
ap-2272	324	2	a	a	DET
ap-2272	324	3	b	b	NOUN
ap-2272	324	4	c	c	NOUN
ap-2272	324	5	d	d	PROPN
ap-2272	324	6	(	(	PUNCT
ap-2272	324	7	see	see	VERB
ap-2272	324	8	fig	fig	NOUN
ap-2272	324	9	.	.	PUNCT
ap-2272	325	1	4	4	NUM
ap-2272	325	2	)	)	PUNCT
ap-2272	325	3	e	e	NOUN
ap-2272	325	4	f	f	PROPN
ap-2272	325	5	g	g	NOUN
ap-2272	325	6	h	h	NOUN
ap-2272	326	1	i	i	PRON
ap-2272	326	2	j	j	PROPN
ap-2272	327	1	k	k	PROPN
ap-2272	327	2	l	l	PROPN
ap-2272	327	3	m	m	VERB
ap-2272	327	4	n	n	ADV
ap-2272	327	5	hand	hand	NOUN
ap-2272	327	6	-	-	PUNCT
ap-2272	327	7	designed	design	VERB
ap-2272	327	8	1	1	NUM
ap-2272	327	9	0	0	NUM
ap-2272	327	10	0	0	NUM
ap-2272	327	11	1	1	NUM
ap-2272	327	12	sf	sf	NOUN
ap-2272	327	13	=	=	PUNCT
ap-2272	327	14	0.625	0.625	NUM
ap-2272	327	15	0	0	NUM
ap-2272	327	16	0	0	NUM
ap-2272	327	17	0	0	NUM
ap-2272	327	18	1	1	NUM
ap-2272	327	19	0	0	NUM
ap-2272	327	20	0	0	NUM
ap-2272	327	21	1	1	NUM
ap-2272	327	22	0	0	NUM
ap-2272	327	23	0	0	NUM
ap-2272	327	24	0	0	NUM
ap-2272	327	25	soga	soga	NOUN
ap-2272	327	26	–	–	PUNCT
ap-2272	327	27	ind1	ind1	NOUN
ap-2272	327	28	1	1	NUM
ap-2272	327	29	0	0	NUM
ap-2272	327	30	0	0	NUM
ap-2272	327	31	1	1	NUM
ap-2272	327	32	sf	sf	NOUN
ap-2272	327	33	=	=	PUNCT
ap-2272	327	34	0.699	0.699	NUM
ap-2272	327	35	0	0	NUM
ap-2272	327	36	0	0	NUM
ap-2272	327	37	0	0	NUM
ap-2272	327	38	1	1	NUM
ap-2272	327	39	0	0	NUM
ap-2272	327	40	0	0	NUM
ap-2272	327	41	1	1	NUM
ap-2272	327	42	1	1	NUM
ap-2272	327	43	1	1	NUM
ap-2272	327	44	1	1	NUM
ap-2272	327	45	soga	soga	NOUN
ap-2272	327	46	–	–	PUNCT
ap-2272	327	47	ind2	ind2	NOUN
ap-2272	327	48	1	1	NUM
ap-2272	327	49	1	1	NUM
ap-2272	327	50	0	0	NUM
ap-2272	327	51	1	1	NUM
ap-2272	327	52	sf	sf	NOUN
ap-2272	327	53	=	=	PUNCT
ap-2272	327	54	0.697	0.697	NUM
ap-2272	327	55	0	0	NUM
ap-2272	327	56	0	0	NUM
ap-2272	327	57	0	0	NUM
ap-2272	327	58	1	1	NUM
ap-2272	327	59	0	0	NUM
ap-2272	327	60	1	1	NUM
ap-2272	327	61	1	1	NUM
ap-2272	327	62	1	1	NUM
ap-2272	327	63	1	1	NUM
ap-2272	327	64	1	1	NUM
ap-2272	327	65	sorga	sorga	NOUN
ap-2272	327	66	–	–	PUNCT
ap-2272	327	67	ind1	ind1	NOUN
ap-2272	327	68	0	0	NUM
ap-2272	327	69	1	1	NUM
ap-2272	327	70	1	1	NUM
ap-2272	327	71	0.71	0.71	NUM
ap-2272	327	72	sf	sf	NOUN
ap-2272	327	73	=	=	PUNCT
ap-2272	327	74	0.745	0.745	NUM
ap-2272	327	75	0	0	NUM
ap-2272	327	76	0	0	NUM
ap-2272	327	77	0	0	NUM
ap-2272	327	78	1	1	NUM
ap-2272	327	79	1	1	NUM
ap-2272	327	80	0	0	NUM
ap-2272	327	81	0.89	0.89	NUM
ap-2272	327	82	0	0	NUM
ap-2272	327	83	1	1	NUM
ap-2272	327	84	1	1	NUM
ap-2272	327	85	sorga	sorga	NOUN
ap-2272	327	86	–	–	PUNCT
ap-2272	327	87	ind2	ind2	NOUN
ap-2272	327	88	0	0	NUM
ap-2272	328	1	0.51	0.51	NUM
ap-2272	328	2	1	1	NUM
ap-2272	328	3	0	0	NUM
ap-2272	328	4	sf	sf	NOUN
ap-2272	328	5	=	=	PUNCT
ap-2272	328	6	0.723	0.723	NUM
ap-2272	328	7	0	0	NUM
ap-2272	328	8	0	0	NUM
ap-2272	328	9	0	0	NUM
ap-2272	328	10	1	1	NUM
ap-2272	328	11	0	0	NUM
ap-2272	328	12	0	0	NUM
ap-2272	328	13	0.76	0.76	NUM
ap-2272	328	14	0	0	NUM
ap-2272	328	15	0.3	0.3	NUM
ap-2272	328	16	0.44	0.44	NUM
ap-2272	328	17	table	table	NOUN
ap-2272	328	18	1	1	NUM
ap-2272	328	19	.	.	PUNCT
ap-2272	328	20	comparison	comparison	NOUN
ap-2272	328	21	of	of	ADP
ap-2272	328	22	agent	agent	NOUN
ap-2272	328	23	architectures	architecture	NOUN
ap-2272	328	24	’	'	PUNCT
ap-2272	328	25	genomes	genome	NOUN
ap-2272	328	26	:	:	PUNCT
ap-2272	328	27	hand	hand	NOUN
ap-2272	328	28	-	-	PUNCT
ap-2272	328	29	designed	design	VERB
ap-2272	328	30	,	,	PUNCT
ap-2272	328	31	two	two	NUM
ap-2272	328	32	sorga	sorga	NOUN
ap-2272	328	33	-	-	PUNCT
ap-2272	328	34	designed	design	VERB
ap-2272	328	35	and	and	CCONJ
ap-2272	328	36	two	two	NUM
ap-2272	328	37	sogadesigned	sogadesigned	ADJ
ap-2272	328	38	architectures	architecture	NOUN
ap-2272	328	39	.	.	PUNCT
ap-2272	329	1	also	also	ADV
ap-2272	329	2	note	note	VERB
ap-2272	329	3	that	that	SCONJ
ap-2272	329	4	ind1	ind1	NOUN
ap-2272	329	5	has	have	AUX
ap-2272	329	6	correctly	correctly	ADV
ap-2272	329	7	wired	wire	VERB
ap-2272	329	8	state	state	NOUN
ap-2272	329	9	variables	variable	NOUN
ap-2272	329	10	to	to	ADP
ap-2272	329	11	the	the	DET
ap-2272	329	12	agent	agent	NOUN
ap-2272	329	13	’s	’s	PART
ap-2272	329	14	position	position	NOUN
ap-2272	329	15	,	,	PUNCT
ap-2272	329	16	while	while	SCONJ
ap-2272	329	17	the	the	DET
ap-2272	329	18	ind2	ind2	NOUN
ap-2272	329	19	has	have	VERB
ap-2272	329	20	one	one	NUM
ap-2272	329	21	dimension	dimension	NOUN
ap-2272	329	22	“	"	PUNCT
ap-2272	329	23	diagonalized	diagonalize	VERB
ap-2272	329	24	”	"	PUNCT
ap-2272	329	25	(	(	PUNCT
ap-2272	329	26	both	both	PRON
ap-2272	329	27	,	,	PUNCT
ap-2272	329	28	the	the	DET
ap-2272	329	29	x	x	SYM
ap-2272	329	30	coordinate	coordinate	NOUN
ap-2272	329	31	and	and	CCONJ
ap-2272	329	32	the	the	DET
ap-2272	329	33	y	y	PROPN
ap-2272	329	34	coordinate	coordinate	NOUN
ap-2272	329	35	are	be	AUX
ap-2272	329	36	connected	connect	VERB
ap-2272	329	37	to	to	ADP
ap-2272	329	38	the	the	DET
ap-2272	329	39	s1	s1	NOUN
ap-2272	329	40	variable	variable	NOUN
ap-2272	329	41	)	)	PUNCT
ap-2272	329	42	.	.	PUNCT
ap-2272	330	1	this	this	PRON
ap-2272	330	2	means	mean	VERB
ap-2272	330	3	that	that	SCONJ
ap-2272	330	4	only	only	ADV
ap-2272	330	5	one	one	NUM
ap-2272	330	6	half	half	NOUN
ap-2272	330	7	of	of	ADP
ap-2272	330	8	the	the	DET
ap-2272	330	9	q(s	q(s	PROPN
ap-2272	330	10	,	,	PUNCT
ap-2272	330	11	a	a	DET
ap-2272	330	12	)	)	PUNCT
ap-2272	330	13	matrix	matrix	NOUN
ap-2272	330	14	was	be	AUX
ap-2272	330	15	used	use	VERB
ap-2272	330	16	here	here	ADV
ap-2272	330	17	,	,	PUNCT
ap-2272	330	18	but	but	CCONJ
ap-2272	330	19	still	still	ADV
ap-2272	330	20	the	the	DET
ap-2272	330	21	architecture	architecture	NOUN
ap-2272	330	22	still	still	ADV
ap-2272	330	23	performed	perform	VERB
ap-2272	330	24	relatively	relatively	ADV
ap-2272	330	25	well	well	ADV
ap-2272	330	26	.	.	PUNCT
ap-2272	331	1	figure	figure	NOUN
ap-2272	331	2	8	8	NUM
ap-2272	331	3	shows	show	VERB
ap-2272	331	4	the	the	DET
ap-2272	331	5	behavior	behavior	NOUN
ap-2272	331	6	of	of	ADP
ap-2272	331	7	a	a	DET
ap-2272	331	8	typical	typical	ADJ
ap-2272	331	9	best	good	ADJ
ap-2272	331	10	architecture	architecture	NOUN
ap-2272	331	11	found	find	VERB
ap-2272	331	12	by	by	ADP
ap-2272	331	13	soga	soga	NOUN
ap-2272	331	14	.	.	PUNCT
ap-2272	332	1	the	the	DET
ap-2272	332	2	architecture	architecture	NOUN
ap-2272	332	3	performs	perform	VERB
ap-2272	332	4	similarly	similarly	ADV
ap-2272	332	5	to	to	ADP
ap-2272	332	6	the	the	DET
ap-2272	332	7	hand	hand	NOUN
ap-2272	332	8	-	-	PUNCT
ap-2272	332	9	designed	design	VERB
ap-2272	332	10	architecture	architecture	NOUN
ap-2272	332	11	(	(	PUNCT
ap-2272	332	12	see	see	VERB
ap-2272	332	13	fig	fig	NOUN
ap-2272	332	14	.	.	PUNCT
ap-2272	333	1	6	6	NUM
ap-2272	333	2	)	)	PUNCT
ap-2272	333	3	.	.	PUNCT
ap-2272	334	1	compared	compare	VERB
ap-2272	334	2	to	to	ADP
ap-2272	334	3	the	the	DET
ap-2272	334	4	hand	hand	NOUN
ap-2272	334	5	-	-	PUNCT
ap-2272	334	6	designed	design	VERB
ap-2272	334	7	architecture	architecture	NOUN
ap-2272	334	8	,	,	PUNCT
ap-2272	334	9	this	this	DET
ap-2272	334	10	architecture	architecture	NOUN
ap-2272	334	11	has	have	VERB
ap-2272	334	12	bigger	big	ADJ
ap-2272	334	13	motivation	motivation	NOUN
ap-2272	334	14	to	to	PART
ap-2272	334	15	stay	stay	VERB
ap-2272	334	16	near	near	ADP
ap-2272	334	17	the	the	DET
ap-2272	334	18	reward	reward	NOUN
ap-2272	334	19	source	source	NOUN
ap-2272	334	20	,	,	PUNCT
ap-2272	334	21	so	so	SCONJ
ap-2272	334	22	that	that	SCONJ
ap-2272	334	23	the	the	DET
ap-2272	334	24	overall	overall	ADJ
ap-2272	334	25	prosperity	prosperity	NOUN
ap-2272	334	26	of	of	ADP
ap-2272	334	27	the	the	DET
ap-2272	334	28	physiological	physiological	ADJ
ap-2272	334	29	module	module	NOUN
ap-2272	334	30	is	be	AUX
ap-2272	334	31	higher	high	ADJ
ap-2272	334	32	,	,	PUNCT
ap-2272	334	33	while	while	SCONJ
ap-2272	334	34	the	the	DET
ap-2272	334	35	number	number	NOUN
ap-2272	334	36	of	of	ADP
ap-2272	334	37	explored	explore	VERB
ap-2272	334	38	states	state	NOUN
ap-2272	334	39	is	be	AUX
ap-2272	334	40	lower	low	ADJ
ap-2272	334	41	.	.	PUNCT
ap-2272	335	1	4.3.2	4.3.2	X
ap-2272	335	2	.	.	PUNCT
ap-2272	336	1	analyzing	analyze	VERB
ap-2272	336	2	new	new	ADJ
ap-2272	336	3	architectures	architecture	NOUN
ap-2272	336	4	found	find	VERB
ap-2272	336	5	by	by	ADP
ap-2272	336	6	sorga	sorga	NOUN
ap-2272	336	7	finding	find	VERB
ap-2272	336	8	new	new	ADJ
ap-2272	336	9	architectures	architecture	NOUN
ap-2272	336	10	by	by	ADP
ap-2272	336	11	means	mean	NOUN
ap-2272	336	12	of	of	ADP
ap-2272	336	13	sorga	sorga	NOUN
ap-2272	336	14	took	take	VERB
ap-2272	336	15	more	more	ADJ
ap-2272	336	16	than	than	ADP
ap-2272	336	17	generations	generation	NOUN
ap-2272	336	18	than	than	ADP
ap-2272	336	19	for	for	ADP
ap-2272	336	20	soga	soga	NOUN
ap-2272	336	21	.	.	PUNCT
ap-2272	337	1	however	however	ADV
ap-2272	337	2	,	,	PUNCT
ap-2272	337	3	sorga	sorga	NOUN
ap-2272	337	4	has	have	VERB
ap-2272	337	5	wider	wide	ADJ
ap-2272	337	6	options	option	NOUN
ap-2272	337	7	for	for	ADP
ap-2272	337	8	connecting	connect	VERB
ap-2272	337	9	modules	module	NOUN
ap-2272	337	10	.	.	PUNCT
ap-2272	338	1	for	for	ADP
ap-2272	338	2	example	example	NOUN
ap-2272	338	3	,	,	PUNCT
ap-2272	338	4	it	it	PRON
ap-2272	338	5	can	can	AUX
ap-2272	338	6	be	be	AUX
ap-2272	338	7	seen	see	VERB
ap-2272	338	8	from	from	ADP
ap-2272	338	9	the	the	DET
ap-2272	338	10	table	table	NOUN
ap-2272	338	11	1	1	NUM
ap-2272	338	12	that	that	PRON
ap-2272	338	13	ind2	ind2	NOUN
ap-2272	338	14	used	use	VERB
ap-2272	338	15	only	only	ADV
ap-2272	338	16	half	half	NOUN
ap-2272	338	17	of	of	ADP
ap-2272	338	18	the	the	DET
ap-2272	338	19	q(s	q(s	PROPN
ap-2272	338	20	,	,	PUNCT
ap-2272	338	21	a	a	DET
ap-2272	338	22	)	)	PUNCT
ap-2272	338	23	memory	memory	NOUN
ap-2272	338	24	.	.	PUNCT
ap-2272	339	1	ind1	ind1	PROPN
ap-2272	339	2	uses	use	VERB
ap-2272	339	3	swapped	swap	VERB
ap-2272	339	4	coordinates	coordinate	NOUN
ap-2272	339	5	with	with	ADP
ap-2272	339	6	one	one	NUM
ap-2272	339	7	dimension	dimension	NOUN
ap-2272	339	8	slightly	slightly	ADV
ap-2272	339	9	diagonalized	diagonalize	VERB
ap-2272	339	10	.	.	PUNCT
ap-2272	340	1	in	in	ADP
ap-2272	340	2	both	both	DET
ap-2272	340	3	architectures	architecture	NOUN
ap-2272	340	4	,	,	PUNCT
ap-2272	340	5	motivation	motivation	NOUN
ap-2272	340	6	-	-	PUNCT
ap-2272	340	7	driven	drive	VERB
ap-2272	340	8	rl	rl	X
ap-2272	340	9	is	be	AUX
ap-2272	340	10	used	use	VERB
ap-2272	340	11	.	.	PUNCT
ap-2272	341	1	again	again	ADV
ap-2272	341	2	,	,	PUNCT
ap-2272	341	3	the	the	DET
ap-2272	341	4	amount	amount	NOUN
ap-2272	341	5	of	of	ADP
ap-2272	341	6	motivation	motivation	NOUN
ap-2272	341	7	originates	originate	NOUN
ap-2272	341	8	from	from	ADP
ap-2272	341	9	the	the	DET
ap-2272	341	10	physiology	physiology	NOUN
ap-2272	341	11	and	and	CCONJ
ap-2272	341	12	the	the	DET
ap-2272	341	13	agent	agent	NOUN
ap-2272	341	14	’s	’s	PART
ap-2272	341	15	position	position	NOUN
ap-2272	341	16	in	in	ADP
ap-2272	341	17	the	the	DET
ap-2272	341	18	map	map	NOUN
ap-2272	341	19	(	(	PUNCT
ap-2272	341	20	the	the	DET
ap-2272	341	21	agent	agent	NOUN
ap-2272	341	22	is	be	AUX
ap-2272	341	23	therefore	therefore	ADV
ap-2272	341	24	afraid	afraid	ADJ
ap-2272	341	25	of	of	ADP
ap-2272	341	26	going	go	VERB
ap-2272	341	27	further	far	ADV
ap-2272	341	28	away	away	ADV
ap-2272	341	29	from	from	ADP
ap-2272	341	30	the	the	DET
ap-2272	341	31	food	food	NOUN
ap-2272	341	32	)	)	PUNCT
ap-2272	341	33	.	.	PUNCT
ap-2272	342	1	figure	figure	NOUN
ap-2272	342	2	9	9	NUM
ap-2272	342	3	shows	show	VERB
ap-2272	342	4	the	the	DET
ap-2272	342	5	course	course	NOUN
ap-2272	342	6	of	of	ADP
ap-2272	342	7	learning	learning	NOUN
ap-2272	342	8	of	of	ADP
ap-2272	342	9	ind1	ind1	NOUN
ap-2272	342	10	and	and	CCONJ
ap-2272	342	11	the	the	DET
ap-2272	342	12	content	content	NOUN
ap-2272	342	13	of	of	ADP
ap-2272	342	14	its	its	PRON
ap-2272	342	15	memory	memory	NOUN
ap-2272	342	16	.	.	PUNCT
ap-2272	343	1	the	the	DET
ap-2272	343	2	knowledge	knowledge	NOUN
ap-2272	343	3	is	be	AUX
ap-2272	343	4	diagonalized	diagonalize	VERB
ap-2272	343	5	(	(	PUNCT
ap-2272	343	6	see	see	VERB
ap-2272	343	7	fig	fig	NOUN
ap-2272	343	8	.	.	PUNCT
ap-2272	344	1	9b	9b	NUM
ap-2272	344	2	)	)	PUNCT
ap-2272	344	3	,	,	PUNCT
ap-2272	344	4	but	but	CCONJ
ap-2272	344	5	the	the	DET
ap-2272	344	6	learned	learn	VERB
ap-2272	344	7	data	data	NOUN
ap-2272	344	8	corresponds	correspond	VERB
ap-2272	344	9	to	to	ADP
ap-2272	344	10	the	the	DET
ap-2272	344	11	reward	reward	NOUN
ap-2272	344	12	source	source	NOUN
ap-2272	344	13	.	.	PUNCT
ap-2272	345	1	the	the	DET
ap-2272	345	2	position	position	NOUN
ap-2272	345	3	of	of	ADP
ap-2272	345	4	the	the	DET
ap-2272	345	5	obstacle	obstacle	NOUN
ap-2272	345	6	is	be	AUX
ap-2272	345	7	also	also	ADV
ap-2272	345	8	visible	visible	ADJ
ap-2272	345	9	.	.	PUNCT
ap-2272	346	1	the	the	DET
ap-2272	346	2	separated	separate	VERB
ap-2272	346	3	peak	peak	NOUN
ap-2272	346	4	is	be	AUX
ap-2272	346	5	caused	cause	VERB
ap-2272	346	6	by	by	ADP
ap-2272	346	7	the	the	DET
ap-2272	346	8	fact	fact	NOUN
ap-2272	346	9	that	that	SCONJ
ap-2272	346	10	the	the	DET
ap-2272	346	11	reward	reward	NOUN
ap-2272	346	12	output	output	NOUN
ap-2272	346	13	of	of	ADP
ap-2272	346	14	the	the	DET
ap-2272	346	15	physiological	physiological	ADJ
ap-2272	346	16	module	module	NOUN
ap-2272	346	17	is	be	AUX
ap-2272	346	18	connected	connect	VERB
ap-2272	346	19	to	to	ADP
ap-2272	346	20	the	the	DET
ap-2272	346	21	s1	s1	PROPN
ap-2272	346	22	375	375	NUM
ap-2272	346	23	jaroslav	jaroslav	PROPN
ap-2272	346	24	vítků	vítků	PROPN
ap-2272	346	25	,	,	PUNCT
ap-2272	346	26	pavel	pavel	PROPN
ap-2272	346	27	nahodil	nahodil	PROPN
ap-2272	346	28	acta	acta	PROPN
ap-2272	346	29	polytechnica	polytechnica	PROPN
ap-2272	346	30	0	0	NUM
ap-2272	346	31	1	1	NUM
ap-2272	346	32	2	2	NUM
ap-2272	346	33	3	3	NUM
ap-2272	346	34	4	4	NUM
ap-2272	346	35	5	5	NUM
ap-2272	346	36	x	x	SYM
ap-2272	346	37	10	10	NUM
ap-2272	346	38	4	4	NUM
ap-2272	346	39	0	0	NUM
ap-2272	346	40	0.1	0.1	NUM
ap-2272	346	41	0.2	0.2	NUM
ap-2272	346	42	0.3	0.3	NUM
ap-2272	346	43	0.4	0.4	NUM
ap-2272	346	44	0.5	0.5	NUM
ap-2272	346	45	0.6	0.6	NUM
ap-2272	346	46	0.7	0.7	NUM
ap-2272	346	47	0.8	0.8	NUM
ap-2272	346	48	0.9	0.9	NUM
ap-2272	346	49	1	1	NUM
ap-2272	346	50	simulation	simulation	NOUN
ap-2272	346	51	steps	step	VERB
ap-2272	346	52	v	v	ADP
ap-2272	346	53	a	a	DET
ap-2272	346	54	lu	lu	NOUN
ap-2272	346	55	e	e	NOUN
ap-2272	346	56	s	s	NOUN
ap-2272	346	57	agent	agent	NOUN
ap-2272	346	58	's	's	PART
ap-2272	346	59	performance	performance	NOUN
ap-2272	346	60	prosperity	prosperity	NOUN
ap-2272	346	61	of	of	ADP
ap-2272	346	62	physiology	physiology	NOUN
ap-2272	346	63	module	module	NOUN
ap-2272	346	64	(	(	PUNCT
ap-2272	346	65	1!msd	1!msd	NUM
ap-2272	346	66	)	)	PUNCT
ap-2272	346	67	prosperity	prosperity	NOUN
ap-2272	346	68	of	of	ADP
ap-2272	346	69	rl	rl	PROPN
ap-2272	346	70	module	module	NOUN
ap-2272	346	71	no	no	PROPN
ap-2272	346	72	.	.	PUNCT
ap-2272	346	73	of	of	ADP
ap-2272	346	74	visited	visit	VERB
ap-2272	346	75	states	state	NOUN
ap-2272	346	76	reward	reward	VERB
ap-2272	346	77	per	per	ADP
ap-2272	346	78	step	step	NOUN
ap-2272	346	79	(	(	PUNCT
ap-2272	346	80	a	a	X
ap-2272	346	81	)	)	PUNCT
ap-2272	346	82	course	course	NOUN
ap-2272	346	83	of	of	ADP
ap-2272	346	84	life	life	NOUN
ap-2272	346	85	of	of	ADP
ap-2272	346	86	typical	typical	ADJ
ap-2272	346	87	best	good	ADJ
ap-2272	346	88	agent	agent	NOUN
ap-2272	346	89	found	find	VERB
ap-2272	346	90	by	by	ADP
ap-2272	346	91	the	the	DET
ap-2272	346	92	soga	soga	NOUN
ap-2272	346	93	–	–	PUNCT
ap-2272	346	94	ind1	ind1	NOUN
ap-2272	346	95	.	.	PUNCT
ap-2272	347	1	the	the	DET
ap-2272	347	2	behavior	behavior	NOUN
ap-2272	347	3	is	be	AUX
ap-2272	347	4	similar	similar	ADJ
ap-2272	347	5	to	to	ADP
ap-2272	347	6	the	the	DET
ap-2272	347	7	hand	hand	NOUN
ap-2272	347	8	-	-	PUNCT
ap-2272	347	9	designed	design	VERB
ap-2272	347	10	architecture	architecture	NOUN
ap-2272	347	11	(	(	PUNCT
ap-2272	347	12	see	see	VERB
ap-2272	347	13	fig	fig	NOUN
ap-2272	347	14	.	.	PUNCT
ap-2272	348	1	6a	6a	NOUN
ap-2272	348	2	)	)	PUNCT
ap-2272	348	3	.	.	PUNCT
ap-2272	349	1	5	5	NUM
ap-2272	349	2	10	10	NUM
ap-2272	349	3	15	15	NUM
ap-2272	349	4	2	2	NUM
ap-2272	349	5	4	4	NUM
ap-2272	349	6	6	6	NUM
ap-2272	349	7	8	8	NUM
ap-2272	349	8	10	10	NUM
ap-2272	349	9	12	12	NUM
ap-2272	349	10	14	14	NUM
ap-2272	349	11	0	0	NUM
ap-2272	349	12	10	10	NUM
ap-2272	349	13	20	20	NUM
ap-2272	349	14	30	30	NUM
ap-2272	349	15	40	40	NUM
ap-2272	349	16	s2	s2	PROPN
ap-2272	349	17	~	~	PUNCT
ap-2272	349	18	ypos	ypos	PROPN
ap-2272	349	19	?	?	PUNCT
ap-2272	350	1	utility	utility	NOUN
ap-2272	350	2	values	value	NOUN
ap-2272	350	3	of	of	ADP
ap-2272	350	4	best	good	ADJ
ap-2272	350	5	actions	action	NOUN
ap-2272	350	6	in	in	ADP
ap-2272	350	7	a	a	DET
ap-2272	350	8	given	give	VERB
ap-2272	350	9	state	state	NOUN
ap-2272	350	10	!	!	PUNCT
ap-2272	351	1	q(s	q(s	PROPN
ap-2272	351	2	,	,	PUNCT
ap-2272	351	3	a	a	DET
ap-2272	351	4	)	)	PUNCT
ap-2272	351	5	matrix	matrix	NOUN
ap-2272	351	6	values	value	NOUN
ap-2272	351	7	s1	s1	PROPN
ap-2272	351	8	~	~	PUNCT
ap-2272	351	9	xpos	xpos	PROPN
ap-2272	351	10	?	?	PUNCT
ap-2272	352	1	u	u	NOUN
ap-2272	352	2	til	til	PROPN
ap-2272	352	3	ity	ity	PROPN
ap-2272	352	4	o	o	X
ap-2272	352	5	f	f	X
ap-2272	352	6	th	th	X
ap-2272	352	7	e	e	X
ap-2272	352	8	b	b	PROPN
ap-2272	352	9	e	e	PROPN
ap-2272	352	10	st	st	PROPN
ap-2272	352	11	a	a	DET
ap-2272	352	12	ci	ci	NOUN
ap-2272	352	13	to	to	ADP
ap-2272	352	14	n	n	PROPN
ap-2272	352	15	b	b	PROPN
ap-2272	352	16	a	a	X
ap-2272	352	17	se	se	PROPN
ap-2272	352	18	d	d	NOUN
ap-2272	352	19	o	o	PROPN
ap-2272	352	20	n	n	ADP
ap-2272	352	21	a	a	DET
ap-2272	352	22	g	g	NOUN
ap-2272	352	23	e	e	NOUN
ap-2272	352	24	n	n	NOUN
ap-2272	352	25	ts	ts	ADP
ap-2272	352	26	p	p	X
ap-2272	352	27	o	o	X
ap-2272	352	28	si	si	X
ap-2272	352	29	tio	tio	PROPN
ap-2272	352	30	n	n	PROPN
ap-2272	352	31	(	(	PUNCT
ap-2272	352	32	b	b	NOUN
ap-2272	352	33	)	)	PUNCT
ap-2272	352	34	knowledge	knowledge	NOUN
ap-2272	352	35	of	of	ADP
ap-2272	352	36	selected	select	VERB
ap-2272	352	37	agent	agent	NOUN
ap-2272	352	38	found	find	VERB
ap-2272	352	39	by	by	ADP
ap-2272	352	40	the	the	DET
ap-2272	352	41	soga	soga	NOUN
ap-2272	352	42	–	–	PUNCT
ap-2272	352	43	ind1	ind1	NOUN
ap-2272	352	44	.	.	PUNCT
ap-2272	353	1	representation	representation	NOUN
ap-2272	353	2	is	be	AUX
ap-2272	353	3	identical	identical	ADJ
ap-2272	353	4	to	to	ADP
ap-2272	353	5	the	the	DET
ap-2272	353	6	hand	hand	NOUN
ap-2272	353	7	-	-	PUNCT
ap-2272	353	8	designed	design	VERB
ap-2272	353	9	architecture	architecture	NOUN
ap-2272	353	10	.	.	PUNCT
ap-2272	354	1	not	not	PART
ap-2272	354	2	all	all	DET
ap-2272	354	3	environment	environment	NOUN
ap-2272	354	4	states	state	NOUN
ap-2272	354	5	are	be	AUX
ap-2272	354	6	explored	explore	VERB
ap-2272	354	7	here	here	ADV
ap-2272	354	8	.	.	PUNCT
ap-2272	355	1	figure	figure	VERB
ap-2272	355	2	8	8	NUM
ap-2272	355	3	.	.	PUNCT
ap-2272	356	1	analyzing	analyze	VERB
ap-2272	356	2	the	the	DET
ap-2272	356	3	typical	typical	ADJ
ap-2272	356	4	architecture	architecture	NOUN
ap-2272	356	5	found	find	VERB
ap-2272	356	6	by	by	ADP
ap-2272	356	7	the	the	DET
ap-2272	356	8	soga	soga	NOUN
ap-2272	356	9	(	(	PUNCT
ap-2272	356	10	marked	mark	VERB
ap-2272	356	11	as	as	ADP
ap-2272	356	12	ind1	ind1	NOUN
ap-2272	356	13	)	)	PUNCT
ap-2272	356	14	.	.	PUNCT
ap-2272	357	1	it	it	PRON
ap-2272	357	2	can	can	AUX
ap-2272	357	3	be	be	AUX
ap-2272	357	4	seen	see	VERB
ap-2272	357	5	that	that	SCONJ
ap-2272	357	6	the	the	DET
ap-2272	357	7	higher	high	ADJ
ap-2272	357	8	motivation	motivation	NOUN
ap-2272	357	9	(	(	PUNCT
ap-2272	357	10	combined	combine	VERB
ap-2272	357	11	from	from	ADP
ap-2272	357	12	two	two	NUM
ap-2272	357	13	sources	source	NOUN
ap-2272	357	14	)	)	PUNCT
ap-2272	357	15	causes	cause	VERB
ap-2272	357	16	the	the	DET
ap-2272	357	17	agent	agent	NOUN
ap-2272	357	18	to	to	PART
ap-2272	357	19	stay	stay	VERB
ap-2272	357	20	nearer	nearer	ADP
ap-2272	357	21	the	the	DET
ap-2272	357	22	reward	reward	NOUN
ap-2272	357	23	source	source	NOUN
ap-2272	357	24	(	(	PUNCT
ap-2272	357	25	once	once	ADV
ap-2272	357	26	found	find	VERB
ap-2272	357	27	)	)	PUNCT
ap-2272	357	28	than	than	ADP
ap-2272	357	29	in	in	ADP
ap-2272	357	30	the	the	DET
ap-2272	357	31	hand	hand	NOUN
ap-2272	357	32	-	-	PUNCT
ap-2272	357	33	designed	design	VERB
ap-2272	357	34	architecture	architecture	NOUN
ap-2272	357	35	.	.	PUNCT
ap-2272	358	1	compared	compare	VERB
ap-2272	358	2	to	to	ADP
ap-2272	358	3	this	this	PRON
ap-2272	358	4	,	,	PUNCT
ap-2272	358	5	the	the	DET
ap-2272	358	6	corga	corga	NOUN
ap-2272	358	7	approach	approach	NOUN
ap-2272	358	8	is	be	AUX
ap-2272	358	9	able	able	ADJ
ap-2272	358	10	to	to	PART
ap-2272	358	11	weight	weight	VERB
ap-2272	358	12	the	the	DET
ap-2272	358	13	amount	amount	NOUN
ap-2272	358	14	of	of	ADP
ap-2272	358	15	importance	importance	NOUN
ap-2272	358	16	produced	produce	VERB
ap-2272	358	17	by	by	ADP
ap-2272	358	18	particular	particular	ADJ
ap-2272	358	19	sources	source	NOUN
ap-2272	358	20	.	.	PUNCT
ap-2272	359	1	0	0	NUM
ap-2272	359	2	1	1	NUM
ap-2272	359	3	2	2	NUM
ap-2272	359	4	3	3	NUM
ap-2272	359	5	4	4	NUM
ap-2272	359	6	5	5	NUM
ap-2272	359	7	x	x	SYM
ap-2272	359	8	10	10	NUM
ap-2272	359	9	4	4	NUM
ap-2272	359	10	0	0	NUM
ap-2272	359	11	0.1	0.1	NUM
ap-2272	359	12	0.2	0.2	NUM
ap-2272	359	13	0.3	0.3	NUM
ap-2272	359	14	0.4	0.4	NUM
ap-2272	359	15	0.5	0.5	NUM
ap-2272	359	16	0.6	0.6	NUM
ap-2272	359	17	0.7	0.7	NUM
ap-2272	359	18	0.8	0.8	NUM
ap-2272	359	19	0.9	0.9	NUM
ap-2272	359	20	1	1	NUM
ap-2272	359	21	simulation	simulation	NOUN
ap-2272	359	22	steps	step	VERB
ap-2272	359	23	v	v	ADP
ap-2272	359	24	a	a	DET
ap-2272	359	25	lu	lu	NOUN
ap-2272	359	26	e	e	NOUN
ap-2272	359	27	s	s	PROPN
ap-2272	359	28	agents	agent	NOUN
ap-2272	359	29	performance	performance	NOUN
ap-2272	359	30	prosperity	prosperity	NOUN
ap-2272	359	31	of	of	ADP
ap-2272	359	32	physilogy	physilogy	NOUN
ap-2272	359	33	module	module	NOUN
ap-2272	359	34	(	(	PUNCT
ap-2272	359	35	1!msd	1!msd	NUM
ap-2272	359	36	)	)	PUNCT
ap-2272	359	37	prosperity	prosperity	NOUN
ap-2272	359	38	of	of	ADP
ap-2272	359	39	rl	rl	PROPN
ap-2272	359	40	module	module	NOUN
ap-2272	359	41	no	no	PROPN
ap-2272	359	42	.	.	PUNCT
ap-2272	359	43	of	of	ADP
ap-2272	359	44	visited	visit	VERB
ap-2272	359	45	states	state	NOUN
ap-2272	359	46	reward	reward	VERB
ap-2272	359	47	per	per	ADP
ap-2272	359	48	step	step	NOUN
ap-2272	359	49	(	(	PUNCT
ap-2272	359	50	a	a	X
ap-2272	359	51	)	)	PUNCT
ap-2272	359	52	course	course	NOUN
ap-2272	359	53	of	of	ADP
ap-2272	359	54	the	the	DET
ap-2272	359	55	life	life	NOUN
ap-2272	359	56	of	of	ADP
ap-2272	359	57	the	the	DET
ap-2272	359	58	typical	typical	ADJ
ap-2272	359	59	best	good	ADJ
ap-2272	359	60	agent	agent	NOUN
ap-2272	359	61	found	find	VERB
ap-2272	359	62	by	by	ADP
ap-2272	359	63	sorga	sorga	NOUN
ap-2272	359	64	–	–	PUNCT
ap-2272	359	65	ind1	ind1	NOUN
ap-2272	359	66	.	.	PUNCT
ap-2272	360	1	compared	compare	VERB
ap-2272	360	2	to	to	ADP
ap-2272	360	3	the	the	DET
ap-2272	360	4	coga	coga	NOUN
ap-2272	360	5	-	-	PUNCT
ap-2272	360	6	designed	design	VERB
ap-2272	360	7	architecture	architecture	NOUN
ap-2272	360	8	(	(	PUNCT
ap-2272	360	9	fig	fig	NOUN
ap-2272	360	10	.	.	PUNCT
ap-2272	360	11	8a	8a	NUM
ap-2272	360	12	)	)	PUNCT
ap-2272	360	13	,	,	PUNCT
ap-2272	360	14	this	this	DET
ap-2272	360	15	agent	agent	NOUN
ap-2272	360	16	learns	learn	VERB
ap-2272	360	17	more	more	ADV
ap-2272	360	18	slowly	slowly	ADV
ap-2272	360	19	(	(	PUNCT
ap-2272	360	20	slower	slow	ADJ
ap-2272	360	21	convergence	convergence	NOUN
ap-2272	360	22	of	of	ADP
ap-2272	360	23	prosperity	prosperity	NOUN
ap-2272	360	24	of	of	ADP
ap-2272	360	25	the	the	DET
ap-2272	360	26	physiological	physiological	ADJ
ap-2272	360	27	module	module	NOUN
ap-2272	360	28	)	)	PUNCT
ap-2272	360	29	.	.	PUNCT
ap-2272	361	1	this	this	PRON
ap-2272	361	2	is	be	AUX
ap-2272	361	3	caused	cause	VERB
ap-2272	361	4	by	by	ADP
ap-2272	361	5	sub	sub	ADJ
ap-2272	361	6	-	-	ADJ
ap-2272	361	7	optimal	optimal	ADJ
ap-2272	361	8	representation	representation	NOUN
ap-2272	361	9	of	of	ADP
ap-2272	361	10	knowledge	knowledge	NOUN
ap-2272	361	11	in	in	ADP
ap-2272	361	12	the	the	DET
ap-2272	361	13	q	q	ADJ
ap-2272	361	14	-	-	PUNCT
ap-2272	361	15	lambda	lambda	ADJ
ap-2272	361	16	module	module	NOUN
ap-2272	361	17	.	.	PUNCT
ap-2272	362	1	2	2	NUM
ap-2272	362	2	4	4	NUM
ap-2272	362	3	6	6	NUM
ap-2272	362	4	8	8	NUM
ap-2272	362	5	10	10	NUM
ap-2272	362	6	12	12	NUM
ap-2272	362	7	14	14	NUM
ap-2272	362	8	5	5	NUM
ap-2272	362	9	10	10	NUM
ap-2272	362	10	15	15	NUM
ap-2272	362	11	0	0	NUM
ap-2272	362	12	10	10	NUM
ap-2272	362	13	20	20	NUM
ap-2272	362	14	30	30	NUM
ap-2272	362	15	s1	s1	NOUN
ap-2272	362	16	~	~	PUNCT
ap-2272	362	17	xpos	xpos	PROPN
ap-2272	362	18	?	?	PUNCT
ap-2272	363	1	utility	utility	NOUN
ap-2272	363	2	values	value	NOUN
ap-2272	363	3	of	of	ADP
ap-2272	363	4	best	good	ADJ
ap-2272	363	5	actions	action	NOUN
ap-2272	363	6	in	in	ADP
ap-2272	363	7	a	a	DET
ap-2272	363	8	given	give	VERB
ap-2272	363	9	state	state	NOUN
ap-2272	363	10	!	!	PUNCT
ap-2272	364	1	q(s	q(s	PROPN
ap-2272	364	2	,	,	PUNCT
ap-2272	364	3	a	a	DET
ap-2272	364	4	)	)	PUNCT
ap-2272	364	5	matrix	matrix	NOUN
ap-2272	364	6	values	value	NOUN
ap-2272	364	7	s2	s2	X
ap-2272	364	8	~	~	PUNCT
ap-2272	364	9	ypos	ypos	PROPN
ap-2272	364	10	?	?	PUNCT
ap-2272	365	1	u	u	NOUN
ap-2272	365	2	til	til	PROPN
ap-2272	365	3	ity	ity	PROPN
ap-2272	365	4	o	o	X
ap-2272	365	5	f	f	X
ap-2272	365	6	th	th	X
ap-2272	365	7	e	e	X
ap-2272	365	8	b	b	PROPN
ap-2272	365	9	e	e	PROPN
ap-2272	365	10	st	st	PROPN
ap-2272	365	11	a	a	DET
ap-2272	365	12	ci	ci	NOUN
ap-2272	365	13	to	to	ADP
ap-2272	365	14	n	n	PROPN
ap-2272	365	15	b	b	PROPN
ap-2272	365	16	a	a	X
ap-2272	365	17	se	se	PROPN
ap-2272	365	18	d	d	NOUN
ap-2272	365	19	o	o	PROPN
ap-2272	365	20	n	n	ADP
ap-2272	365	21	a	a	DET
ap-2272	365	22	g	g	NOUN
ap-2272	365	23	e	e	NOUN
ap-2272	365	24	n	n	NOUN
ap-2272	365	25	ts	ts	ADP
ap-2272	365	26	p	p	X
ap-2272	365	27	o	o	X
ap-2272	365	28	si	si	X
ap-2272	365	29	tio	tio	PROPN
ap-2272	365	30	n	n	PROPN
ap-2272	365	31	(	(	PUNCT
ap-2272	365	32	b	b	NOUN
ap-2272	365	33	)	)	PUNCT
ap-2272	365	34	knowledge	knowledge	NOUN
ap-2272	365	35	of	of	ADP
ap-2272	365	36	the	the	DET
ap-2272	365	37	selected	select	VERB
ap-2272	365	38	agent	agent	NOUN
ap-2272	365	39	found	find	VERB
ap-2272	365	40	by	by	ADP
ap-2272	365	41	sorga	sorga	NOUN
ap-2272	365	42	–	–	PUNCT
ap-2272	365	43	ind1	ind1	NOUN
ap-2272	365	44	.	.	PUNCT
ap-2272	366	1	the	the	DET
ap-2272	366	2	q	q	ADJ
ap-2272	366	3	-	-	PUNCT
ap-2272	366	4	lambda	lambda	ADJ
ap-2272	366	5	module	module	NOUN
ap-2272	366	6	has	have	AUX
ap-2272	366	7	swapped	swap	VERB
ap-2272	366	8	axes	axis	NOUN
ap-2272	366	9	and	and	CCONJ
ap-2272	366	10	the	the	DET
ap-2272	366	11	value	value	NOUN
ap-2272	366	12	of	of	ADP
ap-2272	366	13	the	the	DET
ap-2272	366	14	s2	s2	NOUN
ap-2272	366	15	variable	variable	NOUN
ap-2272	366	16	is	be	AUX
ap-2272	366	17	computed	compute	VERB
ap-2272	366	18	as	as	SCONJ
ap-2272	366	19	follows	follow	VERB
ap-2272	366	20	:	:	PUNCT
ap-2272	366	21	s2	s2	NOUN
ap-2272	366	22	=	=	PUNCT
ap-2272	367	1	x	x	PUNCT
ap-2272	368	1	+	+	NUM
ap-2272	368	2	0.71y	0.71y	NUM
ap-2272	368	3	.	.	PUNCT
ap-2272	369	1	this	this	PRON
ap-2272	369	2	causes	cause	VERB
ap-2272	369	3	slower	slow	ADJ
ap-2272	369	4	convergence	convergence	NOUN
ap-2272	369	5	of	of	ADP
ap-2272	369	6	learning	learning	NOUN
ap-2272	369	7	.	.	PUNCT
ap-2272	370	1	the	the	DET
ap-2272	370	2	“	"	PUNCT
ap-2272	370	3	peak	peak	NOUN
ap-2272	370	4	”	"	PUNCT
ap-2272	370	5	in	in	ADP
ap-2272	370	6	the	the	DET
ap-2272	370	7	graph	graph	NOUN
ap-2272	370	8	is	be	AUX
ap-2272	370	9	caused	cause	VERB
ap-2272	370	10	by	by	ADP
ap-2272	370	11	connecting	connect	VERB
ap-2272	370	12	the	the	DET
ap-2272	370	13	reward	reward	NOUN
ap-2272	370	14	output	output	NOUN
ap-2272	370	15	to	to	ADP
ap-2272	370	16	the	the	DET
ap-2272	370	17	s1	s1	PROPN
ap-2272	370	18	input	input	NOUN
ap-2272	370	19	.	.	PUNCT
ap-2272	371	1	figure	figure	NOUN
ap-2272	371	2	9	9	NUM
ap-2272	371	3	.	.	PUNCT
ap-2272	372	1	behavior	behavior	NOUN
ap-2272	372	2	and	and	CCONJ
ap-2272	372	3	knowledge	knowledge	NOUN
ap-2272	372	4	learned	learn	VERB
ap-2272	372	5	in	in	ADP
ap-2272	372	6	the	the	DET
ap-2272	372	7	sorga	sorga	NOUN
ap-2272	372	8	-	-	PUNCT
ap-2272	372	9	designed	design	VERB
ap-2272	372	10	architecture.although	architecture.although	PROPN
ap-2272	372	11	the	the	DET
ap-2272	372	12	convergence	convergence	NOUN
ap-2272	372	13	of	of	ADP
ap-2272	372	14	learning	learning	NOUN
ap-2272	372	15	is	be	AUX
ap-2272	372	16	slower	slow	ADJ
ap-2272	372	17	,	,	PUNCT
ap-2272	372	18	the	the	DET
ap-2272	372	19	overall	overall	ADJ
ap-2272	372	20	results	result	NOUN
ap-2272	372	21	of	of	ADP
ap-2272	372	22	the	the	DET
ap-2272	372	23	behavior	behavior	NOUN
ap-2272	372	24	are	be	AUX
ap-2272	372	25	similar	similar	ADJ
ap-2272	372	26	to	to	ADP
ap-2272	372	27	the	the	DET
ap-2272	372	28	soga	soga	NOUN
ap-2272	372	29	-	-	PUNCT
ap-2272	372	30	designed	design	VERB
ap-2272	372	31	architecture	architecture	NOUN
ap-2272	372	32	(	(	PUNCT
ap-2272	372	33	fig	fig	NOUN
ap-2272	372	34	.	.	PUNCT
ap-2272	373	1	8)	8)	NUM
ap-2272	373	2	.	.	PUNCT
ap-2272	373	3	input	input	NOUN
ap-2272	373	4	.	.	PUNCT
ap-2272	374	1	this	this	PRON
ap-2272	374	2	means	mean	VERB
ap-2272	374	3	that	that	SCONJ
ap-2272	374	4	while	while	SCONJ
ap-2272	374	5	receiving	receive	VERB
ap-2272	374	6	the	the	DET
ap-2272	374	7	reward	reward	NOUN
ap-2272	374	8	,	,	PUNCT
ap-2272	374	9	the	the	DET
ap-2272	374	10	perceived	perceive	VERB
ap-2272	374	11	x	x	SYM
ap-2272	374	12	position	position	NOUN
ap-2272	374	13	“	"	PUNCT
ap-2272	374	14	jumps	jump	VERB
ap-2272	374	15	”	"	PUNCT
ap-2272	374	16	to	to	ADP
ap-2272	374	17	the	the	DET
ap-2272	374	18	maximum	maximum	ADJ
ap-2272	374	19	value	value	NOUN
ap-2272	374	20	.	.	PUNCT
ap-2272	375	1	4.3.3	4.3.3	X
ap-2272	375	2	.	.	PUNCT
ap-2272	376	1	discussion	discussion	NOUN
ap-2272	376	2	it	it	PRON
ap-2272	376	3	has	have	AUX
ap-2272	376	4	been	be	AUX
ap-2272	376	5	shown	show	VERB
ap-2272	376	6	that	that	SCONJ
ap-2272	376	7	the	the	DET
ap-2272	376	8	agents	agent	NOUN
ap-2272	376	9	’	’	PART
ap-2272	376	10	ability	ability	NOUN
ap-2272	376	11	to	to	PART
ap-2272	376	12	weight	weight	VERB
ap-2272	376	13	between	between	ADP
ap-2272	376	14	exploration	exploration	NOUN
ap-2272	376	15	and	and	CCONJ
ap-2272	376	16	knowledge	knowledge	NOUN
ap-2272	376	17	exploitation	exploitation	NOUN
ap-2272	376	18	can	can	AUX
ap-2272	376	19	be	be	AUX
ap-2272	376	20	represented	represent	VERB
ap-2272	376	21	only	only	ADV
ap-2272	376	22	by	by	ADP
ap-2272	376	23	means	mean	NOUN
ap-2272	376	24	of	of	ADP
ap-2272	376	25	the	the	DET
ap-2272	376	26	prosperity	prosperity	NOUN
ap-2272	376	27	of	of	ADP
ap-2272	376	28	the	the	DET
ap-2272	376	29	physiological	physiological	ADJ
ap-2272	376	30	module	module	NOUN
ap-2272	376	31	.	.	PUNCT
ap-2272	377	1	table	table	NOUN
ap-2272	377	2	1	1	NUM
ap-2272	377	3	shows	show	VERB
ap-2272	377	4	that	that	SCONJ
ap-2272	377	5	all	all	DET
ap-2272	377	6	architectures	architecture	NOUN
ap-2272	377	7	found	find	VERB
ap-2272	377	8	by	by	ADP
ap-2272	377	9	soga	soga	NOUN
ap-2272	377	10	and	and	CCONJ
ap-2272	377	11	sorga	sorga	NOUN
ap-2272	377	12	have	have	VERB
ap-2272	377	13	notably	notably	ADV
ap-2272	377	14	higher	high	ADJ
ap-2272	377	15	fitness	fitness	NOUN
ap-2272	377	16	values	value	NOUN
ap-2272	377	17	than	than	ADP
ap-2272	377	18	the	the	DET
ap-2272	377	19	hand	hand	NOUN
ap-2272	377	20	-	-	PUNCT
ap-2272	377	21	designed	design	VERB
ap-2272	377	22	architecture	architecture	NOUN
ap-2272	377	23	.	.	PUNCT
ap-2272	378	1	furthermore	furthermore	ADV
ap-2272	378	2	,	,	PUNCT
ap-2272	378	3	the	the	DET
ap-2272	378	4	results	result	NOUN
ap-2272	378	5	of	of	ADP
ap-2272	378	6	sorga	sorga	NOUN
ap-2272	378	7	(	(	PUNCT
ap-2272	378	8	particularly	particularly	ADV
ap-2272	378	9	ind1	ind1	NOUN
ap-2272	378	10	)	)	PUNCT
ap-2272	378	11	suggest	suggest	VERB
ap-2272	378	12	that	that	SCONJ
ap-2272	378	13	it	it	PRON
ap-2272	378	14	is	be	AUX
ap-2272	378	15	more	more	ADV
ap-2272	378	16	efficient	efficient	ADJ
ap-2272	378	17	to	to	PART
ap-2272	378	18	use	use	VERB
ap-2272	378	19	two	two	NUM
ap-2272	378	20	components	component	NOUN
ap-2272	378	21	as	as	ADP
ap-2272	378	22	a	a	DET
ap-2272	378	23	source	source	NOUN
ap-2272	378	24	of	of	ADP
ap-2272	378	25	motivation	motivation	NOUN
ap-2272	378	26	:	:	PUNCT
ap-2272	378	27	time	time	NOUN
ap-2272	378	28	(	(	PUNCT
ap-2272	378	29	agent	agent	NOUN
ap-2272	378	30	’s	’s	PART
ap-2272	378	31	physiology	physiology	NOUN
ap-2272	378	32	)	)	PUNCT
ap-2272	378	33	and	and	CCONJ
ap-2272	378	34	space	space	NOUN
ap-2272	378	35	(	(	PUNCT
ap-2272	378	36	agent	agent	NOUN
ap-2272	378	37	’s	’s	PART
ap-2272	378	38	position	position	NOUN
ap-2272	378	39	)	)	PUNCT
ap-2272	378	40	.	.	PUNCT
ap-2272	379	1	this	this	PRON
ap-2272	379	2	is	be	AUX
ap-2272	379	3	a	a	DET
ap-2272	379	4	simple	simple	ADJ
ap-2272	379	5	example	example	NOUN
ap-2272	379	6	of	of	ADP
ap-2272	379	7	how	how	SCONJ
ap-2272	379	8	evolution	evolution	NOUN
ap-2272	379	9	is	be	AUX
ap-2272	379	10	able	able	ADJ
ap-2272	379	11	to	to	PART
ap-2272	379	12	correctly	correctly	ADV
ap-2272	379	13	identify	identify	VERB
ap-2272	379	14	possibly	possibly	ADV
ap-2272	379	15	hidden	hide	VERB
ap-2272	379	16	attributes	attribute	NOUN
ap-2272	379	17	of	of	ADP
ap-2272	379	18	the	the	DET
ap-2272	379	19	task	task	NOUN
ap-2272	379	20	and	and	CCONJ
ap-2272	379	21	employ	employ	NOUN
ap-2272	379	22	then	then	ADV
ap-2272	379	23	while	while	SCONJ
ap-2272	379	24	designing	design	VERB
ap-2272	379	25	architectures	architecture	NOUN
ap-2272	379	26	suitable	suitable	ADJ
ap-2272	379	27	for	for	ADP
ap-2272	379	28	the	the	DET
ap-2272	379	29	task	task	NOUN
ap-2272	379	30	.	.	PUNCT
ap-2272	380	1	solutions	solution	NOUN
ap-2272	380	2	provided	provide	VERB
ap-2272	380	3	by	by	ADP
ap-2272	380	4	the	the	DET
ap-2272	380	5	evolution	evolution	NOUN
ap-2272	380	6	typically	typically	ADV
ap-2272	380	7	use	use	VERB
ap-2272	380	8	less	less	ADV
ap-2272	380	9	efficient	efficient	ADJ
ap-2272	380	10	representation	representation	NOUN
ap-2272	380	11	of	of	ADP
ap-2272	380	12	the	the	DET
ap-2272	380	13	knowledge	knowledge	NOUN
ap-2272	380	14	in	in	ADP
ap-2272	380	15	the	the	DET
ap-2272	380	16	srp	srp	PROPN
ap-2272	380	17	’s	’s	PART
ap-2272	380	18	memory	memory	NOUN
ap-2272	380	19	,	,	PUNCT
ap-2272	380	20	but	but	CCONJ
ap-2272	380	21	are	be	AUX
ap-2272	380	22	able	able	ADJ
ap-2272	380	23	to	to	PART
ap-2272	380	24	use	use	VERB
ap-2272	380	25	neural	neural	ADJ
ap-2272	380	26	modules	module	NOUN
ap-2272	380	27	in	in	ADP
ap-2272	380	28	an	an	DET
ap-2272	380	29	unexpected	unexpected	ADJ
ap-2272	380	30	manner	manner	NOUN
ap-2272	380	31	.	.	PUNCT
ap-2272	381	1	one	one	NUM
ap-2272	381	2	of	of	ADP
ap-2272	381	3	goals	goal	NOUN
ap-2272	381	4	of	of	ADP
ap-2272	381	5	our	our	PRON
ap-2272	381	6	research	research	NOUN
ap-2272	381	7	is	be	AUX
ap-2272	381	8	:	:	PUNCT
ap-2272	381	9	to	to	PART
ap-2272	381	10	test	test	VERB
ap-2272	381	11	how	how	SCONJ
ap-2272	381	12	known	know	VERB
ap-2272	381	13	algorithms	algorithm	NOUN
ap-2272	381	14	can	can	AUX
ap-2272	381	15	be	be	AUX
ap-2272	381	16	employed	employ	VERB
ap-2272	381	17	in	in	ADP
ap-2272	381	18	new	new	ADJ
ap-2272	381	19	,	,	PUNCT
ap-2272	381	20	unexpected	unexpected	ADJ
ap-2272	381	21	ways	way	NOUN
ap-2272	381	22	.	.	PUNCT
ap-2272	382	1	376	376	NUM
ap-2272	382	2	vol	vol	NOUN
ap-2272	382	3	.	.	PUNCT
ap-2272	383	1	54	54	NUM
ap-2272	383	2	no	no	NOUN
ap-2272	383	3	.	.	PUNCT
ap-2272	384	1	5/2014	5/2014	NUM
ap-2272	384	2	towards	towards	ADP
ap-2272	384	3	evolutionary	evolutionary	ADJ
ap-2272	384	4	design	design	NOUN
ap-2272	384	5	of	of	ADP
ap-2272	384	6	complex	complex	ADJ
ap-2272	384	7	systems	system	NOUN
ap-2272	384	8	inspired	inspire	VERB
ap-2272	384	9	by	by	ADP
ap-2272	384	10	nature	nature	NOUN
ap-2272	384	11	5	5	NUM
ap-2272	384	12	.	.	PUNCT
ap-2272	384	13	conclusion	conclusion	VERB
ap-2272	384	14	a	a	DET
ap-2272	384	15	novel	novel	ADJ
ap-2272	384	16	approach	approach	NOUN
ap-2272	384	17	for	for	ADP
ap-2272	384	18	designing	design	VERB
ap-2272	384	19	hybrid	hybrid	ADJ
ap-2272	384	20	agent	agent	NOUN
ap-2272	384	21	architectures	architecture	NOUN
ap-2272	384	22	,	,	PUNCT
ap-2272	384	23	which	which	PRON
ap-2272	384	24	is	be	AUX
ap-2272	384	25	inspired	inspire	VERB
ap-2272	384	26	by	by	ADP
ap-2272	384	27	neuro	neuro	NOUN
ap-2272	384	28	-	-	PUNCT
ap-2272	384	29	evolution	evolution	NOUN
ap-2272	384	30	has	have	AUX
ap-2272	384	31	been	be	AUX
ap-2272	384	32	presented	present	VERB
ap-2272	384	33	.	.	PUNCT
ap-2272	385	1	this	this	DET
ap-2272	385	2	approach	approach	NOUN
ap-2272	385	3	uses	use	VERB
ap-2272	385	4	the	the	DET
ap-2272	385	5	newly	newly	ADV
ap-2272	385	6	presented	present	VERB
ap-2272	385	7	framework	framework	NOUN
ap-2272	385	8	of	of	ADP
ap-2272	385	9	hybrid	hybrid	ADJ
ap-2272	385	10	artificial	artificial	ADJ
ap-2272	385	11	neural	neural	ADJ
ap-2272	385	12	network	network	NOUN
ap-2272	385	13	systems	system	NOUN
ap-2272	385	14	(	(	PUNCT
ap-2272	385	15	hanns	hann	NOUN
ap-2272	385	16	)	)	PUNCT
ap-2272	385	17	.	.	PUNCT
ap-2272	386	1	it	it	PRON
ap-2272	386	2	searches	search	VERB
ap-2272	386	3	for	for	ADP
ap-2272	386	4	new	new	ADJ
ap-2272	386	5	topologies	topology	NOUN
ap-2272	386	6	of	of	ADP
ap-2272	386	7	these	these	DET
ap-2272	386	8	hybrid	hybrid	ADJ
ap-2272	386	9	networks	network	NOUN
ap-2272	386	10	by	by	ADP
ap-2272	386	11	modifying	modify	VERB
ap-2272	386	12	the	the	DET
ap-2272	386	13	connection	connection	NOUN
ap-2272	386	14	weights	weight	NOUN
ap-2272	386	15	between	between	ADP
ap-2272	386	16	particular	particular	ADJ
ap-2272	386	17	neural	neural	ADJ
ap-2272	386	18	modules	module	NOUN
ap-2272	386	19	.	.	PUNCT
ap-2272	387	1	this	this	DET
ap-2272	387	2	method	method	NOUN
ap-2272	387	3	enables	enable	VERB
ap-2272	387	4	semi	semi	ADJ
ap-2272	387	5	-	-	ADJ
ap-2272	387	6	automatic	automatic	ADJ
ap-2272	387	7	design	design	NOUN
ap-2272	387	8	of	of	ADP
ap-2272	387	9	agent	agent	NOUN
ap-2272	387	10	architectures	architecture	NOUN
ap-2272	387	11	that	that	PRON
ap-2272	387	12	are	be	AUX
ap-2272	387	13	specialized	specialize	VERB
ap-2272	387	14	for	for	ADP
ap-2272	387	15	a	a	DET
ap-2272	387	16	given	give	VERB
ap-2272	387	17	task	task	NOUN
ap-2272	387	18	.	.	PUNCT
ap-2272	388	1	it	it	PRON
ap-2272	388	2	has	have	AUX
ap-2272	388	3	been	be	AUX
ap-2272	388	4	shown	show	VERB
ap-2272	388	5	that	that	SCONJ
ap-2272	388	6	this	this	DET
ap-2272	388	7	approach	approach	NOUN
ap-2272	388	8	is	be	AUX
ap-2272	388	9	able	able	ADJ
ap-2272	388	10	to	to	PART
ap-2272	388	11	do	do	VERB
ap-2272	388	12	the	the	DET
ap-2272	388	13	following	following	NOUN
ap-2272	388	14	:	:	PUNCT
ap-2272	388	15	•	•	NUM
ap-2272	388	16	determine	determine	VERB
ap-2272	388	17	whether	whether	SCONJ
ap-2272	388	18	and	and	CCONJ
ap-2272	388	19	how	how	SCONJ
ap-2272	388	20	to	to	ADP
ap-2272	388	21	the	the	DET
ap-2272	388	22	module	module	NOUN
ap-2272	388	23	will	will	AUX
ap-2272	388	24	be	be	AUX
ap-2272	388	25	used	use	VERB
ap-2272	388	26	by	by	ADP
ap-2272	388	27	connecting	connect	VERB
ap-2272	388	28	its	its	PRON
ap-2272	388	29	outputs	output	NOUN
ap-2272	388	30	.	.	PUNCT
ap-2272	389	1	•	•	ADV
ap-2272	389	2	define	define	VERB
ap-2272	389	3	the	the	DET
ap-2272	389	4	form	form	NOUN
ap-2272	389	5	of	of	ADP
ap-2272	389	6	knowledge	knowledge	NOUN
ap-2272	389	7	representation	representation	NOUN
ap-2272	389	8	in	in	ADP
ap-2272	389	9	the	the	DET
ap-2272	389	10	module	module	NOUN
ap-2272	389	11	by	by	ADP
ap-2272	389	12	connecting	connect	VERB
ap-2272	389	13	its	its	PRON
ap-2272	389	14	inputs	input	NOUN
ap-2272	389	15	.	.	PUNCT
ap-2272	390	1	it	it	PRON
ap-2272	390	2	has	have	AUX
ap-2272	390	3	been	be	AUX
ap-2272	390	4	shown	show	VERB
ap-2272	390	5	that	that	SCONJ
ap-2272	390	6	,	,	PUNCT
ap-2272	390	7	during	during	ADP
ap-2272	390	8	the	the	DET
ap-2272	390	9	design	design	NOUN
ap-2272	390	10	of	of	ADP
ap-2272	390	11	new	new	ADJ
ap-2272	390	12	architectures	architecture	NOUN
ap-2272	390	13	,	,	PUNCT
ap-2272	390	14	the	the	DET
ap-2272	390	15	approach	approach	NOUN
ap-2272	390	16	is	be	AUX
ap-2272	390	17	able	able	ADJ
ap-2272	390	18	to	to	PART
ap-2272	390	19	pick	pick	VERB
ap-2272	390	20	the	the	DET
ap-2272	390	21	important	important	ADJ
ap-2272	390	22	aspects	aspect	NOUN
ap-2272	390	23	of	of	ADP
ap-2272	390	24	the	the	DET
ap-2272	390	25	task	task	NOUN
ap-2272	390	26	and	and	CCONJ
ap-2272	390	27	make	make	VERB
ap-2272	390	28	efficient	efficient	ADJ
ap-2272	390	29	use	use	NOUN
ap-2272	390	30	of	of	ADP
ap-2272	390	31	this	this	DET
ap-2272	390	32	knowledge	knowledge	NOUN
ap-2272	390	33	for	for	ADP
ap-2272	390	34	designing	design	VERB
ap-2272	390	35	the	the	DET
ap-2272	390	36	architecture	architecture	NOUN
ap-2272	390	37	.	.	PUNCT
ap-2272	391	1	this	this	DET
ap-2272	391	2	method	method	NOUN
ap-2272	391	3	of	of	ADP
ap-2272	391	4	automatic	automatic	ADJ
ap-2272	391	5	design	design	NOUN
ap-2272	391	6	is	be	AUX
ap-2272	391	7	able	able	ADJ
ap-2272	391	8	to	to	PART
ap-2272	391	9	find	find	VERB
ap-2272	391	10	design	design	NOUN
ap-2272	391	11	solutions	solution	NOUN
ap-2272	391	12	that	that	PRON
ap-2272	391	13	are	be	AUX
ap-2272	391	14	as	as	ADV
ap-2272	391	15	good	good	ADJ
ap-2272	391	16	as	as	ADP
ap-2272	391	17	,	,	PUNCT
ap-2272	391	18	or	or	CCONJ
ap-2272	391	19	even	even	ADV
ap-2272	391	20	better	well	ADJ
ap-2272	391	21	than	than	ADP
ap-2272	391	22	,	,	PUNCT
ap-2272	391	23	those	those	PRON
ap-2272	391	24	designed	design	VERB
ap-2272	391	25	by	by	ADP
ap-2272	391	26	hand	hand	NOUN
ap-2272	391	27	.	.	PUNCT
ap-2272	392	1	this	this	PRON
ap-2272	392	2	can	can	AUX
ap-2272	392	3	be	be	AUX
ap-2272	392	4	particularly	particularly	ADV
ap-2272	392	5	useful	useful	ADJ
ap-2272	392	6	in	in	ADP
ap-2272	392	7	designing	design	VERB
ap-2272	392	8	autonomous	autonomous	ADJ
ap-2272	392	9	systems	system	NOUN
ap-2272	392	10	,	,	PUNCT
ap-2272	392	11	where	where	SCONJ
ap-2272	392	12	the	the	DET
ap-2272	392	13	task	task	NOUN
ap-2272	392	14	is	be	AUX
ap-2272	392	15	too	too	ADV
ap-2272	392	16	complicated	complicated	ADJ
ap-2272	392	17	to	to	PART
ap-2272	392	18	be	be	AUX
ap-2272	392	19	fully	fully	ADV
ap-2272	392	20	understood	understand	VERB
ap-2272	392	21	by	by	ADP
ap-2272	392	22	the	the	DET
ap-2272	392	23	human	human	ADJ
ap-2272	392	24	designer	designer	NOUN
ap-2272	392	25	.	.	PUNCT
ap-2272	393	1	in	in	ADP
ap-2272	393	2	this	this	DET
ap-2272	393	3	particular	particular	ADJ
ap-2272	393	4	case	case	NOUN
ap-2272	393	5	,	,	PUNCT
ap-2272	393	6	evolutionary	evolutionary	ADJ
ap-2272	393	7	design	design	NOUN
ap-2272	393	8	was	be	AUX
ap-2272	393	9	able	able	ADJ
ap-2272	393	10	to	to	PART
ap-2272	393	11	choose	choose	VERB
ap-2272	393	12	the	the	DET
ap-2272	393	13	inner	inner	ADJ
ap-2272	393	14	representation	representation	NOUN
ap-2272	393	15	of	of	ADP
ap-2272	393	16	a	a	DET
ap-2272	393	17	problem	problem	NOUN
ap-2272	393	18	inside	inside	ADP
ap-2272	393	19	a	a	DET
ap-2272	393	20	neural	neural	ADJ
ap-2272	393	21	module	module	NOUN
ap-2272	393	22	(	(	PUNCT
ap-2272	393	23	represent	represent	VERB
ap-2272	393	24	x	x	PROPN
ap-2272	393	25	,	,	PUNCT
ap-2272	393	26	y	y	PROPN
ap-2272	393	27	coordinates	coordinate	NOUN
ap-2272	393	28	)	)	PUNCT
ap-2272	393	29	,	,	PUNCT
ap-2272	393	30	to	to	PART
ap-2272	393	31	discover	discover	VERB
ap-2272	393	32	inherent	inherent	ADJ
ap-2272	393	33	properties	property	NOUN
ap-2272	393	34	of	of	ADP
ap-2272	393	35	the	the	DET
ap-2272	393	36	task	task	NOUN
ap-2272	393	37	(	(	PUNCT
ap-2272	393	38	that	that	SCONJ
ap-2272	393	39	the	the	DET
ap-2272	393	40	reward	reward	NOUN
ap-2272	393	41	source	source	NOUN
ap-2272	393	42	is	be	AUX
ap-2272	393	43	near	near	ADP
ap-2272	393	44	the	the	DET
ap-2272	393	45	coordinates	coordinate	NOUN
ap-2272	393	46	to	to	ADP
ap-2272	393	47	0	0	NUM
ap-2272	393	48	,	,	PUNCT
ap-2272	393	49	0	0	NUM
ap-2272	393	50	)	)	PUNCT
ap-2272	393	51	and	and	CCONJ
ap-2272	393	52	to	to	PART
ap-2272	393	53	define	define	VERB
ap-2272	393	54	the	the	DET
ap-2272	393	55	solution	solution	NOUN
ap-2272	393	56	by	by	ADP
ap-2272	393	57	wiring	wire	VERB
ap-2272	393	58	the	the	DET
ap-2272	393	59	connections	connection	NOUN
ap-2272	393	60	between	between	ADP
ap-2272	393	61	neural	neural	ADJ
ap-2272	393	62	modules	module	NOUN
ap-2272	393	63	(	(	PUNCT
ap-2272	393	64	e.g.	e.g.	ADV
ap-2272	393	65	,	,	PUNCT
ap-2272	393	66	that	that	SCONJ
ap-2272	393	67	the	the	DET
ap-2272	393	68	importance	importance	NOUN
ap-2272	393	69	of	of	ADP
ap-2272	393	70	knowledge	knowledge	NOUN
ap-2272	393	71	exploitation	exploitation	NOUN
ap-2272	393	72	is	be	AUX
ap-2272	393	73	directly	directly	ADV
ap-2272	393	74	dependent	dependent	ADJ
ap-2272	393	75	on	on	ADP
ap-2272	393	76	the	the	DET
ap-2272	393	77	agent	agent	NOUN
ap-2272	393	78	’s	’s	PART
ap-2272	393	79	position	position	NOUN
ap-2272	393	80	)	)	PUNCT
ap-2272	393	81	.	.	PUNCT
ap-2272	394	1	the	the	DET
ap-2272	394	2	rga	rga	PROPN
ap-2272	394	3	discovered	discover	VERB
ap-2272	394	4	that	that	SCONJ
ap-2272	394	5	it	it	PRON
ap-2272	394	6	is	be	AUX
ap-2272	394	7	a	a	DET
ap-2272	394	8	more	more	ADV
ap-2272	394	9	robust	robust	ADJ
ap-2272	394	10	approach	approach	NOUN
ap-2272	394	11	to	to	PART
ap-2272	394	12	use	use	VERB
ap-2272	394	13	two	two	NUM
ap-2272	394	14	independent	independent	ADJ
ap-2272	394	15	sources	source	NOUN
ap-2272	394	16	of	of	ADP
ap-2272	394	17	motivation	motivation	NOUN
ap-2272	394	18	;	;	PUNCT
ap-2272	394	19	one	one	NUM
ap-2272	394	20	based	base	VERB
ap-2272	394	21	on	on	ADP
ap-2272	394	22	the	the	DET
ap-2272	394	23	agent	agent	NOUN
ap-2272	394	24	’s	’s	PART
ap-2272	394	25	position	position	NOUN
ap-2272	394	26	(	(	PUNCT
ap-2272	394	27	environment	environment	NOUN
ap-2272	394	28	state	state	NOUN
ap-2272	394	29	)	)	PUNCT
ap-2272	394	30	and	and	CCONJ
ap-2272	394	31	the	the	DET
ap-2272	394	32	other	other	ADJ
ap-2272	394	33	based	base	VERB
ap-2272	394	34	on	on	ADP
ap-2272	394	35	the	the	DET
ap-2272	394	36	agent	agent	NOUN
ap-2272	394	37	’s	’s	PART
ap-2272	394	38	physiology	physiology	NOUN
ap-2272	394	39	.	.	PUNCT
ap-2272	395	1	last	last	ADJ
ap-2272	395	2	but	but	CCONJ
ap-2272	395	3	not	not	PART
ap-2272	395	4	least	least	ADJ
ap-2272	395	5	,	,	PUNCT
ap-2272	395	6	particular	particular	ADJ
ap-2272	395	7	nodes	node	NOUN
ap-2272	395	8	in	in	ADP
ap-2272	395	9	the	the	DET
ap-2272	395	10	hanns	hann	NOUN
ap-2272	395	11	framework	framework	NOUN
ap-2272	395	12	are	be	AUX
ap-2272	395	13	implemented	implement	VERB
ap-2272	395	14	in	in	ADP
ap-2272	395	15	a	a	DET
ap-2272	395	16	way	way	NOUN
ap-2272	395	17	that	that	PRON
ap-2272	395	18	can	can	AUX
ap-2272	395	19	be	be	AUX
ap-2272	395	20	used	use	VERB
ap-2272	395	21	in	in	ADP
ap-2272	395	22	a	a	DET
ap-2272	395	23	variety	variety	NOUN
ap-2272	395	24	of	of	ADP
ap-2272	395	25	different	different	ADJ
ap-2272	395	26	(	(	PUNCT
ap-2272	395	27	e.g.	e.g.	ADJ
ap-2272	395	28	,	,	PUNCT
ap-2272	395	29	more	more	ADV
ap-2272	395	30	complex	complex	ADJ
ap-2272	395	31	)	)	PUNCT
ap-2272	395	32	architectures	architecture	NOUN
ap-2272	395	33	and/or	and/or	CCONJ
ap-2272	395	34	in	in	ADP
ap-2272	395	35	a	a	DET
ap-2272	395	36	variety	variety	NOUN
ap-2272	395	37	of	of	ADP
ap-2272	395	38	modular	modular	ADJ
ap-2272	395	39	systems	system	NOUN
ap-2272	395	40	in	in	ADP
ap-2272	395	41	the	the	DET
ap-2272	395	42	future	future	NOUN
ap-2272	395	43	.	.	PUNCT
ap-2272	396	1	for	for	ADP
ap-2272	396	2	example	example	NOUN
ap-2272	396	3	,	,	PUNCT
ap-2272	396	4	multiple	multiple	ADJ
ap-2272	396	5	(	(	PUNCT
ap-2272	396	6	differently	differently	ADV
ap-2272	396	7	configured	configure	VERB
ap-2272	396	8	)	)	PUNCT
ap-2272	397	1	rl	rl	NOUN
ap-2272	397	2	modules	module	NOUN
ap-2272	397	3	can	can	AUX
ap-2272	397	4	either	either	CCONJ
ap-2272	397	5	compete	compete	VERB
ap-2272	397	6	(	(	PUNCT
ap-2272	397	7	for	for	ADP
ap-2272	397	8	learning	learning	NOUN
ap-2272	397	9	/	/	SYM
ap-2272	397	10	action	action	NOUN
ap-2272	397	11	selection	selection	NOUN
ap-2272	397	12	of	of	ADP
ap-2272	397	13	antagonistic	antagonistic	ADJ
ap-2272	397	14	goals	goal	NOUN
ap-2272	397	15	)	)	PUNCT
ap-2272	397	16	or	or	CCONJ
ap-2272	397	17	cooperate	cooperate	VERB
ap-2272	397	18	to	to	PART
ap-2272	397	19	learn	learn	VERB
ap-2272	397	20	/	/	SYM
ap-2272	397	21	execute	execute	VERB
ap-2272	397	22	one	one	NUM
ap-2272	397	23	(	(	PUNCT
ap-2272	397	24	hierarchically	hierarchically	ADV
ap-2272	397	25	decomposable	decomposable	ADJ
ap-2272	397	26	)	)	PUNCT
ap-2272	397	27	behavior	behavior	NOUN
ap-2272	397	28	.	.	PUNCT
ap-2272	398	1	acknowledgements	acknowledgement	NOUN
ap-2272	398	2	this	this	DET
ap-2272	398	3	research	research	NOUN
ap-2272	398	4	has	have	AUX
ap-2272	398	5	been	be	AUX
ap-2272	398	6	funded	fund	VERB
ap-2272	398	7	by	by	ADP
ap-2272	398	8	the	the	DET
ap-2272	398	9	dept	dept	NOUN
ap-2272	398	10	.	.	PROPN
ap-2272	398	11	of	of	ADP
ap-2272	398	12	cybernetics	cybernetic	NOUN
ap-2272	398	13	,	,	PUNCT
ap-2272	398	14	faculty	faculty	NOUN
ap-2272	398	15	of	of	ADP
ap-2272	398	16	electrical	electrical	ADJ
ap-2272	398	17	engineering	engineering	NOUN
ap-2272	398	18	,	,	PUNCT
ap-2272	398	19	czech	czech	PROPN
ap-2272	398	20	technical	technical	PROPN
ap-2272	398	21	university	university	PROPN
ap-2272	398	22	in	in	ADP
ap-2272	398	23	prague	prague	PROPN
ap-2272	398	24	,	,	PUNCT
ap-2272	398	25	under	under	ADP
ap-2272	398	26	sgs	sgs	PROPN
ap-2272	398	27	project	project	NOUN
ap-2272	398	28	sgs14/144	sgs14/144	PROPN
ap-2272	398	29	/	/	SYM
ap-2272	398	30	ohk3/2t/13	ohk3/2t/13	PROPN
ap-2272	398	31	.	.	PUNCT
ap-2272	399	1	references	reference	NOUN
ap-2272	399	2	[	[	X
ap-2272	399	3	1	1	NUM
ap-2272	399	4	]	]	PUNCT
ap-2272	399	5	m.	m.	NOUN
ap-2272	399	6	quigley	quigley	PROPN
ap-2272	399	7	,	,	PUNCT
ap-2272	399	8	k.	k.	PROPN
ap-2272	399	9	conley	conley	PROPN
ap-2272	399	10	,	,	PUNCT
ap-2272	399	11	b.	b.	PROPN
ap-2272	399	12	gerkey	gerkey	PROPN
ap-2272	399	13	,	,	PUNCT
ap-2272	399	14	et	et	PROPN
ap-2272	399	15	al	al	PROPN
ap-2272	399	16	.	.	PUNCT
ap-2272	400	1	ros	ros	PROPN
ap-2272	400	2	:	:	PUNCT
ap-2272	400	3	an	an	DET
ap-2272	400	4	open	open	ADJ
ap-2272	400	5	-	-	PUNCT
ap-2272	400	6	source	source	NOUN
ap-2272	400	7	robot	robot	NOUN
ap-2272	400	8	operating	operating	NOUN
ap-2272	400	9	system	system	NOUN
ap-2272	400	10	.	.	PUNCT
ap-2272	401	1	in	in	ADP
ap-2272	401	2	icra	icra	PROPN
ap-2272	401	3	workshop	workshop	NOUN
ap-2272	401	4	on	on	ADP
ap-2272	401	5	open	open	ADJ
ap-2272	401	6	source	source	NOUN
ap-2272	401	7	software	software	NOUN
ap-2272	401	8	.	.	PUNCT
ap-2272	402	1	2009	2009	NUM
ap-2272	402	2	.	.	PUNCT
ap-2272	403	1	[	[	X
ap-2272	403	2	2	2	NUM
ap-2272	403	3	]	]	X
ap-2272	403	4	f.	f.	PROPN
ap-2272	403	5	jiang	jiang	PROPN
ap-2272	403	6	,	,	PUNCT
ap-2272	403	7	h.	h.	PROPN
ap-2272	403	8	berry	berry	PROPN
ap-2272	403	9	,	,	PUNCT
ap-2272	403	10	m.	m.	NOUN
ap-2272	403	11	schoenauer	schoenauer	NOUN
ap-2272	403	12	.	.	PUNCT
ap-2272	404	1	the	the	DET
ap-2272	404	2	impact	impact	NOUN
ap-2272	404	3	of	of	ADP
ap-2272	404	4	network	network	NOUN
ap-2272	404	5	topology	topology	NOUN
ap-2272	404	6	on	on	ADP
ap-2272	404	7	self	self	NOUN
ap-2272	404	8	-	-	PUNCT
ap-2272	404	9	organizing	organize	VERB
ap-2272	404	10	maps	map	NOUN
ap-2272	404	11	.	.	PUNCT
ap-2272	405	1	in	in	ADP
ap-2272	405	2	proceedings	proceeding	NOUN
ap-2272	405	3	of	of	ADP
ap-2272	405	4	the	the	DET
ap-2272	405	5	first	first	ADJ
ap-2272	405	6	acm	acm	PROPN
ap-2272	405	7	/	/	SYM
ap-2272	405	8	sigevo	sigevo	ADJ
ap-2272	405	9	summit	summit	NOUN
ap-2272	405	10	on	on	ADP
ap-2272	405	11	genetic	genetic	ADJ
ap-2272	405	12	and	and	CCONJ
ap-2272	405	13	evolutionary	evolutionary	ADJ
ap-2272	405	14	computation	computation	NOUN
ap-2272	405	15	,	,	PUNCT
ap-2272	405	16	gec	gec	PROPN
ap-2272	405	17	’	'	PUNCT
ap-2272	405	18	09	09	NUM
ap-2272	405	19	,	,	PUNCT
ap-2272	405	20	pp	pp	ADJ
ap-2272	405	21	.	.	PUNCT
ap-2272	406	1	247–254	247–254	NUM
ap-2272	406	2	.	.	PUNCT
ap-2272	407	1	acm	acm	PROPN
ap-2272	407	2	,	,	PUNCT
ap-2272	407	3	new	new	PROPN
ap-2272	407	4	york	york	PROPN
ap-2272	407	5	,	,	PUNCT
ap-2272	407	6	ny	ny	PROPN
ap-2272	407	7	,	,	PUNCT
ap-2272	407	8	usa	usa	PROPN
ap-2272	407	9	,	,	PUNCT
ap-2272	407	10	2009	2009	NUM
ap-2272	407	11	.	.	PUNCT
ap-2272	407	12	doi:10.1145/1543834.1543869	doi:10.1145/1543834.1543869	PROPN
ap-2272	407	13	.	.	PUNCT
ap-2272	408	1	[	[	X
ap-2272	408	2	3	3	X
ap-2272	408	3	]	]	X
ap-2272	408	4	j.	j.	PROPN
ap-2272	408	5	bullinaria	bullinaria	PROPN
ap-2272	408	6	.	.	PUNCT
ap-2272	409	1	generational	generational	ADJ
ap-2272	409	2	versus	versus	ADP
ap-2272	409	3	steady	steady	ADJ
ap-2272	409	4	-	-	PUNCT
ap-2272	409	5	state	state	NOUN
ap-2272	409	6	evolution	evolution	NOUN
ap-2272	409	7	for	for	ADP
ap-2272	409	8	optimizing	optimize	VERB
ap-2272	409	9	neural	neural	ADJ
ap-2272	409	10	network	network	NOUN
ap-2272	409	11	learning	learning	NOUN
ap-2272	409	12	.	.	PUNCT
ap-2272	410	1	in	in	ADP
ap-2272	410	2	in	in	ADP
ap-2272	410	3	:	:	PUNCT
ap-2272	410	4	proceedings	proceeding	NOUN
ap-2272	410	5	of	of	ADP
ap-2272	410	6	the	the	DET
ap-2272	410	7	international	international	ADJ
ap-2272	410	8	joint	joint	ADJ
ap-2272	410	9	conference	conference	NOUN
ap-2272	410	10	on	on	ADP
ap-2272	410	11	neural	neural	ADJ
ap-2272	410	12	networks	network	NOUN
ap-2272	410	13	ijcnn	ijcnn	VERB
ap-2272	410	14	.	.	PUNCT
ap-2272	411	1	2004	2004	NUM
ap-2272	411	2	.	.	PUNCT
ap-2272	412	1	[	[	X
ap-2272	412	2	4	4	X
ap-2272	412	3	]	]	X
ap-2272	412	4	g.	g.	PROPN
ap-2272	412	5	auda	auda	PROPN
ap-2272	412	6	,	,	PUNCT
ap-2272	412	7	m.	m.	NOUN
ap-2272	412	8	kamel	kamel	PROPN
ap-2272	412	9	.	.	PUNCT
ap-2272	413	1	modular	modular	ADJ
ap-2272	413	2	neural	neural	ADJ
ap-2272	413	3	networks	network	NOUN
ap-2272	413	4	:	:	PUNCT
ap-2272	413	5	a	a	DET
ap-2272	413	6	survey	survey	NOUN
ap-2272	413	7	.	.	PUNCT
ap-2272	414	1	int	int	NOUN
ap-2272	414	2	j	j	PROPN
ap-2272	414	3	neural	neural	ADJ
ap-2272	414	4	syst	syst	PROPN
ap-2272	414	5	9(2):129–151	9(2):129–151	PROPN
ap-2272	414	6	,	,	PUNCT
ap-2272	414	7	1999	1999	NUM
ap-2272	414	8	.	.	PUNCT
ap-2272	415	1	[	[	X
ap-2272	415	2	5	5	NUM
ap-2272	415	3	]	]	PUNCT
ap-2272	415	4	c.	c.	PROPN
ap-2272	415	5	eliasmith	eliasmith	PROPN
ap-2272	415	6	,	,	PUNCT
ap-2272	415	7	c.	c.	PROPN
ap-2272	415	8	h.	h.	PROPN
ap-2272	415	9	anderson	anderson	PROPN
ap-2272	415	10	.	.	PUNCT
ap-2272	416	1	neural	neural	ADJ
ap-2272	416	2	engineering	engineering	NOUN
ap-2272	416	3	:	:	PUNCT
ap-2272	416	4	computation	computation	NOUN
ap-2272	416	5	,	,	PUNCT
ap-2272	416	6	representation	representation	NOUN
ap-2272	416	7	,	,	PUNCT
ap-2272	416	8	and	and	CCONJ
ap-2272	416	9	dynamics	dynamic	NOUN
ap-2272	416	10	in	in	ADP
ap-2272	416	11	neurobiological	neurobiological	ADJ
ap-2272	416	12	systems	system	NOUN
ap-2272	416	13	.	.	PUNCT
ap-2272	417	1	the	the	DET
ap-2272	417	2	mit	mit	PROPN
ap-2272	417	3	press	press	PROPN
ap-2272	417	4	,	,	PUNCT
ap-2272	417	5	cambridge	cambridge	PROPN
ap-2272	417	6	,	,	PUNCT
ap-2272	417	7	isbn	isbn	ADJ
ap-2272	417	8	:	:	PUNCT
ap-2272	417	9	0	0	NUM
ap-2272	417	10	-	-	SYM
ap-2272	417	11	262	262	NUM
ap-2272	417	12	-	-	PUNCT
ap-2272	417	13	05071	05071	NUM
ap-2272	417	14	-	-	PUNCT
ap-2272	417	15	4	4	NUM
ap-2272	417	16	,	,	PUNCT
ap-2272	417	17	2003	2003	NUM
ap-2272	417	18	.	.	PUNCT
ap-2272	418	1	[	[	X
ap-2272	418	2	6	6	NUM
ap-2272	418	3	]	]	PUNCT
ap-2272	418	4	e.	e.	PROPN
ap-2272	418	5	crawford	crawford	PROPN
ap-2272	418	6	,	,	PUNCT
ap-2272	418	7	m.	m.	NOUN
ap-2272	418	8	gingerich	gingerich	PROPN
ap-2272	418	9	,	,	PUNCT
ap-2272	418	10	c.	c.	PROPN
ap-2272	418	11	eliasmith	eliasmith	PROPN
ap-2272	418	12	.	.	PUNCT
ap-2272	419	1	biologically	biologically	ADV
ap-2272	419	2	plausible	plausible	ADJ
ap-2272	419	3	,	,	PUNCT
ap-2272	419	4	human	human	ADJ
ap-2272	419	5	-	-	PUNCT
ap-2272	419	6	scale	scale	NOUN
ap-2272	419	7	knowledge	knowledge	NOUN
ap-2272	419	8	representation	representation	NOUN
ap-2272	419	9	.	.	PUNCT
ap-2272	420	1	in	in	ADP
ap-2272	420	2	35th	35th	ADJ
ap-2272	420	3	annual	annual	ADJ
ap-2272	420	4	conference	conference	NOUN
ap-2272	420	5	of	of	ADP
ap-2272	420	6	the	the	DET
ap-2272	420	7	cognitive	cognitive	ADJ
ap-2272	420	8	science	science	NOUN
ap-2272	420	9	society	society	NOUN
ap-2272	420	10	,	,	PUNCT
ap-2272	420	11	pp	pp	ADP
ap-2272	420	12	.	.	PUNCT
ap-2272	421	1	412–417	412–417	NUM
ap-2272	421	2	.	.	PUNCT
ap-2272	422	1	2013	2013	NUM
ap-2272	422	2	.	.	PUNCT
ap-2272	423	1	[	[	X
ap-2272	423	2	7	7	X
ap-2272	423	3	]	]	PUNCT
ap-2272	423	4	k.	k.	PROPN
ap-2272	423	5	mcgarry	mcgarry	PROPN
ap-2272	423	6	,	,	PUNCT
ap-2272	423	7	s.	s.	PROPN
ap-2272	423	8	wermter	wermter	PROPN
ap-2272	423	9	,	,	PUNCT
ap-2272	423	10	j.	j.	PROPN
ap-2272	423	11	macintyre	macintyre	PROPN
ap-2272	423	12	.	.	PUNCT
ap-2272	424	1	hybrid	hybrid	ADJ
ap-2272	424	2	neural	neural	ADJ
ap-2272	424	3	systems	system	NOUN
ap-2272	424	4	:	:	PUNCT
ap-2272	424	5	from	from	ADP
ap-2272	424	6	simple	simple	ADJ
ap-2272	424	7	coupling	coupling	NOUN
ap-2272	424	8	to	to	ADP
ap-2272	424	9	fully	fully	ADV
ap-2272	424	10	integrated	integrate	VERB
ap-2272	424	11	neural	neural	ADJ
ap-2272	424	12	networks	network	NOUN
ap-2272	424	13	.	.	PUNCT
ap-2272	425	1	neural	neural	ADJ
ap-2272	425	2	computing	computing	NOUN
ap-2272	425	3	surveys	survey	NOUN
ap-2272	425	4	2:62–93	2:62–93	NUM
ap-2272	425	5	,	,	PUNCT
ap-2272	425	6	1999	1999	NUM
ap-2272	425	7	.	.	PUNCT
ap-2272	426	1	[	[	X
ap-2272	426	2	8	8	NUM
ap-2272	426	3	]	]	PUNCT
ap-2272	426	4	dept	dept	NOUN
ap-2272	426	5	.	.	PUNCT
ap-2272	426	6	cybernetics	cybernetic	NOUN
ap-2272	426	7	fee	fee	NOUN
ap-2272	426	8	,	,	PUNCT
ap-2272	426	9	ctu	ctu	NOUN
ap-2272	426	10	in	in	ADP
ap-2272	426	11	prague	prague	PROPN
ap-2272	426	12	.	.	PUNCT
ap-2272	427	1	nengoros	nengoros	PROPN
ap-2272	427	2	.	.	PUNCT
ap-2272	428	1	http://nengoros.wordpress.com/	http://nengoros.wordpress.com/	PROPN
ap-2272	429	1	[	[	X
ap-2272	429	2	2014	2014	NUM
ap-2272	429	3	-	-	SYM
ap-2272	429	4	10	10	NUM
ap-2272	429	5	-	-	NUM
ap-2272	429	6	01	01	NUM
ap-2272	429	7	]	]	PUNCT
ap-2272	429	8	.	.	PUNCT
ap-2272	430	1	[	[	X
ap-2272	430	2	9	9	NUM
ap-2272	430	3	]	]	PUNCT
ap-2272	430	4	centre	centre	NOUN
ap-2272	430	5	for	for	ADP
ap-2272	430	6	theoretical	theoretical	ADJ
ap-2272	430	7	neuroscience	neuroscience	NOUN
ap-2272	430	8	,	,	PUNCT
ap-2272	430	9	u	u	PROPN
ap-2272	430	10	waterloo	waterloo	PROPN
ap-2272	430	11	.	.	PUNCT
ap-2272	430	12	nengo	nengo	NOUN
ap-2272	430	13	.	.	PUNCT
ap-2272	431	1	http://nengo.ca/	http://nengo.ca/	PROPN
ap-2272	431	2	[	[	X
ap-2272	431	3	2014	2014	NUM
ap-2272	431	4	-	-	SYM
ap-2272	431	5	10	10	NUM
ap-2272	431	6	-	-	NUM
ap-2272	431	7	01	01	NUM
ap-2272	431	8	]	]	PUNCT
ap-2272	431	9	.	.	PUNCT
ap-2272	432	1	[	[	X
ap-2272	432	2	10	10	NUM
ap-2272	432	3	]	]	X
ap-2272	432	4	m.	m.	NOUN
ap-2272	432	5	wiering	wiering	PROPN
ap-2272	432	6	,	,	PUNCT
ap-2272	432	7	h.	h.	PROPN
ap-2272	432	8	van	van	PROPN
ap-2272	432	9	hasselt	hasselt	PROPN
ap-2272	432	10	.	.	PUNCT
ap-2272	433	1	ensemble	ensemble	ADJ
ap-2272	433	2	algorithms	algorithm	NOUN
ap-2272	433	3	in	in	ADP
ap-2272	433	4	reinforcement	reinforcement	NOUN
ap-2272	433	5	learning	learning	NOUN
ap-2272	433	6	.	.	PUNCT
ap-2272	434	1	systems	system	NOUN
ap-2272	434	2	,	,	PUNCT
ap-2272	434	3	man	man	NOUN
ap-2272	434	4	,	,	PUNCT
ap-2272	434	5	and	and	CCONJ
ap-2272	434	6	cybernetics	cybernetic	NOUN
ap-2272	434	7	,	,	PUNCT
ap-2272	434	8	part	part	NOUN
ap-2272	434	9	b	b	NOUN
ap-2272	434	10	:	:	PUNCT
ap-2272	434	11	cybernetics	cybernetic	NOUN
ap-2272	434	12	,	,	PUNCT
ap-2272	434	13	ieee	ieee	NOUN
ap-2272	434	14	transactions	transaction	NOUN
ap-2272	434	15	on	on	ADP
ap-2272	434	16	38(4):930–936	38(4):930–936	NUM
ap-2272	434	17	,	,	PUNCT
ap-2272	434	18	2008	2008	NUM
ap-2272	434	19	.	.	PUNCT
ap-2272	435	1	doi:10.1109	doi:10.1109	VERB
ap-2272	435	2	/	/	SYM
ap-2272	435	3	tsmcb.2008.920231	tsmcb.2008.920231	PROPN
ap-2272	435	4	.	.	PUNCT
ap-2272	436	1	[	[	X
ap-2272	436	2	11	11	NUM
ap-2272	436	3	]	]	PUNCT
ap-2272	436	4	j.	j.	PROPN
ap-2272	436	5	jiang	jiang	PROPN
ap-2272	436	6	.	.	PUNCT
ap-2272	437	1	a	a	DET
ap-2272	437	2	framework	framework	NOUN
ap-2272	437	3	for	for	ADP
ap-2272	437	4	aggregation	aggregation	NOUN
ap-2272	437	5	of	of	ADP
ap-2272	437	6	multiple	multiple	ADJ
ap-2272	437	7	reinforcement	reinforcement	NOUN
ap-2272	437	8	learning	learning	NOUN
ap-2272	437	9	algorithms	algorithm	NOUN
ap-2272	437	10	.	.	PUNCT
ap-2272	438	1	ph.d	ph.d	PROPN
ap-2272	438	2	.	.	PUNCT
ap-2272	439	1	thesis	thesis	PROPN
ap-2272	439	2	,	,	PUNCT
ap-2272	439	3	waterloo	waterloo	PROPN
ap-2272	439	4	,	,	PUNCT
ap-2272	439	5	ont	ont	PROPN
ap-2272	439	6	.	.	PROPN
ap-2272	439	7	,	,	PUNCT
ap-2272	439	8	canada	canada	PROPN
ap-2272	439	9	,	,	PUNCT
ap-2272	439	10	canada	canada	PROPN
ap-2272	439	11	,	,	PUNCT
ap-2272	439	12	2007	2007	NUM
ap-2272	439	13	.	.	PUNCT
ap-2272	440	1	aainr34511	aainr34511	PROPN
ap-2272	440	2	.	.	PUNCT
ap-2272	441	1	[	[	X
ap-2272	441	2	12	12	NUM
ap-2272	441	3	]	]	X
ap-2272	441	4	d.	d.	PROPN
ap-2272	441	5	kadlecek	kadlecek	PROPN
ap-2272	441	6	,	,	PUNCT
ap-2272	441	7	p.	p.	NOUN
ap-2272	441	8	nahodil	nahodil	PROPN
ap-2272	441	9	.	.	PUNCT
ap-2272	442	1	adopting	adopt	VERB
ap-2272	442	2	animal	animal	NOUN
ap-2272	442	3	concepts	concept	NOUN
ap-2272	442	4	in	in	ADP
ap-2272	442	5	hierarchical	hierarchical	ADJ
ap-2272	442	6	reinforcement	reinforcement	NOUN
ap-2272	442	7	learning	learning	NOUN
ap-2272	442	8	and	and	CCONJ
ap-2272	442	9	control	control	NOUN
ap-2272	442	10	of	of	ADP
ap-2272	442	11	intelligent	intelligent	ADJ
ap-2272	442	12	agents	agent	NOUN
ap-2272	442	13	.	.	PUNCT
ap-2272	443	1	in	in	ADP
ap-2272	443	2	proc	proc	NOUN
ap-2272	443	3	.	.	PUNCT
ap-2272	444	1	2nd	2nd	PROPN
ap-2272	444	2	ieee	ieee	PROPN
ap-2272	444	3	ras	ras	PROPN
ap-2272	444	4	&	&	CCONJ
ap-2272	444	5	embs	embs	PROPN
ap-2272	444	6	int	int	PROPN
ap-2272	444	7	.	.	PUNCT
ap-2272	444	8	conf	conf	PROPN
ap-2272	444	9	.	.	PUNCT
ap-2272	444	10	biomedical	biomedical	ADJ
ap-2272	444	11	robotics	robotic	NOUN
ap-2272	444	12	and	and	CCONJ
ap-2272	444	13	biomechatronics	biomechatronic	NOUN
ap-2272	444	14	biorob	biorob	VERB
ap-2272	444	15	2008	2008	NUM
ap-2272	444	16	,	,	PUNCT
ap-2272	444	17	pp	pp	ADV
ap-2272	444	18	.	.	PUNCT
ap-2272	445	1	924–929	924–929	NUM
ap-2272	445	2	.	.	NOUN
ap-2272	445	3	2008	2008	NUM
ap-2272	445	4	.	.	PUNCT
ap-2272	446	1	doi:10.1109	doi:10.1109	VERB
ap-2272	446	2	/	/	SYM
ap-2272	446	3	biorob.2008.4762882	biorob.2008.4762882	NOUN
ap-2272	446	4	.	.	PUNCT
ap-2272	447	1	[	[	X
ap-2272	447	2	13	13	NUM
ap-2272	447	3	]	]	PUNCT
ap-2272	447	4	t.	t.	PROPN
ap-2272	447	5	watanabe	watanabe	PROPN
ap-2272	447	6	,	,	PUNCT
ap-2272	447	7	t.	t.	PROPN
ap-2272	447	8	sawa	sawa	PROPN
ap-2272	447	9	.	.	PUNCT
ap-2272	447	10	instruction	instruction	NOUN
ap-2272	447	11	for	for	ADP
ap-2272	447	12	reinforcement	reinforcement	NOUN
ap-2272	447	13	learning	learning	NOUN
ap-2272	447	14	agent	agent	NOUN
ap-2272	447	15	based	base	VERB
ap-2272	447	16	on	on	ADP
ap-2272	447	17	sub	sub	NOUN
ap-2272	447	18	-	-	NOUN
ap-2272	447	19	rewards	reward	NOUN
ap-2272	447	20	and	and	CCONJ
ap-2272	447	21	forgetting	forget	VERB
ap-2272	447	22	.	.	PUNCT
ap-2272	448	1	in	in	ADP
ap-2272	448	2	fuzzy	fuzzy	ADJ
ap-2272	448	3	systems	system	NOUN
ap-2272	448	4	(	(	PUNCT
ap-2272	448	5	fuzz	fuzz	NOUN
ap-2272	448	6	)	)	PUNCT
ap-2272	448	7	,	,	PUNCT
ap-2272	448	8	2010	2010	NUM
ap-2272	448	9	ieee	ieee	PROPN
ap-2272	448	10	international	international	ADJ
ap-2272	448	11	conference	conference	NOUN
ap-2272	448	12	on	on	ADP
ap-2272	448	13	,	,	PUNCT
ap-2272	448	14	pp	pp	ADJ
ap-2272	448	15	.	.	PUNCT
ap-2272	449	1	1–7	1–7	X
ap-2272	449	2	.	.	NOUN
ap-2272	449	3	2010	2010	NUM
ap-2272	449	4	.	.	PUNCT
ap-2272	450	1	doi:10.1109	doi:10.1109	VERB
ap-2272	450	2	/	/	SYM
ap-2272	450	3	fuzzy.2010.5584788	fuzzy.2010.5584788	PROPN
ap-2272	450	4	.	.	PUNCT
ap-2272	451	1	[	[	X
ap-2272	451	2	14	14	NUM
ap-2272	451	3	]	]	X
ap-2272	451	4	j.	j.	PROPN
ap-2272	451	5	fekiac	fekiac	PROPN
ap-2272	451	6	,	,	PUNCT
ap-2272	451	7	i.	i.	NOUN
ap-2272	451	8	zelinka	zelinka	PROPN
ap-2272	451	9	,	,	PUNCT
ap-2272	451	10	j.	j.	PROPN
ap-2272	451	11	c.	c.	PROPN
ap-2272	451	12	burguillo	burguillo	PROPN
ap-2272	451	13	.	.	PUNCT
ap-2272	452	1	a	a	DET
ap-2272	452	2	review	review	NOUN
ap-2272	452	3	of	of	ADP
ap-2272	452	4	methods	method	NOUN
ap-2272	452	5	for	for	ADP
ap-2272	452	6	encoding	encode	VERB
ap-2272	452	7	neural	neural	ADJ
ap-2272	452	8	network	network	NOUN
ap-2272	452	9	topologies	topology	NOUN
ap-2272	452	10	in	in	ADP
ap-2272	452	11	evolutionary	evolutionary	ADJ
ap-2272	452	12	computation	computation	NOUN
ap-2272	452	13	.	.	PUNCT
ap-2272	453	1	in	in	ADP
ap-2272	453	2	proceedings	proceeding	NOUN
ap-2272	453	3	25th	25th	NOUN
ap-2272	453	4	european	european	ADJ
ap-2272	453	5	conference	conference	NOUN
ap-2272	453	6	on	on	ADP
ap-2272	453	7	modelling	modelling	NOUN
ap-2272	453	8	and	and	CCONJ
ap-2272	453	9	simulation	simulation	NOUN
ap-2272	453	10	ecms	ecms	NOUN
ap-2272	453	11	,	,	PUNCT
ap-2272	453	12	pp	pp	ADJ
ap-2272	453	13	.	.	PUNCT
ap-2272	454	1	410–416	410–416	NUM
ap-2272	454	2	.	.	PUNCT
ap-2272	455	1	2011	2011	NUM
ap-2272	455	2	.	.	PUNCT
ap-2272	456	1	isbn	isbn	ADJ
ap-2272	456	2	:	:	PUNCT
ap-2272	456	3	978	978	NUM
ap-2272	456	4	-	-	SYM
ap-2272	456	5	0	0	NUM
ap-2272	456	6	-	-	PUNCT
ap-2272	456	7	9564944	9564944	NUM
ap-2272	456	8	-	-	PUNCT
ap-2272	456	9	2	2	NUM
ap-2272	456	10	-	-	SYM
ap-2272	456	11	9	9	NUM
ap-2272	456	12	.	.	NOUN
ap-2272	456	13	377	377	NUM
ap-2272	456	14	http://dx.doi.org/10.1145/1543834.1543869	http://dx.doi.org/10.1145/1543834.1543869	PROPN
ap-2272	456	15	http://nengoros.wordpress.com/	http://nengoros.wordpress.com/	PROPN
ap-2272	456	16	http://nengo.ca/	http://nengo.ca/	PROPN
ap-2272	456	17	http://dx.doi.org/10.1109/tsmcb.2008.920231	http://dx.doi.org/10.1109/tsmcb.2008.920231	PROPN
ap-2272	456	18	http://dx.doi.org/10.1109/biorob.2008.4762882	http://dx.doi.org/10.1109/biorob.2008.4762882	PROPN
ap-2272	456	19	http://dx.doi.org/10.1109/fuzzy.2010.5584788	http://dx.doi.org/10.1109/fuzzy.2010.5584788	PROPN
ap-2272	456	20	acta	acta	PROPN
ap-2272	456	21	polytechnica	polytechnica	PROPN
ap-2272	456	22	54(5):367–377	54(5):367–377	PROPN
ap-2272	456	23	,	,	PUNCT
ap-2272	456	24	2014	2014	NUM
ap-2272	456	25	1	1	NUM
ap-2272	456	26	introduction	introduction	NOUN
ap-2272	456	27	—	—	PUNCT
ap-2272	456	28	problem	problem	NOUN
ap-2272	456	29	decomposition	decomposition	NOUN
ap-2272	456	30	1.1	1.1	NUM
ap-2272	456	31	modular	modular	ADJ
ap-2272	456	32	design	design	NOUN
ap-2272	456	33	in	in	ADP
ap-2272	456	34	practice	practice	NOUN
ap-2272	456	35	1.2	1.2	NUM
ap-2272	456	36	how	how	SCONJ
ap-2272	456	37	can	can	AUX
ap-2272	456	38	systems	system	NOUN
ap-2272	456	39	be	be	AUX
ap-2272	456	40	designed	design	VERB
ap-2272	456	41	in	in	ADP
ap-2272	456	42	a	a	DET
ap-2272	456	43	general	general	ADJ
ap-2272	456	44	way	way	NOUN
ap-2272	456	45	?	?	PUNCT
ap-2272	457	1	1.3	1.3	NUM
ap-2272	457	2	structure	structure	NOUN
ap-2272	457	3	of	of	ADP
ap-2272	457	4	the	the	DET
ap-2272	457	5	text	text	NOUN
ap-2272	457	6	2	2	NUM
ap-2272	457	7	hybrid	hybrid	ADJ
ap-2272	457	8	artificial	artificial	ADJ
ap-2272	457	9	neural	neural	ADJ
ap-2272	457	10	network	network	NOUN
ap-2272	457	11	systems	system	NOUN
ap-2272	457	12	2.1	2.1	NUM
ap-2272	457	13	communication	communication	NOUN
ap-2272	457	14	and	and	CCONJ
ap-2272	457	15	sub	sub	ADJ
ap-2272	457	16	-	-	ADJ
ap-2272	457	17	system	system	NOUN
ap-2272	457	18	representation	representation	NOUN
ap-2272	457	19	2.2	2.2	NUM
ap-2272	457	20	configuration	configuration	NOUN
ap-2272	457	21	of	of	ADP
ap-2272	457	22	a	a	DET
ap-2272	457	23	neural	neural	ADJ
ap-2272	457	24	module	module	NOUN
ap-2272	457	25	2.3	2.3	NUM
ap-2272	457	26	prosperity	prosperity	NOUN
ap-2272	457	27	of	of	ADP
ap-2272	457	28	the	the	DET
ap-2272	457	29	neural	neural	ADJ
ap-2272	457	30	module	module	NOUN
ap-2272	457	31	2.4	2.4	NUM
ap-2272	457	32	the	the	DET
ap-2272	457	33	nengoros	nengoros	PROPN
ap-2272	457	34	simulator	simulator	NOUN
ap-2272	457	35	3	3	NUM
ap-2272	457	36	description	description	NOUN
ap-2272	457	37	of	of	ADP
ap-2272	457	38	selected	select	VERB
ap-2272	457	39	neural	neural	ADJ
ap-2272	457	40	modules	module	NOUN
ap-2272	457	41	3.1	3.1	NUM
ap-2272	457	42	reinforcement	reinforcement	NOUN
ap-2272	457	43	learning	learning	NOUN
ap-2272	457	44	module	module	NOUN
ap-2272	457	45	3.1.1	3.1.1	NUM
ap-2272	457	46	learning	learn	VERB
ap-2272	457	47	3.1.2	3.1.2	NUM
ap-2272	457	48	action	action	NOUN
ap-2272	457	49	selection	selection	NOUN
ap-2272	457	50	method	method	NOUN
ap-2272	457	51	in	in	ADP
ap-2272	457	52	non	non	ADJ
ap-2272	457	53	-	-	ADJ
ap-2272	457	54	episodic	episodic	ADJ
ap-2272	457	55	experiments	experiment	NOUN
ap-2272	457	56	3.1.3	3.1.3	NUM
ap-2272	457	57	prosperity	prosperity	NOUN
ap-2272	457	58	of	of	ADP
ap-2272	457	59	the	the	DET
ap-2272	457	60	reinforcement	reinforcement	NOUN
ap-2272	457	61	learning	learning	NOUN
ap-2272	457	62	module	module	NOUN
ap-2272	457	63	3.2	3.2	NUM
ap-2272	457	64	motivation	motivation	NOUN
ap-2272	457	65	source	source	NOUN
ap-2272	457	66	module	module	NOUN
ap-2272	457	67	3.2.1	3.2.1	NUM
ap-2272	457	68	prosperity	prosperity	NOUN
ap-2272	457	69	of	of	ADP
ap-2272	457	70	the	the	DET
ap-2272	457	71	motivation	motivation	NOUN
ap-2272	457	72	source	source	NOUN
ap-2272	457	73	module	module	NOUN
ap-2272	457	74	4	4	NUM
ap-2272	457	75	experiments	experiment	NOUN
ap-2272	457	76	4.1	4.1	NUM
ap-2272	457	77	description	description	NOUN
ap-2272	457	78	of	of	ADP
ap-2272	457	79	hardwired	hardwired	ADJ
ap-2272	457	80	agent	agent	NOUN
ap-2272	457	81	architecture	architecture	NOUN
ap-2272	457	82	4.1.1	4.1.1	NUM
ap-2272	457	83	simulation	simulation	NOUN
ap-2272	457	84	of	of	ADP
ap-2272	457	85	hardwired	hardwired	ADJ
ap-2272	457	86	architecture	architecture	NOUN
ap-2272	457	87	4.2	4.2	NUM
ap-2272	457	88	principle	principle	NOUN
ap-2272	457	89	of	of	ADP
ap-2272	457	90	the	the	DET
ap-2272	457	91	evolutionary	evolutionary	ADJ
ap-2272	457	92	design	design	NOUN
ap-2272	457	93	of	of	ADP
ap-2272	457	94	new	new	ADJ
ap-2272	457	95	architectures	architecture	NOUN
ap-2272	457	96	4.3	4.3	NUM
ap-2272	457	97	evolutionary	evolutionary	ADJ
ap-2272	457	98	design	design	NOUN
ap-2272	457	99	of	of	ADP
ap-2272	457	100	new	new	ADJ
ap-2272	457	101	architectures	architecture	NOUN
ap-2272	457	102	4.3.1	4.3.1	NUM
ap-2272	457	103	analyzing	analyze	VERB
ap-2272	457	104	new	new	ADJ
ap-2272	457	105	architectures	architecture	NOUN
ap-2272	457	106	found	find	VERB
ap-2272	457	107	by	by	ADP
ap-2272	457	108	soga	soga	NOUN
ap-2272	457	109	4.3.2	4.3.2	NUM
ap-2272	457	110	analyzing	analyze	VERB
ap-2272	457	111	new	new	ADJ
ap-2272	457	112	architectures	architecture	NOUN
ap-2272	457	113	found	find	VERB
ap-2272	457	114	by	by	ADP
ap-2272	457	115	sorga	sorga	NOUN
ap-2272	457	116	4.3.3	4.3.3	NUM
ap-2272	457	117	discussion	discussion	NOUN
ap-2272	457	118	5	5	NUM
ap-2272	457	119	conclusion	conclusion	NOUN
ap-2272	457	120	acknowledgements	acknowledgement	NOUN
ap-2272	457	121	references	reference	NOUN