id	sid	tid	token	lemma	pos
bracis-33591	1	1	investigating	investigate	VERB
bracis-33591	1	2	behavior	behavior	NOUN
bracis-33591	1	3	cloning	clone	VERB
bracis-33591	1	4	from	from	ADP
bracis-33591	1	5	 	 	SPACE
bracis-33591	1	6	few	few	ADJ
bracis-33591	1	7	demonstrations	demonstration	NOUN
bracis-33591	1	8	for	for	ADP
bracis-33591	1	9	 	 	SPACE
bracis-33591	1	10	autonomous	autonomous	ADJ
bracis-33591	1	11	driving	driving	NOUN
bracis-33591	1	12	based	base	VERB
bracis-33591	1	13	on	on	ADP
bracis-33591	1	14	 	 	SPACE
bracis-33591	1	15	bird’s	bird’s	NOUN
bracis-33591	1	16	-	-	PUNCT
bracis-33591	1	17	eye	eye	NOUN
bracis-33591	1	18	view	view	NOUN
bracis-33591	1	19	in	in	ADP
bracis-33591	1	20	 	 	SPACE
bracis-33591	1	21	simulated	simulate	VERB
bracis-33591	1	22	cities	city	NOUN
bracis-33591	1	23	|	|	ADV
bracis-33591	1	24	springer	springer	NOUN
bracis-33591	1	25	nature	nature	PROPN
bracis-33591	1	26	link	link	PROPN
bracis-33591	1	27	(	(	PUNCT
bracis-33591	1	28	formerly	formerly	ADV
bracis-33591	1	29	springerlink	springerlink	NOUN
bracis-33591	1	30	)	)	PUNCT
bracis-33591	1	31	skip	skip	VERB
bracis-33591	1	32	to	to	ADP
bracis-33591	1	33	main	main	ADJ
bracis-33591	1	34	content	content	NOUN
bracis-33591	1	35	advertisement	advertisement	NOUN
bracis-33591	1	36	log	log	NOUN
bracis-33591	1	37	in	in	ADP
bracis-33591	1	38	menu	menu	NOUN
bracis-33591	1	39	find	find	VERB
bracis-33591	1	40	a	a	DET
bracis-33591	1	41	journal	journal	NOUN
bracis-33591	1	42	publish	publish	VERB
bracis-33591	1	43	with	with	ADP
bracis-33591	1	44	us	we	PRON
bracis-33591	1	45	track	track	VERB
bracis-33591	1	46	your	your	PRON
bracis-33591	1	47	research	research	NOUN
bracis-33591	1	48	search	search	NOUN
bracis-33591	1	49	cart	cart	NOUN
bracis-33591	1	50	home	home	NOUN
bracis-33591	1	51	intelligent	intelligent	ADJ
bracis-33591	1	52	systems	system	NOUN
bracis-33591	1	53	conference	conference	NOUN
bracis-33591	1	54	paper	paper	NOUN
bracis-33591	1	55	investigating	investigate	VERB
bracis-33591	1	56	behavior	behavior	NOUN
bracis-33591	1	57	cloning	clone	VERB
bracis-33591	1	58	from	from	ADP
bracis-33591	1	59	 	 	SPACE
bracis-33591	1	60	few	few	ADJ
bracis-33591	1	61	demonstrations	demonstration	NOUN
bracis-33591	1	62	for	for	ADP
bracis-33591	1	63	 	 	SPACE
bracis-33591	1	64	autonomous	autonomous	ADJ
bracis-33591	1	65	driving	driving	NOUN
bracis-33591	1	66	based	base	VERB
bracis-33591	1	67	on	on	ADP
bracis-33591	1	68	 	 	SPACE
bracis-33591	1	69	bird’s	bird’s	NOUN
bracis-33591	1	70	-	-	PUNCT
bracis-33591	1	71	eye	eye	NOUN
bracis-33591	1	72	view	view	NOUN
bracis-33591	1	73	in	in	ADP
bracis-33591	1	74	 	 	SPACE
bracis-33591	1	75	simulated	simulate	VERB
bracis-33591	1	76	cities	city	NOUN
bracis-33591	1	77	conference	conference	NOUN
bracis-33591	1	78	paper	paper	NOUN
bracis-33591	1	79	first	first	ADV
bracis-33591	1	80	online	online	ADV
bracis-33591	1	81	:	:	PUNCT
bracis-33591	1	82	30	30	NUM
bracis-33591	1	83	january	january	NOUN
bracis-33591	1	84	2025	2025	NUM
bracis-33591	1	85	pp	pp	NUM
bracis-33591	1	86	155–168	155–168	NUM
bracis-33591	1	87	cite	cite	VERB
bracis-33591	1	88	this	this	DET
bracis-33591	1	89	conference	conference	NOUN
bracis-33591	1	90	paper	paper	NOUN
bracis-33591	1	91	access	access	NOUN
bracis-33591	1	92	provided	provide	VERB
bracis-33591	1	93	by	by	ADP
bracis-33591	1	94	university	university	PROPN
bracis-33591	1	95	of	of	ADP
bracis-33591	1	96	notre	notre	PROPN
bracis-33591	1	97	dame	dame	PROPN
bracis-33591	1	98	hesburgh	hesburgh	PROPN
bracis-33591	1	99	library	library	PROPN
bracis-33591	1	100	download	download	PROPN
bracis-33591	1	101	book	book	NOUN
bracis-33591	1	102	pdf	pdf	PROPN
bracis-33591	1	103	download	download	NOUN
bracis-33591	1	104	book	book	NOUN
bracis-33591	1	105	epub	epub	PROPN
bracis-33591	1	106	intelligent	intelligent	ADJ
bracis-33591	1	107	systems	system	NOUN
bracis-33591	1	108	(	(	PUNCT
bracis-33591	1	109	bracis	bracis	NOUN
bracis-33591	1	110	2024	2024	NUM
bracis-33591	1	111	)	)	PUNCT
bracis-33591	1	112	investigating	investigate	VERB
bracis-33591	1	113	behavior	behavior	NOUN
bracis-33591	1	114	cloning	clone	VERB
bracis-33591	1	115	from	from	ADP
bracis-33591	1	116	 	 	SPACE
bracis-33591	1	117	few	few	ADJ
bracis-33591	1	118	demonstrations	demonstration	NOUN
bracis-33591	1	119	for	for	ADP
bracis-33591	1	120	 	 	SPACE
bracis-33591	1	121	autonomous	autonomous	ADJ
bracis-33591	1	122	driving	driving	NOUN
bracis-33591	1	123	based	base	VERB
bracis-33591	1	124	on	on	ADP
bracis-33591	1	125	 	 	SPACE
bracis-33591	1	126	bird’s	bird’s	NOUN
bracis-33591	1	127	-	-	PUNCT
bracis-33591	1	128	eye	eye	NOUN
bracis-33591	1	129	view	view	NOUN
bracis-33591	1	130	in	in	ADP
bracis-33591	1	131	 	 	SPACE
bracis-33591	1	132	simulated	simulate	VERB
bracis-33591	1	133	cities	city	NOUN
bracis-33591	2	1	download	download	VERB
bracis-33591	2	2	book	book	NOUN
bracis-33591	2	3	pdf	pdf	PROPN
bracis-33591	2	4	download	download	NOUN
bracis-33591	2	5	book	book	PROPN
bracis-33591	2	6	epub	epub	PROPN
bracis-33591	2	7	eric	eric	PROPN
bracis-33591	2	8	aislan	aislan	PROPN
bracis-33591	2	9	antonelo9	antonelo9	PROPN
bracis-33591	2	10	,	,	PUNCT
bracis-33591	2	11	gustavo	gustavo	PROPN
bracis-33591	2	12	claudio	claudio	PROPN
bracis-33591	2	13	karl	karl	PROPN
bracis-33591	2	14	couto9	couto9	PROPN
bracis-33591	2	15	,	,	PUNCT
bracis-33591	2	16	christian	christian	PROPN
bracis-33591	2	17	möller10	möller10	PROPN
bracis-33591	2	18	&	&	CCONJ
bracis-33591	2	19	…	…	PUNCT
bracis-33591	2	20	pedro	pedro	PROPN
bracis-33591	2	21	henrique	henrique	AUX
bracis-33591	2	22	fernandes9	fernandes9	PROPN
bracis-33591	2	23	  	  	SPACE
bracis-33591	2	24	show	show	VERB
bracis-33591	2	25	authors	author	NOUN
bracis-33591	2	26	part	part	NOUN
bracis-33591	2	27	of	of	ADP
bracis-33591	2	28	the	the	DET
bracis-33591	2	29	book	book	NOUN
bracis-33591	2	30	series	series	NOUN
bracis-33591	2	31	:	:	PUNCT
bracis-33591	2	32	lecture	lecture	NOUN
bracis-33591	2	33	notes	note	NOUN
bracis-33591	2	34	in	in	ADP
bracis-33591	2	35	computer	computer	NOUN
bracis-33591	2	36	science	science	NOUN
bracis-33591	2	37	(	(	PUNCT
bracis-33591	2	38	(	(	PUNCT
bracis-33591	2	39	lnai	lnai	ADJ
bracis-33591	2	40	,	,	PUNCT
bracis-33591	2	41	volume	volume	NOUN
bracis-33591	2	42	15413	15413	NUM
bracis-33591	2	43	)	)	PUNCT
bracis-33591	2	44	)	)	PUNCT
bracis-33591	2	45	included	include	VERB
bracis-33591	2	46	in	in	ADP
bracis-33591	2	47	the	the	DET
bracis-33591	2	48	following	follow	VERB
bracis-33591	2	49	conference	conference	NOUN
bracis-33591	2	50	series	series	NOUN
bracis-33591	2	51	:	:	PUNCT
bracis-33591	2	52	brazilian	brazilian	ADJ
bracis-33591	2	53	conference	conference	NOUN
bracis-33591	2	54	on	on	ADP
bracis-33591	2	55	intelligent	intelligent	ADJ
bracis-33591	2	56	systems	system	NOUN
bracis-33591	2	57	372	372	NUM
bracis-33591	2	58	accesses	access	VERB
bracis-33591	2	59	4	4	NUM
bracis-33591	2	60	citations	citation	NOUN
bracis-33591	2	61	abstract	abstract	ADJ
bracis-33591	2	62	this	this	DET
bracis-33591	2	63	paper	paper	NOUN
bracis-33591	2	64	investigates	investigate	VERB
bracis-33591	2	65	the	the	DET
bracis-33591	2	66	use	use	NOUN
bracis-33591	2	67	of	of	ADP
bracis-33591	2	68	behavior	behavior	NOUN
bracis-33591	2	69	cloning	cloning	NOUN
bracis-33591	2	70	(	(	PUNCT
bracis-33591	2	71	bc	bc	PROPN
bracis-33591	2	72	)	)	PUNCT
bracis-33591	2	73	for	for	ADP
bracis-33591	2	74	autonomous	autonomous	ADJ
bracis-33591	2	75	driving	driving	NOUN
bracis-33591	2	76	from	from	ADP
bracis-33591	2	77	a	a	DET
bracis-33591	2	78	bird’s	bird’s	ADJ
bracis-33591	2	79	-	-	PUNCT
bracis-33591	2	80	eye	eye	NOUN
bracis-33591	2	81	view	view	NOUN
bracis-33591	2	82	(	(	PUNCT
bracis-33591	2	83	bev	bev	PROPN
bracis-33591	2	84	)	)	PUNCT
bracis-33591	2	85	perspective	perspective	NOUN
bracis-33591	2	86	in	in	ADP
bracis-33591	2	87	simulated	simulated	ADJ
bracis-33591	2	88	urban	urban	ADJ
bracis-33591	2	89	environments	environment	NOUN
bracis-33591	2	90	.	.	PUNCT
bracis-33591	3	1	bc	bc	PROPN
bracis-33591	3	2	uses	use	VERB
bracis-33591	3	3	supervised	supervise	VERB
bracis-33591	3	4	learning	learn	VERB
bracis-33591	3	5	to	to	PART
bracis-33591	3	6	mimic	mimic	VERB
bracis-33591	3	7	expert	expert	NOUN
bracis-33591	3	8	driving	driving	NOUN
bracis-33591	3	9	behaviors	behavior	NOUN
bracis-33591	3	10	.	.	PUNCT
bracis-33591	4	1	previous	previous	ADJ
bracis-33591	4	2	works	work	NOUN
bracis-33591	4	3	have	have	AUX
bracis-33591	4	4	applied	apply	VERB
bracis-33591	4	5	bc	bc	PROPN
bracis-33591	4	6	in	in	ADP
bracis-33591	4	7	the	the	DET
bracis-33591	4	8	carla	carla	PROPN
bracis-33591	4	9	simulator	simulator	NOUN
bracis-33591	4	10	but	but	CCONJ
bracis-33591	4	11	did	do	AUX
bracis-33591	4	12	not	not	PART
bracis-33591	4	13	fully	fully	ADV
bracis-33591	4	14	address	address	VERB
bracis-33591	4	15	the	the	DET
bracis-33591	4	16	challenges	challenge	NOUN
bracis-33591	4	17	of	of	ADP
bracis-33591	4	18	traffic	traffic	NOUN
bracis-33591	4	19	light	light	NOUN
bracis-33591	4	20	compliance	compliance	NOUN
bracis-33591	4	21	.	.	PUNCT
bracis-33591	5	1	our	our	PRON
bracis-33591	5	2	approach	approach	NOUN
bracis-33591	5	3	enhances	enhance	VERB
bracis-33591	5	4	bc	bc	VERB
bracis-33591	5	5	by	by	ADP
bracis-33591	5	6	integrating	integrate	VERB
bracis-33591	5	7	a	a	DET
bracis-33591	5	8	kernel	kernel	PROPN
bracis-33591	5	9	density	density	NOUN
bracis-33591	5	10	estimator	estimator	NOUN
bracis-33591	5	11	to	to	PART
bracis-33591	5	12	adjust	adjust	VERB
bracis-33591	5	13	training	training	NOUN
bracis-33591	5	14	sample	sample	NOUN
bracis-33591	5	15	weights	weight	NOUN
bracis-33591	5	16	based	base	VERB
bracis-33591	5	17	on	on	ADP
bracis-33591	5	18	action	action	NOUN
bracis-33591	5	19	density	density	NOUN
bracis-33591	5	20	,	,	PUNCT
bracis-33591	5	21	thereby	thereby	ADV
bracis-33591	5	22	improving	improve	VERB
bracis-33591	5	23	the	the	DET
bracis-33591	5	24	learning	learning	NOUN
bracis-33591	5	25	of	of	ADP
bracis-33591	5	26	rare	rare	ADJ
bracis-33591	5	27	but	but	CCONJ
bracis-33591	5	28	critical	critical	ADJ
bracis-33591	5	29	actions	action	NOUN
bracis-33591	5	30	such	such	ADJ
bracis-33591	5	31	as	as	ADP
bracis-33591	5	32	stopping	stop	VERB
bracis-33591	5	33	at	at	ADP
bracis-33591	5	34	red	red	ADJ
bracis-33591	5	35	lights	light	NOUN
bracis-33591	5	36	and	and	CCONJ
bracis-33591	5	37	accelerating	accelerate	VERB
bracis-33591	5	38	at	at	ADP
bracis-33591	5	39	green	green	ADJ
bracis-33591	5	40	lights	light	NOUN
bracis-33591	5	41	,	,	PUNCT
bracis-33591	5	42	specially	specially	ADV
bracis-33591	5	43	in	in	ADP
bracis-33591	5	44	scenarios	scenario	NOUN
bracis-33591	5	45	of	of	ADP
bracis-33591	5	46	scarce	scarce	ADJ
bracis-33591	5	47	number	number	NOUN
bracis-33591	5	48	of	of	ADP
bracis-33591	5	49	expert	expert	NOUN
bracis-33591	5	50	demonstrations	demonstration	NOUN
bracis-33591	5	51	.	.	PUNCT
bracis-33591	6	1	using	use	VERB
bracis-33591	6	2	bev	bev	PROPN
bracis-33591	6	3	inputs	input	NOUN
bracis-33591	6	4	,	,	PUNCT
bracis-33591	6	5	which	which	PRON
bracis-33591	6	6	provide	provide	VERB
bracis-33591	6	7	an	an	DET
bracis-33591	6	8	abstract	abstract	ADJ
bracis-33591	6	9	top	top	ADJ
bracis-33591	6	10	-	-	PUNCT
bracis-33591	6	11	down	down	ADP
bracis-33591	6	12	view	view	NOUN
bracis-33591	6	13	of	of	ADP
bracis-33591	6	14	the	the	DET
bracis-33591	6	15	driving	drive	VERB
bracis-33591	6	16	environment	environment	NOUN
bracis-33591	6	17	,	,	PUNCT
bracis-33591	6	18	our	our	PRON
bracis-33591	6	19	method	method	NOUN
bracis-33591	6	20	simplifies	simplify	VERB
bracis-33591	6	21	the	the	DET
bracis-33591	6	22	policy	policy	NOUN
bracis-33591	6	23	learning	learning	NOUN
bracis-33591	6	24	process	process	NOUN
bracis-33591	6	25	.	.	PUNCT
bracis-33591	7	1	the	the	DET
bracis-33591	7	2	trained	train	VERB
bracis-33591	7	3	convolutional	convolutional	ADJ
bracis-33591	7	4	neural	neural	ADJ
bracis-33591	7	5	network	network	NOUN
bracis-33591	7	6	(	(	PUNCT
bracis-33591	7	7	cnn	cnn	PROPN
bracis-33591	7	8	)	)	PUNCT
bracis-33591	7	9	outputs	output	NOUN
bracis-33591	7	10	steering	steering	NOUN
bracis-33591	7	11	and	and	CCONJ
bracis-33591	7	12	acceleration	acceleration	NOUN
bracis-33591	7	13	actions	action	NOUN
bracis-33591	7	14	based	base	VERB
bracis-33591	7	15	on	on	ADP
bracis-33591	7	16	these	these	DET
bracis-33591	7	17	bev	bev	PROPN
bracis-33591	7	18	inputs	input	NOUN
bracis-33591	7	19	and	and	CCONJ
bracis-33591	7	20	additional	additional	ADJ
bracis-33591	7	21	state	state	NOUN
bracis-33591	7	22	variables	variable	NOUN
bracis-33591	7	23	.	.	PUNCT
bracis-33591	8	1	experimental	experimental	ADJ
bracis-33591	8	2	results	result	NOUN
bracis-33591	8	3	in	in	ADP
bracis-33591	8	4	the	the	DET
bracis-33591	8	5	carla	carla	PROPN
bracis-33591	8	6	simulator	simulator	NOUN
bracis-33591	8	7	demonstrate	demonstrate	VERB
bracis-33591	8	8	that	that	SCONJ
bracis-33591	8	9	our	our	PRON
bracis-33591	8	10	weighted	weight	VERB
bracis-33591	8	11	bc	bc	PROPN
bracis-33591	8	12	method	method	PROPN
bracis-33591	8	13	significantly	significantly	ADV
bracis-33591	8	14	improves	improve	VERB
bracis-33591	8	15	driving	drive	VERB
bracis-33591	8	16	performance	performance	NOUN
bracis-33591	8	17	,	,	PUNCT
bracis-33591	8	18	achieving	achieve	VERB
bracis-33591	8	19	higher	high	ADJ
bracis-33591	8	20	route	route	NOUN
bracis-33591	8	21	completion	completion	NOUN
bracis-33591	8	22	compared	compare	VERB
bracis-33591	8	23	to	to	ADP
bracis-33591	8	24	standard	standard	PROPN
bracis-33591	8	25	bc	bc	PROPN
bracis-33591	8	26	.	.	PUNCT
bracis-33591	9	1	this	this	DET
bracis-33591	9	2	weighted	weight	VERB
bracis-33591	9	3	approach	approach	NOUN
bracis-33591	9	4	proved	prove	VERB
bracis-33591	9	5	to	to	PART
bracis-33591	9	6	be	be	AUX
bracis-33591	9	7	crucial	crucial	ADJ
bracis-33591	9	8	in	in	ADP
bracis-33591	9	9	learning	learn	VERB
bracis-33591	9	10	correct	correct	ADJ
bracis-33591	9	11	driving	driving	NOUN
bracis-33591	9	12	behaviors	behavior	NOUN
bracis-33591	9	13	,	,	PUNCT
bracis-33591	9	14	particularly	particularly	ADV
bracis-33591	9	15	in	in	ADP
bracis-33591	9	16	test	test	NOUN
bracis-33591	9	17	environments	environment	NOUN
bracis-33591	9	18	not	not	PART
bracis-33591	9	19	encountered	encounter	VERB
bracis-33591	9	20	during	during	ADP
bracis-33591	9	21	training	training	NOUN
bracis-33591	9	22	,	,	PUNCT
bracis-33591	9	23	highlighting	highlight	VERB
bracis-33591	9	24	its	its	PRON
bracis-33591	9	25	potential	potential	NOUN
bracis-33591	9	26	for	for	ADP
bracis-33591	9	27	enhancing	enhance	VERB
bracis-33591	9	28	autonomous	autonomous	ADJ
bracis-33591	9	29	vehicle	vehicle	NOUN
bracis-33591	9	30	navigation	navigation	NOUN
bracis-33591	9	31	.	.	PUNCT
bracis-33591	10	1	access	access	NOUN
bracis-33591	10	2	provided	provide	VERB
bracis-33591	10	3	by	by	ADP
bracis-33591	10	4	university	university	PROPN
bracis-33591	10	5	of	of	ADP
bracis-33591	10	6	notre	notre	PROPN
bracis-33591	10	7	dame	dame	PROPN
bracis-33591	10	8	hesburgh	hesburgh	PROPN
bracis-33591	10	9	library	library	PROPN
bracis-33591	10	10	.	.	PUNCT
bracis-33591	11	1	download	download	PROPN
bracis-33591	11	2	conference	conference	NOUN
bracis-33591	11	3	paper	paper	NOUN
bracis-33591	11	4	pdf	pdf	NOUN
bracis-33591	11	5	similar	similar	ADJ
bracis-33591	11	6	content	content	NOUN
bracis-33591	11	7	being	be	AUX
bracis-33591	11	8	viewed	view	VERB
bracis-33591	11	9	by	by	ADP
bracis-33591	11	10	others	other	NOUN
bracis-33591	11	11	a	a	DET
bracis-33591	11	12	deep	deep	ADJ
bracis-33591	11	13	network	network	NOUN
bracis-33591	11	14	system	system	NOUN
bracis-33591	11	15	for	for	ADP
bracis-33591	11	16	simulated	simulated	ADJ
bracis-33591	11	17	autonomous	autonomous	ADJ
bracis-33591	11	18	driving	driving	NOUN
bracis-33591	11	19	using	use	VERB
bracis-33591	11	20	behavioral	behavioral	ADJ
bracis-33591	11	21	cloning	cloning	NOUN
bracis-33591	11	22	chapter	chapter	NOUN
bracis-33591	11	23	©	©	PROPN
bracis-33591	11	24	2019	2019	NUM
bracis-33591	11	25	deep	deep	ADJ
bracis-33591	11	26	learning	learning	NOUN
bracis-33591	11	27	-	-	PUNCT
bracis-33591	11	28	based	base	VERB
bracis-33591	11	29	self	self	NOUN
bracis-33591	11	30	-	-	PUNCT
bracis-33591	11	31	driving	drive	VERB
bracis-33591	11	32	car	car	NOUN
bracis-33591	11	33	simulator	simulator	NOUN
bracis-33591	11	34	:	:	PUNCT
bracis-33591	11	35	development	development	NOUN
bracis-33591	11	36	and	and	CCONJ
bracis-33591	11	37	evaluation	evaluation	NOUN
bracis-33591	11	38	chapter	chapter	NOUN
bracis-33591	11	39	©	©	PROPN
bracis-33591	11	40	2026	2026	NUM
bracis-33591	11	41	bev	bev	PROPN
bracis-33591	11	42	-	-	PUNCT
bracis-33591	11	43	fused	fuse	VERB
bracis-33591	11	44	imitation	imitation	NOUN
bracis-33591	11	45	and	and	CCONJ
bracis-33591	11	46	reinforcement	reinforcement	NOUN
bracis-33591	11	47	learning	learning	NOUN
bracis-33591	11	48	for	for	ADP
bracis-33591	11	49	autonomous	autonomous	ADJ
bracis-33591	11	50	driving	driving	NOUN
bracis-33591	11	51	planning	planning	NOUN
bracis-33591	11	52	article	article	NOUN
bracis-33591	11	53	14	14	NUM
bracis-33591	11	54	october	october	PROPN
bracis-33591	11	55	2025	2025	NUM
bracis-33591	11	56	1	1	NUM
bracis-33591	11	57	introduction	introduction	NOUN
bracis-33591	11	58	autonomous	autonomous	ADJ
bracis-33591	11	59	driving	driving	NOUN
bracis-33591	11	60	has	have	AUX
bracis-33591	11	61	traditionally	traditionally	ADV
bracis-33591	11	62	been	be	AUX
bracis-33591	11	63	implemented	implement	VERB
bracis-33591	11	64	using	use	VERB
bracis-33591	11	65	separate	separate	ADJ
bracis-33591	11	66	modules	module	NOUN
bracis-33591	11	67	for	for	ADP
bracis-33591	11	68	perception	perception	NOUN
bracis-33591	11	69	,	,	PUNCT
bracis-33591	11	70	planning	planning	NOUN
bracis-33591	11	71	,	,	PUNCT
bracis-33591	11	72	and	and	CCONJ
bracis-33591	11	73	control	control	NOUN
bracis-33591	11	74	,	,	PUNCT
bracis-33591	11	75	organized	organize	VERB
bracis-33591	11	76	in	in	ADP
bracis-33591	11	77	a	a	DET
bracis-33591	11	78	sequential	sequential	ADJ
bracis-33591	11	79	pipeline	pipeline	NOUN
bracis-33591	12	1	[	[	X
bracis-33591	12	2	13	13	NUM
bracis-33591	12	3	,	,	PUNCT
bracis-33591	12	4	15	15	NUM
bracis-33591	12	5	,	,	PUNCT
bracis-33591	12	6	16	16	NUM
bracis-33591	12	7	,	,	PUNCT
bracis-33591	12	8	21	21	NUM
bracis-33591	12	9	]	]	PUNCT
bracis-33591	12	10	.	.	PUNCT
bracis-33591	13	1	however	however	ADV
bracis-33591	13	2	,	,	PUNCT
bracis-33591	13	3	learning	learn	VERB
bracis-33591	13	4	-	-	PUNCT
bracis-33591	13	5	based	base	VERB
bracis-33591	13	6	approaches	approach	NOUN
bracis-33591	13	7	have	have	AUX
bracis-33591	13	8	been	be	AUX
bracis-33591	13	9	gaining	gain	VERB
bracis-33591	13	10	popularity	popularity	NOUN
bracis-33591	13	11	as	as	SCONJ
bracis-33591	13	12	they	they	PRON
bracis-33591	13	13	attempt	attempt	VERB
bracis-33591	13	14	to	to	PART
bracis-33591	13	15	address	address	VERB
bracis-33591	13	16	the	the	DET
bracis-33591	13	17	complexities	complexity	NOUN
bracis-33591	13	18	of	of	ADP
bracis-33591	13	19	autonomous	autonomous	ADJ
bracis-33591	13	20	driving	driving	NOUN
bracis-33591	13	21	in	in	ADP
bracis-33591	13	22	various	various	ADJ
bracis-33591	13	23	scenarios	scenario	NOUN
bracis-33591	13	24	,	,	PUNCT
bracis-33591	13	25	whether	whether	SCONJ
bracis-33591	13	26	in	in	ADP
bracis-33591	13	27	simulation	simulation	NOUN
bracis-33591	13	28	or	or	CCONJ
bracis-33591	13	29	real	real	ADJ
bracis-33591	13	30	-	-	PUNCT
bracis-33591	13	31	world	world	NOUN
bracis-33591	13	32	environments	environment	NOUN
bracis-33591	13	33	.	.	PUNCT
bracis-33591	14	1	most	most	ADJ
bracis-33591	14	2	of	of	ADP
bracis-33591	14	3	these	these	DET
bracis-33591	14	4	learning	learning	NOUN
bracis-33591	14	5	-	-	PUNCT
bracis-33591	14	6	based	base	VERB
bracis-33591	14	7	approaches	approach	NOUN
bracis-33591	14	8	rely	rely	VERB
bracis-33591	14	9	on	on	ADP
bracis-33591	14	10	behavior	behavior	NOUN
bracis-33591	14	11	cloning	cloning	NOUN
bracis-33591	14	12	(	(	PUNCT
bracis-33591	14	13	bc	bc	PROPN
bracis-33591	14	14	)	)	PUNCT
bracis-33591	14	15	,	,	PUNCT
bracis-33591	14	16	which	which	PRON
bracis-33591	14	17	employs	employ	VERB
bracis-33591	14	18	supervised	supervised	ADJ
bracis-33591	14	19	learning	learn	VERB
bracis-33591	14	20	on	on	ADP
bracis-33591	14	21	a	a	DET
bracis-33591	14	22	collection	collection	NOUN
bracis-33591	14	23	of	of	ADP
bracis-33591	14	24	expert	expert	NOUN
bracis-33591	14	25	demonstrations	demonstration	NOUN
bracis-33591	14	26	gathered	gather	VERB
bracis-33591	14	27	offline	offline	NOUN
bracis-33591	15	1	[	[	X
bracis-33591	15	2	2	2	NUM
bracis-33591	15	3	,	,	PUNCT
bracis-33591	15	4	3	3	NUM
bracis-33591	15	5	,	,	PUNCT
bracis-33591	15	6	6	6	NUM
bracis-33591	15	7	,	,	PUNCT
bracis-33591	15	8	7	7	NUM
bracis-33591	15	9	,	,	PUNCT
bracis-33591	15	10	19	19	NUM
bracis-33591	15	11	]	]	PUNCT
bracis-33591	15	12	.	.	PUNCT
bracis-33591	16	1	for	for	ADP
bracis-33591	16	2	example	example	NOUN
bracis-33591	16	3	,	,	PUNCT
bracis-33591	16	4	a	a	DET
bracis-33591	16	5	human	human	ADJ
bracis-33591	16	6	driver	driver	NOUN
bracis-33591	16	7	generates	generate	VERB
bracis-33591	16	8	a	a	DET
bracis-33591	16	9	set	set	NOUN
bracis-33591	16	10	of	of	ADP
bracis-33591	16	11	input	input	NOUN
bracis-33591	16	12	(	(	PUNCT
bracis-33591	16	13	observations	observation	NOUN
bracis-33591	16	14	)	)	PUNCT
bracis-33591	16	15	and	and	CCONJ
bracis-33591	16	16	corresponding	correspond	VERB
bracis-33591	16	17	desired	desire	VERB
bracis-33591	16	18	output	output	NOUN
bracis-33591	16	19	pairs	pair	NOUN
bracis-33591	16	20	.	.	PUNCT
bracis-33591	17	1	codevilla	codevilla	NOUN
bracis-33591	18	1	[	[	X
bracis-33591	18	2	6	6	NUM
bracis-33591	18	3	,	,	PUNCT
bracis-33591	18	4	7	7	NUM
bracis-33591	18	5	]	]	PUNCT
bracis-33591	18	6	employed	employ	VERB
bracis-33591	18	7	bc	bc	PROPN
bracis-33591	18	8	for	for	ADP
bracis-33591	18	9	autonomous	autonomous	ADJ
bracis-33591	18	10	driving	driving	NOUN
bracis-33591	18	11	in	in	ADP
bracis-33591	18	12	the	the	DET
bracis-33591	18	13	carla	carla	PROPN
bracis-33591	18	14	simulator	simulator	NOUN
bracis-33591	18	15	.	.	PUNCT
bracis-33591	19	1	he	he	PRON
bracis-33591	19	2	collected	collect	VERB
bracis-33591	19	3	a	a	DET
bracis-33591	19	4	large	large	ADJ
bracis-33591	19	5	dataset	dataset	NOUN
bracis-33591	19	6	of	of	ADP
bracis-33591	19	7	human	human	ADJ
bracis-33591	19	8	driving	driving	NOUN
bracis-33591	19	9	and	and	CCONJ
bracis-33591	19	10	augmented	augment	VERB
bracis-33591	19	11	it	it	PRON
bracis-33591	19	12	using	use	VERB
bracis-33591	19	13	image	image	NOUN
bracis-33591	19	14	processing	processing	NOUN
bracis-33591	19	15	techniques	technique	NOUN
bracis-33591	19	16	to	to	PART
bracis-33591	19	17	train	train	VERB
bracis-33591	19	18	end	end	VERB
bracis-33591	19	19	-	-	PUNCT
bracis-33591	19	20	to	to	ADP
bracis-33591	19	21	-	-	PUNCT
bracis-33591	19	22	end	end	NOUN
bracis-33591	19	23	policies	policy	NOUN
bracis-33591	19	24	conditioned	condition	VERB
bracis-33591	19	25	on	on	ADP
bracis-33591	19	26	the	the	DET
bracis-33591	19	27	desired	desire	VERB
bracis-33591	19	28	route	route	NOUN
bracis-33591	19	29	.	.	PUNCT
bracis-33591	20	1	further	further	ADJ
bracis-33591	20	2	improvements	improvement	NOUN
bracis-33591	20	3	in	in	ADP
bracis-33591	20	4	bc	bc	PROPN
bracis-33591	20	5	were	be	AUX
bracis-33591	20	6	introduced	introduce	VERB
bracis-33591	20	7	in	in	ADP
bracis-33591	20	8	[	[	X
bracis-33591	20	9	4	4	NUM
bracis-33591	20	10	]	]	PUNCT
bracis-33591	20	11	,	,	PUNCT
bracis-33591	20	12	where	where	SCONJ
bracis-33591	20	13	a	a	DET
bracis-33591	20	14	large	large	ADJ
bracis-33591	20	15	deep	deep	ADJ
bracis-33591	20	16	resnet	resnet	NOUN
bracis-33591	20	17	network	network	NOUN
bracis-33591	20	18	was	be	AUX
bracis-33591	20	19	used	use	VERB
bracis-33591	20	20	for	for	ADP
bracis-33591	20	21	feature	feature	NOUN
bracis-33591	20	22	extraction	extraction	NOUN
bracis-33591	20	23	.	.	PUNCT
bracis-33591	21	1	this	this	DET
bracis-33591	21	2	approach	approach	NOUN
bracis-33591	21	3	combined	combine	VERB
bracis-33591	21	4	data	datum	NOUN
bracis-33591	21	5	from	from	ADP
bracis-33591	21	6	cameras	camera	NOUN
bracis-33591	21	7	,	,	PUNCT
bracis-33591	21	8	lidar	lidar	NOUN
bracis-33591	21	9	,	,	PUNCT
bracis-33591	21	10	and	and	CCONJ
bracis-33591	21	11	radar	radar	NOUN
bracis-33591	21	12	to	to	PART
bracis-33591	21	13	create	create	VERB
bracis-33591	21	14	comprehensive	comprehensive	ADJ
bracis-33591	21	15	feature	feature	NOUN
bracis-33591	21	16	maps	map	NOUN
bracis-33591	21	17	.	.	PUNCT
bracis-33591	22	1	the	the	DET
bracis-33591	22	2	work	work	NOUN
bracis-33591	22	3	also	also	ADV
bracis-33591	22	4	incorporated	incorporate	VERB
bracis-33591	22	5	a	a	DET
bracis-33591	22	6	probabilistic	probabilistic	ADJ
bracis-33591	22	7	motion	motion	NOUN
bracis-33591	22	8	planner	planner	NOUN
bracis-33591	22	9	to	to	PART
bracis-33591	22	10	account	account	VERB
bracis-33591	22	11	for	for	ADP
bracis-33591	22	12	uncertainties	uncertainty	NOUN
bracis-33591	22	13	in	in	ADP
bracis-33591	22	14	the	the	DET
bracis-33591	22	15	trajectory	trajectory	NOUN
bracis-33591	22	16	.	.	PUNCT
bracis-33591	23	1	couto	couto	PROPN
bracis-33591	24	1	[	[	X
bracis-33591	24	2	11	11	NUM
bracis-33591	24	3	]	]	PUNCT
bracis-33591	24	4	has	have	AUX
bracis-33591	24	5	shown	show	VERB
bracis-33591	24	6	results	result	NOUN
bracis-33591	24	7	on	on	ADP
bracis-33591	24	8	behavior	behavior	NOUN
bracis-33591	24	9	cloning	cloning	NOUN
bracis-33591	24	10	on	on	ADP
bracis-33591	24	11	the	the	DET
bracis-33591	24	12	carla	carla	PROPN
bracis-33591	24	13	simulator	simulator	NOUN
bracis-33591	24	14	,	,	PUNCT
bracis-33591	24	15	but	but	CCONJ
bracis-33591	24	16	the	the	DET
bracis-33591	24	17	agent	agent	NOUN
bracis-33591	24	18	did	do	AUX
bracis-33591	24	19	not	not	PART
bracis-33591	24	20	have	have	VERB
bracis-33591	24	21	to	to	PART
bracis-33591	24	22	respect	respect	VERB
bracis-33591	24	23	traffic	traffic	NOUN
bracis-33591	24	24	lights	light	NOUN
bracis-33591	24	25	.	.	PUNCT
bracis-33591	25	1	in	in	ADP
bracis-33591	25	2	this	this	DET
bracis-33591	25	3	work	work	NOUN
bracis-33591	25	4	,	,	PUNCT
bracis-33591	25	5	we	we	PRON
bracis-33591	25	6	investigate	investigate	VERB
bracis-33591	25	7	an	an	DET
bracis-33591	25	8	approach	approach	NOUN
bracis-33591	25	9	where	where	SCONJ
bracis-33591	25	10	the	the	DET
bracis-33591	25	11	agent	agent	NOUN
bracis-33591	25	12	is	be	AUX
bracis-33591	25	13	able	able	ADJ
bracis-33591	25	14	to	to	PART
bracis-33591	25	15	navigate	navigate	VERB
bracis-33591	25	16	the	the	DET
bracis-33591	25	17	city	city	NOUN
bracis-33591	25	18	while	while	SCONJ
bracis-33591	25	19	respecting	respect	VERB
bracis-33591	25	20	traffic	traffic	NOUN
bracis-33591	25	21	lights	light	NOUN
bracis-33591	25	22	,	,	PUNCT
bracis-33591	25	23	i.e.	i.e.	X
bracis-33591	25	24	,	,	PUNCT
bracis-33591	25	25	breaking	break	VERB
bracis-33591	25	26	when	when	SCONJ
bracis-33591	25	27	the	the	DET
bracis-33591	25	28	light	light	NOUN
bracis-33591	25	29	is	be	AUX
bracis-33591	25	30	red	red	ADJ
bracis-33591	25	31	,	,	PUNCT
bracis-33591	25	32	and	and	CCONJ
bracis-33591	25	33	crossing	cross	VERB
bracis-33591	25	34	the	the	DET
bracis-33591	25	35	traffic	traffic	NOUN
bracis-33591	25	36	light	light	NOUN
bracis-33591	25	37	when	when	SCONJ
bracis-33591	25	38	it	it	PRON
bracis-33591	25	39	is	be	AUX
bracis-33591	25	40	green	green	ADJ
bracis-33591	25	41	.	.	PUNCT
bracis-33591	26	1	only	only	ADV
bracis-33591	26	2	relying	rely	VERB
bracis-33591	26	3	on	on	ADP
bracis-33591	26	4	regular	regular	ADJ
bracis-33591	26	5	bc	bc	PROPN
bracis-33591	26	6	to	to	PART
bracis-33591	26	7	train	train	VERB
bracis-33591	26	8	an	an	DET
bracis-33591	26	9	agent	agent	NOUN
bracis-33591	26	10	is	be	AUX
bracis-33591	26	11	not	not	PART
bracis-33591	26	12	enough	enough	ADJ
bracis-33591	26	13	in	in	ADP
bracis-33591	26	14	a	a	DET
bracis-33591	26	15	scenario	scenario	NOUN
bracis-33591	26	16	with	with	ADP
bracis-33591	26	17	limited	limited	ADJ
bracis-33591	26	18	amount	amount	NOUN
bracis-33591	26	19	of	of	ADP
bracis-33591	26	20	training	training	NOUN
bracis-33591	26	21	routes	route	NOUN
bracis-33591	26	22	and	and	CCONJ
bracis-33591	26	23	where	where	SCONJ
bracis-33591	26	24	the	the	DET
bracis-33591	26	25	agent	agent	NOUN
bracis-33591	26	26	needs	need	VERB
bracis-33591	26	27	to	to	PART
bracis-33591	26	28	break	break	VERB
bracis-33591	26	29	at	at	ADP
bracis-33591	26	30	the	the	DET
bracis-33591	26	31	red	red	ADJ
bracis-33591	26	32	light	light	NOUN
bracis-33591	26	33	and	and	CCONJ
bracis-33591	26	34	accelerate	accelerate	VERB
bracis-33591	26	35	from	from	ADP
bracis-33591	26	36	stillness	stillness	NOUN
bracis-33591	26	37	when	when	SCONJ
bracis-33591	26	38	light	light	NOUN
bracis-33591	26	39	turns	turn	VERB
bracis-33591	26	40	to	to	ADP
bracis-33591	26	41	green	green	ADJ
bracis-33591	26	42	.	.	PUNCT
bracis-33591	27	1	to	to	PART
bracis-33591	27	2	solve	solve	VERB
bracis-33591	27	3	that	that	PRON
bracis-33591	27	4	,	,	PUNCT
bracis-33591	27	5	we	we	PRON
bracis-33591	27	6	employ	employ	VERB
bracis-33591	27	7	a	a	DET
bracis-33591	27	8	kernel	kernel	PROPN
bracis-33591	27	9	density	density	NOUN
bracis-33591	27	10	estimator	estimator	NOUN
bracis-33591	27	11	[	[	X
bracis-33591	27	12	18	18	NUM
bracis-33591	27	13	]	]	PUNCT
bracis-33591	27	14	to	to	PART
bracis-33591	27	15	estimate	estimate	VERB
bracis-33591	27	16	the	the	DET
bracis-33591	27	17	actions	action	NOUN
bracis-33591	27	18	density	density	NOUN
bracis-33591	27	19	from	from	ADP
bracis-33591	27	20	the	the	DET
bracis-33591	27	21	expert	expert	NOUN
bracis-33591	27	22	dataset	dataset	NOUN
bracis-33591	27	23	.	.	PUNCT
bracis-33591	28	1	then	then	ADV
bracis-33591	28	2	,	,	PUNCT
bracis-33591	28	3	the	the	DET
bracis-33591	28	4	training	training	NOUN
bracis-33591	28	5	samples	sample	NOUN
bracis-33591	28	6	are	be	AUX
bracis-33591	28	7	weighted	weight	VERB
bracis-33591	28	8	in	in	ADP
bracis-33591	28	9	the	the	DET
bracis-33591	28	10	bc	bc	PROPN
bracis-33591	28	11	loss	loss	NOUN
bracis-33591	28	12	function	function	NOUN
bracis-33591	28	13	individually	individually	ADV
bracis-33591	28	14	by	by	ADP
bracis-33591	28	15	setting	set	VERB
bracis-33591	28	16	the	the	DET
bracis-33591	28	17	weight	weight	NOUN
bracis-33591	28	18	equal	equal	ADJ
bracis-33591	28	19	to	to	ADP
bracis-33591	28	20	the	the	DET
bracis-33591	28	21	inverse	inverse	NOUN
bracis-33591	28	22	of	of	ADP
bracis-33591	28	23	the	the	DET
bracis-33591	28	24	actions	action	NOUN
bracis-33591	28	25	’	'	PUNCT
bracis-33591	28	26	density	density	NOUN
bracis-33591	28	27	.	.	PUNCT
bracis-33591	29	1	in	in	ADP
bracis-33591	29	2	this	this	DET
bracis-33591	29	3	way	way	NOUN
bracis-33591	29	4	,	,	PUNCT
bracis-33591	29	5	we	we	PRON
bracis-33591	29	6	can	can	AUX
bracis-33591	29	7	account	account	VERB
bracis-33591	29	8	for	for	ADP
bracis-33591	29	9	the	the	DET
bracis-33591	29	10	underrepresented	underrepresented	ADJ
bracis-33591	29	11	actions	action	NOUN
bracis-33591	29	12	in	in	ADP
bracis-33591	29	13	the	the	DET
bracis-33591	29	14	expert	expert	NOUN
bracis-33591	29	15	set	set	VERB
bracis-33591	29	16	,	,	PUNCT
bracis-33591	29	17	i.e.	i.e.	X
bracis-33591	29	18	,	,	PUNCT
bracis-33591	29	19	those	those	PRON
bracis-33591	29	20	happening	happen	VERB
bracis-33591	29	21	at	at	ADP
bracis-33591	29	22	traffic	traffic	NOUN
bracis-33591	29	23	light	light	ADJ
bracis-33591	29	24	transitions	transition	NOUN
bracis-33591	29	25	.	.	PUNCT
bracis-33591	30	1	this	this	DET
bracis-33591	30	2	weighting	weighting	NOUN
bracis-33591	30	3	is	be	AUX
bracis-33591	30	4	needed	need	VERB
bracis-33591	30	5	because	because	SCONJ
bracis-33591	30	6	we	we	PRON
bracis-33591	30	7	are	be	AUX
bracis-33591	30	8	considering	consider	VERB
bracis-33591	30	9	only	only	ADV
bracis-33591	30	10	eight	eight	NUM
bracis-33591	30	11	routes	route	NOUN
bracis-33591	30	12	as	as	ADP
bracis-33591	30	13	training	training	NOUN
bracis-33591	30	14	data	datum	NOUN
bracis-33591	30	15	.	.	PUNCT
bracis-33591	31	1	instead	instead	ADV
bracis-33591	31	2	of	of	ADP
bracis-33591	31	3	learning	learn	VERB
bracis-33591	31	4	directly	directly	ADV
bracis-33591	31	5	from	from	ADP
bracis-33591	31	6	raw	raw	ADJ
bracis-33591	31	7	camera	camera	NOUN
bracis-33591	31	8	pixels	pixel	NOUN
bracis-33591	31	9	as	as	ADP
bracis-33591	31	10	in	in	ADP
bracis-33591	31	11	[	[	X
bracis-33591	31	12	11	11	NUM
bracis-33591	31	13	,	,	PUNCT
bracis-33591	31	14	12	12	NUM
bracis-33591	31	15	]	]	PUNCT
bracis-33591	31	16	,	,	PUNCT
bracis-33591	31	17	the	the	DET
bracis-33591	31	18	agent	agent	NOUN
bracis-33591	31	19	in	in	ADP
bracis-33591	31	20	this	this	DET
bracis-33591	31	21	work	work	NOUN
bracis-33591	31	22	has	have	AUX
bracis-33591	31	23	structured	structure	VERB
bracis-33591	31	24	image	image	NOUN
bracis-33591	31	25	inputs	input	NOUN
bracis-33591	31	26	that	that	PRON
bracis-33591	31	27	are	be	AUX
bracis-33591	31	28	more	more	ADV
bracis-33591	31	29	abstract	abstract	ADJ
bracis-33591	31	30	and	and	CCONJ
bracis-33591	31	31	meaningful	meaningful	ADJ
bracis-33591	31	32	to	to	ADP
bracis-33591	31	33	the	the	DET
bracis-33591	31	34	navigation	navigation	NOUN
bracis-33591	31	35	task	task	NOUN
bracis-33591	31	36	.	.	PUNCT
bracis-33591	32	1	to	to	PART
bracis-33591	32	2	decouple	decouple	VERB
bracis-33591	32	3	feature	feature	NOUN
bracis-33591	32	4	representation	representation	NOUN
bracis-33591	32	5	from	from	ADP
bracis-33591	32	6	policy	policy	NOUN
bracis-33591	32	7	learning	learning	NOUN
bracis-33591	32	8	[	[	X
bracis-33591	32	9	8	8	NUM
bracis-33591	32	10	,	,	PUNCT
bracis-33591	32	11	14	14	NUM
bracis-33591	32	12	]	]	PUNCT
bracis-33591	32	13	has	have	VERB
bracis-33591	32	14	its	its	PRON
bracis-33591	32	15	advantages	advantage	NOUN
bracis-33591	32	16	as	as	ADP
bracis-33591	32	17	potentially	potentially	ADV
bracis-33591	32	18	easing	ease	VERB
bracis-33591	32	19	up	up	ADP
bracis-33591	32	20	the	the	DET
bracis-33591	32	21	learning	learning	NOUN
bracis-33591	32	22	task	task	NOUN
bracis-33591	32	23	.	.	PUNCT
bracis-33591	33	1	in	in	ADP
bracis-33591	33	2	our	our	PRON
bracis-33591	33	3	context	context	NOUN
bracis-33591	33	4	,	,	PUNCT
bracis-33591	33	5	this	this	DET
bracis-33591	33	6	decoupling	decoupling	NOUN
bracis-33591	33	7	is	be	AUX
bracis-33591	33	8	accomplished	accomplish	VERB
bracis-33591	33	9	by	by	ADP
bracis-33591	33	10	using	use	VERB
bracis-33591	33	11	a	a	DET
bracis-33591	33	12	mid	mid	ADJ
bracis-33591	33	13	-	-	ADJ
bracis-33591	33	14	level	level	ADJ
bracis-33591	33	15	representation	representation	NOUN
bracis-33591	33	16	of	of	ADP
bracis-33591	33	17	the	the	DET
bracis-33591	33	18	vehicle	vehicle	NOUN
bracis-33591	33	19	’s	’s	PART
bracis-33591	33	20	raw	raw	ADJ
bracis-33591	33	21	camera	camera	NOUN
bracis-33591	33	22	images	image	NOUN
bracis-33591	33	23	.	.	PUNCT
bracis-33591	34	1	for	for	ADP
bracis-33591	34	2	example	example	NOUN
bracis-33591	34	3	,	,	PUNCT
bracis-33591	34	4	bird’s	bird’s	NOUN
bracis-33591	34	5	-	-	PUNCT
bracis-33591	34	6	eye	eye	NOUN
bracis-33591	34	7	view	view	NOUN
bracis-33591	34	8	(	(	PUNCT
bracis-33591	34	9	bev	bev	PROPN
bracis-33591	34	10	)	)	PUNCT
bracis-33591	34	11	representations	representation	NOUN
bracis-33591	34	12	of	of	ADP
bracis-33591	34	13	the	the	DET
bracis-33591	34	14	road	road	NOUN
bracis-33591	34	15	ahead	ahead	ADV
bracis-33591	34	16	have	have	AUX
bracis-33591	34	17	been	be	AUX
bracis-33591	34	18	used	use	VERB
bracis-33591	34	19	as	as	ADP
bracis-33591	34	20	mid	mid	ADJ
bracis-33591	34	21	-	-	NOUN
bracis-33591	34	22	level	level	ADJ
bracis-33591	34	23	inputs	input	NOUN
bracis-33591	34	24	for	for	ADP
bracis-33591	34	25	trajectory	trajectory	NOUN
bracis-33591	34	26	generation	generation	NOUN
bracis-33591	34	27	and	and	CCONJ
bracis-33591	34	28	motor	motor	NOUN
bracis-33591	34	29	control	control	NOUN
bracis-33591	34	30	networks	network	NOUN
bracis-33591	34	31	in	in	ADP
bracis-33591	34	32	[	[	X
bracis-33591	34	33	2	2	NUM
bracis-33591	34	34	]	]	PUNCT
bracis-33591	34	35	and	and	CCONJ
bracis-33591	34	36	[	[	X
bracis-33591	34	37	20	20	NUM
bracis-33591	34	38	]	]	PUNCT
bracis-33591	34	39	,	,	PUNCT
bracis-33591	34	40	respectively	respectively	ADV
bracis-33591	34	41	.	.	PUNCT
bracis-33591	35	1	in	in	ADP
bracis-33591	35	2	bev	bev	PROPN
bracis-33591	35	3	representation	representation	NOUN
bracis-33591	35	4	,	,	PUNCT
bracis-33591	35	5	the	the	DET
bracis-33591	35	6	camera	camera	NOUN
bracis-33591	35	7	scene	scene	NOUN
bracis-33591	35	8	is	be	AUX
bracis-33591	35	9	projected	project	VERB
bracis-33591	35	10	onto	onto	ADP
bracis-33591	35	11	a	a	DET
bracis-33591	35	12	top	top	ADJ
bracis-33591	35	13	-	-	PUNCT
bracis-33591	35	14	down	down	ADP
bracis-33591	35	15	view	view	NOUN
bracis-33591	35	16	,	,	PUNCT
bracis-33591	35	17	segmenting	segment	VERB
bracis-33591	35	18	areas	area	NOUN
bracis-33591	35	19	of	of	ADP
bracis-33591	35	20	interest	interest	NOUN
bracis-33591	35	21	,	,	PUNCT
bracis-33591	35	22	like	like	ADP
bracis-33591	35	23	vehicle	vehicle	NOUN
bracis-33591	35	24	lanes	lane	NOUN
bracis-33591	35	25	and	and	CCONJ
bracis-33591	35	26	sidewalks	sidewalk	NOUN
bracis-33591	35	27	,	,	PUNCT
bracis-33591	35	28	into	into	ADP
bracis-33591	35	29	different	different	ADJ
bracis-33591	35	30	colors	color	NOUN
bracis-33591	36	1	[	[	X
bracis-33591	36	2	21	21	NUM
bracis-33591	36	3	]	]	PUNCT
bracis-33591	36	4	.	.	PUNCT
bracis-33591	37	1	by	by	ADP
bracis-33591	37	2	using	use	VERB
bracis-33591	37	3	bev	bev	PROPN
bracis-33591	37	4	as	as	ADP
bracis-33591	37	5	input	input	NOUN
bracis-33591	37	6	for	for	ADP
bracis-33591	37	7	the	the	DET
bracis-33591	37	8	control	control	NOUN
bracis-33591	37	9	policy	policy	NOUN
bracis-33591	37	10	,	,	PUNCT
bracis-33591	37	11	the	the	DET
bracis-33591	37	12	learning	learning	NOUN
bracis-33591	37	13	process	process	NOUN
bracis-33591	37	14	can	can	AUX
bracis-33591	37	15	focus	focus	VERB
bracis-33591	37	16	on	on	ADP
bracis-33591	37	17	the	the	DET
bracis-33591	37	18	navigation	navigation	NOUN
bracis-33591	37	19	problem	problem	NOUN
bracis-33591	37	20	,	,	PUNCT
bracis-33591	37	21	leveraging	leverage	VERB
bracis-33591	37	22	a	a	DET
bracis-33591	37	23	more	more	ADV
bracis-33591	37	24	abstract	abstract	ADJ
bracis-33591	37	25	and	and	CCONJ
bracis-33591	37	26	simplified	simplified	ADJ
bracis-33591	37	27	view	view	NOUN
bracis-33591	37	28	of	of	ADP
bracis-33591	37	29	the	the	DET
bracis-33591	37	30	road	road	NOUN
bracis-33591	37	31	ahead	ahead	ADV
bracis-33591	37	32	.	.	PUNCT
bracis-33591	38	1	the	the	DET
bracis-33591	38	2	policy	policy	NOUN
bracis-33591	38	3	here	here	ADV
bracis-33591	38	4	is	be	AUX
bracis-33591	38	5	represented	represent	VERB
bracis-33591	38	6	by	by	ADP
bracis-33591	38	7	convolutional	convolutional	ADJ
bracis-33591	38	8	neural	neural	ADJ
bracis-33591	38	9	networks	network	NOUN
bracis-33591	38	10	,	,	PUNCT
bracis-33591	38	11	mapping	map	VERB
bracis-33591	38	12	the	the	DET
bracis-33591	38	13	bev	bev	PROPN
bracis-33591	38	14	image	image	NOUN
bracis-33591	38	15	to	to	PART
bracis-33591	38	16	control	control	VERB
bracis-33591	38	17	actuators	actuator	NOUN
bracis-33591	38	18	such	such	ADJ
bracis-33591	38	19	as	as	ADP
bracis-33591	38	20	steering	steering	NOUN
bracis-33591	38	21	and	and	CCONJ
bracis-33591	38	22	acceleration	acceleration	NOUN
bracis-33591	38	23	.	.	PUNCT
bracis-33591	39	1	experimental	experimental	ADJ
bracis-33591	39	2	results	result	NOUN
bracis-33591	39	3	in	in	ADP
bracis-33591	39	4	the	the	DET
bracis-33591	39	5	carla	carla	PROPN
bracis-33591	39	6	simulator	simulator	NOUN
bracis-33591	39	7	demonstrate	demonstrate	VERB
bracis-33591	39	8	that	that	SCONJ
bracis-33591	39	9	our	our	PRON
bracis-33591	39	10	weighted	weight	VERB
bracis-33591	39	11	bc	bc	PROPN
bracis-33591	39	12	method	method	PROPN
bracis-33591	39	13	significantly	significantly	ADV
bracis-33591	39	14	improves	improve	VERB
bracis-33591	39	15	driving	drive	VERB
bracis-33591	39	16	performance	performance	NOUN
bracis-33591	39	17	,	,	PUNCT
bracis-33591	39	18	achieving	achieve	VERB
bracis-33591	39	19	higher	high	ADJ
bracis-33591	39	20	route	route	NOUN
bracis-33591	39	21	completion	completion	NOUN
bracis-33591	39	22	compared	compare	VERB
bracis-33591	39	23	to	to	ADP
bracis-33591	39	24	standard	standard	PROPN
bracis-33591	39	25	bc	bc	PROPN
bracis-33591	39	26	.	.	PUNCT
bracis-33591	40	1	this	this	DET
bracis-33591	40	2	weighted	weight	VERB
bracis-33591	40	3	approach	approach	NOUN
bracis-33591	40	4	proved	prove	VERB
bracis-33591	40	5	to	to	PART
bracis-33591	40	6	be	be	AUX
bracis-33591	40	7	essential	essential	ADJ
bracis-33591	40	8	in	in	ADP
bracis-33591	40	9	learning	learn	VERB
bracis-33591	40	10	correct	correct	ADJ
bracis-33591	40	11	driving	driving	NOUN
bracis-33591	40	12	behaviors	behavior	NOUN
bracis-33591	40	13	,	,	PUNCT
bracis-33591	40	14	particularly	particularly	ADV
bracis-33591	40	15	in	in	ADP
bracis-33591	40	16	test	test	NOUN
bracis-33591	40	17	environments	environment	NOUN
bracis-33591	40	18	not	not	PART
bracis-33591	40	19	encountered	encounter	VERB
bracis-33591	40	20	during	during	ADP
bracis-33591	40	21	training	training	NOUN
bracis-33591	40	22	.	.	PUNCT
bracis-33591	41	1	in	in	ADP
bracis-33591	41	2	sect	sect	NOUN
bracis-33591	41	3	.	.	PUNCT
bracis-33591	41	4	 	 	SPACE
bracis-33591	41	5	2	2	NUM
bracis-33591	41	6	,	,	PUNCT
bracis-33591	41	7	we	we	PRON
bracis-33591	41	8	present	present	VERB
bracis-33591	41	9	the	the	DET
bracis-33591	41	10	bird’s	bird’s	NOUN
bracis-33591	41	11	-	-	PUNCT
bracis-33591	41	12	eye	eye	NOUN
bracis-33591	41	13	view	view	NOUN
bracis-33591	41	14	representation	representation	NOUN
bracis-33591	41	15	employed	employ	VERB
bracis-33591	41	16	as	as	ADP
bracis-33591	41	17	input	input	NOUN
bracis-33591	41	18	to	to	ADP
bracis-33591	41	19	the	the	DET
bracis-33591	41	20	convolutional	convolutional	ADJ
bracis-33591	41	21	neural	neural	ADJ
bracis-33591	41	22	network	network	NOUN
bracis-33591	41	23	,	,	PUNCT
bracis-33591	41	24	the	the	DET
bracis-33591	41	25	behavior	behavior	NOUN
bracis-33591	41	26	cloning	clone	VERB
bracis-33591	41	27	loss	loss	NOUN
bracis-33591	41	28	for	for	ADP
bracis-33591	41	29	the	the	DET
bracis-33591	41	30	agent	agent	NOUN
bracis-33591	41	31	,	,	PUNCT
bracis-33591	41	32	and	and	CCONJ
bracis-33591	41	33	the	the	DET
bracis-33591	41	34	kernel	kernel	PROPN
bracis-33591	41	35	density	density	PROPN
bracis-33591	41	36	estimation	estimation	NOUN
bracis-33591	41	37	used	use	VERB
bracis-33591	41	38	to	to	PART
bracis-33591	41	39	generate	generate	VERB
bracis-33591	41	40	the	the	DET
bracis-33591	41	41	weights	weight	NOUN
bracis-33591	41	42	per	per	ADP
bracis-33591	41	43	sample	sample	NOUN
bracis-33591	41	44	for	for	ADP
bracis-33591	41	45	the	the	DET
bracis-33591	41	46	modified	modify	VERB
bracis-33591	41	47	loss	loss	NOUN
bracis-33591	41	48	function	function	NOUN
bracis-33591	41	49	.	.	PUNCT
bracis-33591	42	1	the	the	DET
bracis-33591	42	2	agent	agent	NOUN
bracis-33591	42	3	architecture	architecture	NOUN
bracis-33591	42	4	is	be	AUX
bracis-33591	42	5	presented	present	VERB
bracis-33591	42	6	in	in	ADP
bracis-33591	42	7	sect	sect	NOUN
bracis-33591	42	8	.	.	PUNCT
bracis-33591	42	9	 	 	SPACE
bracis-33591	43	1	3	3	X
bracis-33591	43	2	.	.	PUNCT
bracis-33591	44	1	finally	finally	ADV
bracis-33591	44	2	,	,	PUNCT
bracis-33591	44	3	the	the	DET
bracis-33591	44	4	experiments	experiment	NOUN
bracis-33591	44	5	and	and	CCONJ
bracis-33591	44	6	conclusions	conclusion	NOUN
bracis-33591	44	7	are	be	AUX
bracis-33591	44	8	shown	show	VERB
bracis-33591	44	9	in	in	ADP
bracis-33591	44	10	sects	sect	NOUN
bracis-33591	44	11	.	.	PUNCT
bracis-33591	44	12	 	 	SPACE
bracis-33591	44	13	4	4	NUM
bracis-33591	44	14	and	and	CCONJ
bracis-33591	44	15	5	5	NUM
bracis-33591	44	16	.	.	SYM
bracis-33591	44	17	2	2	NUM
bracis-33591	44	18	methods	method	NOUN
bracis-33591	44	19	2.1	2.1	NUM
bracis-33591	44	20	bird’s	bird’s	NOUN
bracis-33591	44	21	-	-	PUNCT
bracis-33591	44	22	eye	eye	NOUN
bracis-33591	44	23	view	view	NOUN
bracis-33591	44	24	bev	bev	PROPN
bracis-33591	44	25	representation	representation	NOUN
bracis-33591	44	26	the	the	DET
bracis-33591	44	27	bird’s	bird’s	PROPN
bracis-33591	44	28	-	-	PUNCT
bracis-33591	44	29	eye	eye	NOUN
bracis-33591	44	30	view	view	NOUN
bracis-33591	44	31	of	of	ADP
bracis-33591	44	32	a	a	DET
bracis-33591	44	33	vehicle	vehicle	NOUN
bracis-33591	44	34	represents	represent	VERB
bracis-33591	44	35	its	its	PRON
bracis-33591	44	36	position	position	NOUN
bracis-33591	44	37	and	and	CCONJ
bracis-33591	44	38	movement	movement	NOUN
bracis-33591	44	39	in	in	ADP
bracis-33591	44	40	a	a	DET
bracis-33591	44	41	top	top	ADJ
bracis-33591	44	42	-	-	PUNCT
bracis-33591	44	43	down	down	ADP
bracis-33591	44	44	coordinate	coordinate	NOUN
bracis-33591	44	45	system	system	NOUN
bracis-33591	44	46	[	[	X
bracis-33591	44	47	2	2	NUM
bracis-33591	44	48	]	]	PUNCT
bracis-33591	44	49	.	.	PUNCT
bracis-33591	45	1	the	the	DET
bracis-33591	45	2	vehicle	vehicle	NOUN
bracis-33591	45	3	’s	’s	PART
bracis-33591	45	4	location	location	NOUN
bracis-33591	45	5	,	,	PUNCT
bracis-33591	45	6	heading	heading	NOUN
bracis-33591	45	7	,	,	PUNCT
bracis-33591	45	8	and	and	CCONJ
bracis-33591	45	9	speed	speed	NOUN
bracis-33591	45	10	are	be	AUX
bracis-33591	45	11	represented	represent	VERB
bracis-33591	45	12	by	by	ADP
bracis-33591	45	13	\(p_t\	\(p_t\	NOUN
bracis-33591	45	14	)	)	PUNCT
bracis-33591	45	15	,	,	PUNCT
bracis-33591	45	16	\(\theta	\(\theta	NOUN
bracis-33591	45	17	_	_	PUNCT
bracis-33591	45	18	t\	t\	PROPN
bracis-33591	45	19	)	)	PUNCT
bracis-33591	45	20	,	,	PUNCT
bracis-33591	45	21	and	and	CCONJ
bracis-33591	45	22	\(s_t\	\(s_t\	ADJ
bracis-33591	45	23	)	)	PUNCT
bracis-33591	45	24	respectively	respectively	ADV
bracis-33591	45	25	.	.	PUNCT
bracis-33591	46	1	the	the	DET
bracis-33591	46	2	top	top	ADJ
bracis-33591	46	3	-	-	PUNCT
bracis-33591	46	4	down	down	ADP
bracis-33591	46	5	view	view	NOUN
bracis-33591	46	6	is	be	AUX
bracis-33591	46	7	defined	define	VERB
bracis-33591	46	8	so	so	SCONJ
bracis-33591	46	9	that	that	SCONJ
bracis-33591	46	10	the	the	DET
bracis-33591	46	11	agent	agent	NOUN
bracis-33591	46	12	’s	’s	PART
bracis-33591	46	13	starting	start	VERB
bracis-33591	46	14	position	position	NOUN
bracis-33591	46	15	is	be	AUX
bracis-33591	46	16	always	always	ADV
bracis-33591	46	17	at	at	ADP
bracis-33591	46	18	a	a	DET
bracis-33591	46	19	fixed	fix	VERB
bracis-33591	46	20	point	point	NOUN
bracis-33591	46	21	within	within	ADP
bracis-33591	46	22	an	an	DET
bracis-33591	46	23	image	image	NOUN
bracis-33591	46	24	(	(	PUNCT
bracis-33591	46	25	the	the	DET
bracis-33591	46	26	center	center	NOUN
bracis-33591	46	27	of	of	ADP
bracis-33591	46	28	it	it	PRON
bracis-33591	46	29	)	)	PUNCT
bracis-33591	46	30	.	.	PUNCT
bracis-33591	47	1	furthermore	furthermore	ADV
bracis-33591	47	2	,	,	PUNCT
bracis-33591	47	3	it	it	PRON
bracis-33591	47	4	is	be	AUX
bracis-33591	47	5	represented	represent	VERB
bracis-33591	47	6	by	by	ADP
bracis-33591	47	7	a	a	DET
bracis-33591	47	8	set	set	NOUN
bracis-33591	47	9	of	of	ADP
bracis-33591	47	10	images	image	NOUN
bracis-33591	47	11	of	of	ADP
bracis-33591	47	12	size	size	NOUN
bracis-33591	47	13	\(w	\(w	PROPN
bracis-33591	47	14	\times	\times	ADP
bracis-33591	47	15	h\	h\	NOUN
bracis-33591	47	16	)	)	PUNCT
bracis-33591	47	17	pixels	pixel	NOUN
bracis-33591	47	18	,	,	PUNCT
bracis-33591	47	19	at	at	ADP
bracis-33591	47	20	a	a	DET
bracis-33591	47	21	ground	ground	NOUN
bracis-33591	47	22	sampling	sample	VERB
bracis-33591	47	23	resolution	resolution	NOUN
bracis-33591	47	24	of	of	ADP
bracis-33591	47	25	\(\phi	\(\phi	ADJ
bracis-33591	47	26	\	\	ADJ
bracis-33591	47	27	)	)	PUNCT
bracis-33591	47	28	meters	meter	NOUN
bracis-33591	47	29	/	/	SYM
bracis-33591	47	30	pixel	pixel	NOUN
bracis-33591	47	31	.	.	PUNCT
bracis-33591	48	1	the	the	DET
bracis-33591	48	2	bev	bev	PROPN
bracis-33591	48	3	of	of	ADP
bracis-33591	48	4	the	the	DET
bracis-33591	48	5	environment	environment	NOUN
bracis-33591	48	6	moves	move	VERB
bracis-33591	48	7	as	as	SCONJ
bracis-33591	48	8	the	the	DET
bracis-33591	48	9	vehicle	vehicle	NOUN
bracis-33591	48	10	moves	move	VERB
bracis-33591	48	11	,	,	PUNCT
bracis-33591	48	12	allowing	allow	VERB
bracis-33591	48	13	the	the	DET
bracis-33591	48	14	agent	agent	NOUN
bracis-33591	48	15	to	to	PART
bracis-33591	48	16	see	see	VERB
bracis-33591	48	17	a	a	DET
bracis-33591	48	18	fixed	fix	VERB
bracis-33591	48	19	range	range	NOUN
bracis-33591	48	20	of	of	ADP
bracis-33591	48	21	meters	meter	NOUN
bracis-33591	48	22	in	in	ADP
bracis-33591	48	23	front	front	NOUN
bracis-33591	48	24	of	of	ADP
bracis-33591	48	25	it	it	PRON
bracis-33591	48	26	.	.	PUNCT
bracis-33591	49	1	for	for	ADP
bracis-33591	49	2	instance	instance	NOUN
bracis-33591	49	3	,	,	PUNCT
bracis-33591	49	4	the	the	DET
bracis-33591	49	5	bev	bev	PROPN
bracis-33591	49	6	representation	representation	NOUN
bracis-33591	49	7	for	for	ADP
bracis-33591	49	8	the	the	DET
bracis-33591	49	9	vehicle	vehicle	NOUN
bracis-33591	49	10	whose	whose	DET
bracis-33591	49	11	three	three	NUM
bracis-33591	49	12	frontal	frontal	ADJ
bracis-33591	49	13	cameras	camera	NOUN
bracis-33591	49	14	are	be	AUX
bracis-33591	49	15	shown	show	VERB
bracis-33591	49	16	in	in	ADP
bracis-33591	49	17	fig	fig	NOUN
bracis-33591	49	18	.	.	PUNCT
bracis-33591	49	19	 	 	SPACE
bracis-33591	50	1	1(a	1(a	NUM
bracis-33591	50	2	)	)	PUNCT
bracis-33591	50	3	is	be	AUX
bracis-33591	50	4	given	give	VERB
bracis-33591	50	5	in	in	ADP
bracis-33591	50	6	fig	fig	NOUN
bracis-33591	50	7	.	.	PUNCT
bracis-33591	50	8	 	 	SPACE
bracis-33591	51	1	1(b	1(b	NUM
bracis-33591	51	2	)	)	PUNCT
bracis-33591	51	3	,	,	PUNCT
bracis-33591	51	4	where	where	SCONJ
bracis-33591	51	5	the	the	DET
bracis-33591	51	6	desired	desire	VERB
bracis-33591	51	7	route	route	NOUN
bracis-33591	51	8	,	,	PUNCT
bracis-33591	51	9	drivable	drivable	ADJ
bracis-33591	51	10	area	area	NOUN
bracis-33591	51	11	and	and	CCONJ
bracis-33591	51	12	lane	lane	NOUN
bracis-33591	51	13	boundaries	boundary	NOUN
bracis-33591	51	14	are	be	AUX
bracis-33591	51	15	shown	show	VERB
bracis-33591	51	16	as	as	ADP
bracis-33591	51	17	three	three	NUM
bracis-33591	51	18	bev	bev	ADJ
bracis-33591	51	19	channels	channel	NOUN
bracis-33591	51	20	.	.	PUNCT
bracis-33591	52	1	besides	besides	SCONJ
bracis-33591	52	2	,	,	PUNCT
bracis-33591	52	3	other	other	ADJ
bracis-33591	52	4	three	three	NUM
bracis-33591	52	5	bev	bev	ADJ
bracis-33591	52	6	channels	channel	NOUN
bracis-33591	52	7	for	for	ADP
bracis-33591	52	8	the	the	DET
bracis-33591	52	9	traffic	traffic	NOUN
bracis-33591	52	10	lights	light	NOUN
bracis-33591	52	11	representing	represent	VERB
bracis-33591	52	12	the	the	DET
bracis-33591	52	13	state	state	NOUN
bracis-33591	52	14	of	of	ADP
bracis-33591	52	15	the	the	DET
bracis-33591	52	16	traffic	traffic	NOUN
bracis-33591	52	17	lights	light	NOUN
bracis-33591	52	18	(	(	PUNCT
bracis-33591	52	19	green	green	ADJ
bracis-33591	52	20	or	or	CCONJ
bracis-33591	52	21	red	red	ADJ
bracis-33591	52	22	)	)	PUNCT
bracis-33591	52	23	at	at	ADP
bracis-33591	52	24	different	different	ADJ
bracis-33591	52	25	timesteps	timestep	NOUN
bracis-33591	52	26	are	be	AUX
bracis-33591	52	27	shown	show	VERB
bracis-33591	52	28	in	in	ADP
bracis-33591	52	29	fig	fig	NOUN
bracis-33591	52	30	.	.	PUNCT
bracis-33591	52	31	 	 	SPACE
bracis-33591	52	32	1(c	1(c	NUM
bracis-33591	52	33	)	)	PUNCT
bracis-33591	52	34	.	.	PUNCT
bracis-33591	53	1	figure	figure	NOUN
bracis-33591	53	2	 	 	SPACE
bracis-33591	53	3	1(d	1(d	NUM
bracis-33591	53	4	)	)	PUNCT
bracis-33591	53	5	shows	show	VERB
bracis-33591	53	6	the	the	DET
bracis-33591	53	7	integrated	integrate	VERB
bracis-33591	53	8	six	six	NUM
bracis-33591	53	9	-	-	PUNCT
bracis-33591	53	10	channel	channel	NOUN
bracis-33591	53	11	bev	bev	PROPN
bracis-33591	53	12	image	image	NOUN
bracis-33591	53	13	used	use	VERB
bracis-33591	53	14	as	as	ADP
bracis-33591	53	15	input	input	NOUN
bracis-33591	53	16	to	to	ADP
bracis-33591	53	17	the	the	DET
bracis-33591	53	18	agent	agent	NOUN
bracis-33591	53	19	.	.	PUNCT
bracis-33591	54	1	fig	fig	NOUN
bracis-33591	54	2	.	.	PUNCT
bracis-33591	55	1	1	1	X
bracis-33591	55	2	.	.	X
bracis-33591	55	3	a	a	X
bracis-33591	55	4	)	)	PUNCT
bracis-33591	55	5	images	image	NOUN
bracis-33591	55	6	from	from	ADP
bracis-33591	55	7	three	three	NUM
bracis-33591	55	8	frontal	frontal	ADJ
bracis-33591	55	9	cameras	camera	NOUN
bracis-33591	55	10	positioned	position	VERB
bracis-33591	55	11	on	on	ADP
bracis-33591	55	12	the	the	DET
bracis-33591	55	13	left	left	ADJ
bracis-33591	55	14	,	,	PUNCT
bracis-33591	55	15	center	center	NOUN
bracis-33591	55	16	,	,	PUNCT
bracis-33591	55	17	and	and	CCONJ
bracis-33591	55	18	 	 	SPACE
bracis-33591	55	19	right	right	ADJ
bracis-33591	55	20	side	side	NOUN
bracis-33591	55	21	of	of	ADP
bracis-33591	55	22	the	the	DET
bracis-33591	55	23	vehicle	vehicle	NOUN
bracis-33591	55	24	.	.	PUNCT
bracis-33591	56	1	these	these	DET
bracis-33591	56	2	images	image	NOUN
bracis-33591	56	3	were	be	AUX
bracis-33591	56	4	taken	take	VERB
bracis-33591	56	5	after	after	ADP
bracis-33591	56	6	the	the	DET
bracis-33591	56	7	initial	initial	ADJ
bracis-33591	56	8	interactions	interaction	NOUN
bracis-33591	56	9	of	of	ADP
bracis-33591	56	10	the	the	DET
bracis-33591	56	11	 	 	SPACE
bracis-33591	56	12	agent	agent	NOUN
bracis-33591	56	13	in	in	ADP
bracis-33591	56	14	the	the	DET
bracis-33591	56	15	carla	carla	PROPN
bracis-33591	56	16	simulation	simulation	PROPN
bracis-33591	56	17	environment	environment	PROPN
bracis-33591	56	18	.	.	PUNCT
bracis-33591	57	1	each	each	DET
bracis-33591	57	2	camera	camera	NOUN
bracis-33591	57	3	captures	capture	VERB
bracis-33591	57	4	a	a	DET
bracis-33591	57	5	256\(\times	256\(\times	NUM
bracis-33591	57	6	\)144	\)144	PROPN
bracis-33591	57	7	rgb	rgb	PROPN
bracis-33591	57	8	image	image	NOUN
bracis-33591	57	9	.	.	PUNCT
bracis-33591	58	1	the	the	DET
bracis-33591	58	2	corresponding	corresponding	ADJ
bracis-33591	58	3	bird’s	bird’s	NOUN
bracis-33591	58	4	-	-	PUNCT
bracis-33591	58	5	eye	eye	NOUN
bracis-33591	58	6	view	view	NOUN
bracis-33591	58	7	channels	channel	NOUN
bracis-33591	58	8	that	that	PRON
bracis-33591	58	9	our	our	PRON
bracis-33591	58	10	agent	agent	NOUN
bracis-33591	58	11	uses	use	NOUN
bracis-33591	58	12	are	be	AUX
bracis-33591	58	13	shown	show	VERB
bracis-33591	58	14	in	in	ADP
bracis-33591	58	15	(	(	PUNCT
bracis-33591	58	16	b	b	NOUN
bracis-33591	58	17	)	)	PUNCT
bracis-33591	58	18	,	,	PUNCT
bracis-33591	58	19	 	 	SPACE
bracis-33591	58	20	(	(	PUNCT
bracis-33591	58	21	c	c	NOUN
bracis-33591	58	22	)	)	PUNCT
bracis-33591	58	23	and	and	CCONJ
bracis-33591	58	24	(	(	PUNCT
bracis-33591	58	25	d	d	NOUN
bracis-33591	58	26	)	)	PUNCT
bracis-33591	58	27	,	,	PUNCT
bracis-33591	58	28	computed	compute	VERB
bracis-33591	58	29	at	at	ADP
bracis-33591	58	30	the	the	DET
bracis-33591	58	31	same	same	ADJ
bracis-33591	58	32	moment	moment	NOUN
bracis-33591	58	33	as	as	SCONJ
bracis-33591	58	34	shown	show	VERB
bracis-33591	58	35	in	in	ADP
bracis-33591	58	36	(	(	PUNCT
bracis-33591	58	37	a	a	NOUN
bracis-33591	58	38	)	)	PUNCT
bracis-33591	58	39	.	.	PUNCT
bracis-33591	59	1	b	b	X
bracis-33591	59	2	)	)	PUNCT
bracis-33591	59	3	three	three	NUM
bracis-33591	59	4	bev	bev	PROPN
bracis-33591	59	5	192\(\times	192\(\times	NUM
bracis-33591	59	6	\)192	\)192	NOUN
bracis-33591	59	7	channels	channel	NOUN
bracis-33591	59	8	that	that	PRON
bracis-33591	59	9	represent	represent	VERB
bracis-33591	59	10	,	,	PUNCT
bracis-33591	59	11	from	from	ADP
bracis-33591	59	12	left	leave	VERB
bracis-33591	59	13	to	to	ADP
bracis-33591	59	14	right	right	NOUN
bracis-33591	59	15	,	,	PUNCT
bracis-33591	59	16	the	the	DET
bracis-33591	59	17	desired	desire	VERB
bracis-33591	59	18	route	route	NOUN
bracis-33591	59	19	,	,	PUNCT
bracis-33591	59	20	drivable	drivable	ADJ
bracis-33591	59	21	area	area	NOUN
bracis-33591	59	22	,	,	PUNCT
bracis-33591	59	23	and	and	CCONJ
bracis-33591	59	24	 	 	SPACE
bracis-33591	59	25	lane	lane	NOUN
bracis-33591	59	26	boundaries	boundary	NOUN
bracis-33591	59	27	.	.	PUNCT
bracis-33591	60	1	c	c	X
bracis-33591	60	2	)	)	PUNCT
bracis-33591	60	3	bev	bev	PROPN
bracis-33591	60	4	’s	’s	PART
bracis-33591	60	5	traffic	traffic	NOUN
bracis-33591	60	6	lights	light	NOUN
bracis-33591	60	7	channels	channel	NOUN
bracis-33591	60	8	at	at	ADP
bracis-33591	60	9	timesteps	timestep	NOUN
bracis-33591	60	10	(	(	PUNCT
bracis-33591	60	11	–	–	PUNCT
bracis-33591	60	12	1	1	NUM
bracis-33591	60	13	,	,	PUNCT
bracis-33591	60	14	–	–	PUNCT
bracis-33591	60	15	9	9	NUM
bracis-33591	60	16	,	,	PUNCT
bracis-33591	60	17	–	–	PUNCT
bracis-33591	60	18	16	16	NUM
bracis-33591	60	19	)	)	PUNCT
bracis-33591	60	20	,	,	PUNCT
bracis-33591	60	21	i.e.	i.e.	X
bracis-33591	60	22	,	,	PUNCT
bracis-33591	60	23	representing	represent	VERB
bracis-33591	60	24	the	the	DET
bracis-33591	60	25	past	past	ADJ
bracis-33591	60	26	states	state	NOUN
bracis-33591	60	27	of	of	ADP
bracis-33591	60	28	the	the	DET
bracis-33591	60	29	traffic	traffic	NOUN
bracis-33591	60	30	light	light	ADJ
bracis-33591	60	31	channel	channel	NOUN
bracis-33591	60	32	(	(	PUNCT
bracis-33591	60	33	grey	grey	PROPN
bracis-33591	60	34	color	color	NOUN
bracis-33591	60	35	is	be	AUX
bracis-33591	60	36	red	red	ADJ
bracis-33591	60	37	light	light	NOUN
bracis-33591	60	38	off	off	ADP
bracis-33591	60	39	;	;	PUNCT
bracis-33591	60	40	white	white	ADJ
bracis-33591	60	41	color	color	NOUN
bracis-33591	60	42	 	 	SPACE
bracis-33591	60	43	means	mean	VERB
bracis-33591	60	44	red	red	ADJ
bracis-33591	60	45	ligh	ligh	PROPN
bracis-33591	60	46	on	on	ADP
bracis-33591	60	47	)	)	PUNCT
bracis-33591	60	48	.	.	PUNCT
bracis-33591	61	1	d	d	X
bracis-33591	61	2	)	)	PUNCT
bracis-33591	61	3	the	the	DET
bracis-33591	61	4	final	final	ADJ
bracis-33591	61	5	image	image	NOUN
bracis-33591	61	6	displays	display	VERB
bracis-33591	61	7	all	all	DET
bracis-33591	61	8	three	three	NUM
bracis-33591	61	9	channels	channel	NOUN
bracis-33591	61	10	combined	combine	VERB
bracis-33591	61	11	in	in	ADP
bracis-33591	61	12	different	different	ADJ
bracis-33591	61	13	colors	color	NOUN
bracis-33591	61	14	.	.	PUNCT
bracis-33591	62	1	(	(	PUNCT
bracis-33591	62	2	color	color	NOUN
bracis-33591	62	3	figure	figure	NOUN
bracis-33591	62	4	online	online	ADV
bracis-33591	62	5	)	)	PUNCT
bracis-33591	62	6	full	full	ADJ
bracis-33591	62	7	size	size	NOUN
bracis-33591	62	8	image	image	NOUN
bracis-33591	62	9	2.2	2.2	NUM
bracis-33591	62	10	behavior	behavior	NOUN
bracis-33591	62	11	cloning	cloning	NOUN
bracis-33591	62	12	(	(	PUNCT
bracis-33591	62	13	bc	bc	PROPN
bracis-33591	62	14	)	)	PUNCT
bracis-33591	62	15	behavior	behavior	NOUN
bracis-33591	62	16	cloning	cloning	NOUN
bracis-33591	62	17	is	be	AUX
bracis-33591	62	18	a	a	DET
bracis-33591	62	19	supervised	supervised	ADJ
bracis-33591	62	20	learning	learning	NOUN
bracis-33591	62	21	approach	approach	NOUN
bracis-33591	62	22	used	use	VERB
bracis-33591	62	23	in	in	ADP
bracis-33591	62	24	imitation	imitation	NOUN
bracis-33591	62	25	learning	learning	NOUN
bracis-33591	62	26	,	,	PUNCT
bracis-33591	62	27	where	where	SCONJ
bracis-33591	62	28	the	the	DET
bracis-33591	62	29	goal	goal	NOUN
bracis-33591	62	30	is	be	AUX
bracis-33591	62	31	to	to	PART
bracis-33591	62	32	learn	learn	VERB
bracis-33591	62	33	a	a	DET
bracis-33591	62	34	policy	policy	NOUN
bracis-33591	62	35	that	that	PRON
bracis-33591	62	36	mimics	mimic	VERB
bracis-33591	62	37	the	the	DET
bracis-33591	62	38	behavior	behavior	NOUN
bracis-33591	62	39	of	of	ADP
bracis-33591	62	40	an	an	DET
bracis-33591	62	41	expert	expert	NOUN
bracis-33591	62	42	.	.	PUNCT
bracis-33591	63	1	in	in	ADP
bracis-33591	63	2	this	this	DET
bracis-33591	63	3	work	work	NOUN
bracis-33591	63	4	,	,	PUNCT
bracis-33591	63	5	we	we	PRON
bracis-33591	63	6	want	want	VERB
bracis-33591	63	7	to	to	PART
bracis-33591	63	8	learn	learn	VERB
bracis-33591	63	9	a	a	DET
bracis-33591	63	10	policy	policy	NOUN
bracis-33591	63	11	for	for	ADP
bracis-33591	63	12	an	an	DET
bracis-33591	63	13	autonomous	autonomous	ADJ
bracis-33591	63	14	vehicle	vehicle	NOUN
bracis-33591	63	15	that	that	PRON
bracis-33591	63	16	outputs	output	VERB
bracis-33591	63	17	two	two	NUM
bracis-33591	63	18	actions	action	NOUN
bracis-33591	63	19	(	(	PUNCT
bracis-33591	63	20	acceleration	acceleration	NOUN
bracis-33591	63	21	,	,	PUNCT
bracis-33591	63	22	steering	steering	NOUN
bracis-33591	63	23	)	)	PUNCT
bracis-33591	63	24	based	base	VERB
bracis-33591	63	25	on	on	ADP
bracis-33591	63	26	a	a	DET
bracis-33591	63	27	bird	bird	NOUN
bracis-33591	63	28	-	-	PUNCT
bracis-33591	63	29	eye	eye	NOUN
bracis-33591	63	30	-	-	PUNCT
bracis-33591	63	31	view	view	NOUN
bracis-33591	63	32	(	(	PUNCT
bracis-33591	63	33	bev	bev	PROPN
bracis-33591	63	34	)	)	PUNCT
bracis-33591	63	35	representation	representation	NOUN
bracis-33591	63	36	of	of	ADP
bracis-33591	63	37	the	the	DET
bracis-33591	63	38	environment	environment	NOUN
bracis-33591	63	39	and	and	CCONJ
bracis-33591	63	40	additional	additional	ADJ
bracis-33591	63	41	scalar	scalar	ADJ
bracis-33591	63	42	state	state	NOUN
bracis-33591	63	43	variables	variable	NOUN
bracis-33591	63	44	as	as	ADP
bracis-33591	63	45	input	input	NOUN
bracis-33591	63	46	.	.	PUNCT
bracis-33591	64	1	for	for	ADP
bracis-33591	64	2	this	this	DET
bracis-33591	64	3	reason	reason	NOUN
bracis-33591	64	4	we	we	PRON
bracis-33591	64	5	need	need	VERB
bracis-33591	64	6	to	to	PART
bracis-33591	64	7	train	train	VERB
bracis-33591	64	8	a	a	DET
bracis-33591	64	9	cnn	cnn	NOUN
bracis-33591	64	10	to	to	PART
bracis-33591	64	11	output	output	VERB
bracis-33591	64	12	these	these	DET
bracis-33591	64	13	two	two	NUM
bracis-33591	64	14	continuous	continuous	ADJ
bracis-33591	64	15	actions	action	NOUN
bracis-33591	64	16	based	base	VERB
bracis-33591	64	17	on	on	ADP
bracis-33591	64	18	input	input	NOUN
bracis-33591	64	19	from	from	ADP
bracis-33591	64	20	the	the	DET
bracis-33591	64	21	bev	bev	PROPN
bracis-33591	64	22	and	and	CCONJ
bracis-33591	64	23	the	the	DET
bracis-33591	64	24	state	state	NOUN
bracis-33591	64	25	variables	variable	NOUN
bracis-33591	64	26	.	.	PUNCT
bracis-33591	65	1	the	the	DET
bracis-33591	65	2	loss	loss	NOUN
bracis-33591	65	3	function	function	NOUN
bracis-33591	65	4	for	for	ADP
bracis-33591	65	5	behavior	behavior	NOUN
bracis-33591	65	6	cloning	cloning	NOUN
bracis-33591	65	7	is	be	AUX
bracis-33591	65	8	typically	typically	ADV
bracis-33591	65	9	based	base	VERB
bracis-33591	65	10	on	on	ADP
bracis-33591	65	11	the	the	DET
bracis-33591	65	12	difference	difference	NOUN
bracis-33591	65	13	between	between	ADP
bracis-33591	65	14	the	the	DET
bracis-33591	65	15	actions	action	NOUN
bracis-33591	65	16	predicted	predict	VERB
bracis-33591	65	17	by	by	ADP
bracis-33591	65	18	the	the	DET
bracis-33591	65	19	learned	learn	VERB
bracis-33591	65	20	policy	policy	NOUN
bracis-33591	65	21	and	and	CCONJ
bracis-33591	65	22	the	the	DET
bracis-33591	65	23	actions	action	NOUN
bracis-33591	65	24	taken	take	VERB
bracis-33591	65	25	by	by	ADP
bracis-33591	65	26	the	the	DET
bracis-33591	65	27	expert	expert	NOUN
bracis-33591	65	28	in	in	ADP
bracis-33591	65	29	the	the	DET
bracis-33591	65	30	training	training	NOUN
bracis-33591	65	31	data	datum	NOUN
bracis-33591	65	32	.	.	PUNCT
bracis-33591	66	1	let	let	VERB
bracis-33591	66	2	:	:	PUNCT
bracis-33591	66	3	\	\	PROPN
bracis-33591	66	4	(	(	PUNCT
bracis-33591	66	5	\pi	\pi	ADP
bracis-33591	66	6	_	_	PROPN
bracis-33591	66	7	{	{	PUNCT
bracis-33591	66	8	\theta	\theta	PROPN
bracis-33591	66	9	}	}	PUNCT
bracis-33591	66	10	(	(	PUNCT
bracis-33591	66	11	s	s	NOUN
bracis-33591	66	12	)	)	PUNCT
bracis-33591	66	13	\	\	NOUN
bracis-33591	66	14	)	)	PUNCT
bracis-33591	66	15	be	be	AUX
bracis-33591	66	16	the	the	DET
bracis-33591	66	17	policy	policy	NOUN
bracis-33591	66	18	parameterized	parameterize	VERB
bracis-33591	66	19	by	by	ADP
bracis-33591	66	20	\(\theta	\(\theta	NOUN
bracis-33591	66	21	\	\	PROPN
bracis-33591	66	22	)	)	PUNCT
bracis-33591	66	23	,	,	PUNCT
bracis-33591	66	24	which	which	PRON
bracis-33591	66	25	maps	map	VERB
bracis-33591	66	26	a	a	DET
bracis-33591	66	27	state	state	NOUN
bracis-33591	66	28	\	\	PROPN
bracis-33591	66	29	(	(	PUNCT
bracis-33591	66	30	s	s	NOUN
bracis-33591	66	31	\	\	NOUN
bracis-33591	66	32	)	)	PUNCT
bracis-33591	66	33	to	to	ADP
bracis-33591	66	34	an	an	DET
bracis-33591	66	35	action	action	NOUN
bracis-33591	66	36	\	\	PROPN
bracis-33591	66	37	(	(	PUNCT
bracis-33591	66	38	a	a	DET
bracis-33591	66	39	\	\	NOUN
bracis-33591	66	40	)	)	PUNCT
bracis-33591	66	41	;	;	PUNCT
bracis-33591	66	42	and	and	CCONJ
bracis-33591	66	43	\	\	PROPN
bracis-33591	66	44	(	(	PUNCT
bracis-33591	66	45	\mathcal	\mathcal	PROPN
bracis-33591	66	46	{	{	PUNCT
bracis-33591	66	47	d	d	NOUN
bracis-33591	66	48	}	}	PUNCT
bracis-33591	66	49	=	=	SYM
bracis-33591	66	50	\{(s_i	\{(s_i	PROPN
bracis-33591	66	51	,	,	PUNCT
bracis-33591	66	52	a_i)\}_{i=1}^n	a_i)\}_{i=1}^n	NOUN
bracis-33591	66	53	\	\	NOUN
bracis-33591	66	54	)	)	PUNCT
bracis-33591	66	55	be	be	AUX
bracis-33591	66	56	the	the	DET
bracis-33591	66	57	dataset	dataset	NOUN
bracis-33591	66	58	of	of	ADP
bracis-33591	66	59	\(n\	\(n\	NOUN
bracis-33591	66	60	)	)	PUNCT
bracis-33591	66	61	state	state	NOUN
bracis-33591	66	62	-	-	PUNCT
bracis-33591	66	63	action	action	NOUN
bracis-33591	66	64	pairs	pair	NOUN
bracis-33591	66	65	collected	collect	VERB
bracis-33591	66	66	from	from	ADP
bracis-33591	66	67	the	the	DET
bracis-33591	66	68	expert	expert	NOUN
bracis-33591	66	69	,	,	PUNCT
bracis-33591	66	70	where	where	SCONJ
bracis-33591	66	71	\	\	PROPN
bracis-33591	66	72	(	(	PUNCT
bracis-33591	66	73	s_i	s_i	SYM
bracis-33591	66	74	\	\	NOUN
bracis-33591	66	75	)	)	PUNCT
bracis-33591	66	76	is	be	AUX
bracis-33591	66	77	a	a	DET
bracis-33591	66	78	state	state	NOUN
bracis-33591	66	79	and	and	CCONJ
bracis-33591	66	80	\	\	PROPN
bracis-33591	66	81	(	(	PUNCT
bracis-33591	66	82	a_i	a_i	PROPN
bracis-33591	66	83	\	\	PROPN
bracis-33591	66	84	)	)	PUNCT
bracis-33591	66	85	is	be	AUX
bracis-33591	66	86	the	the	DET
bracis-33591	66	87	corresponding	corresponding	ADJ
bracis-33591	66	88	action	action	NOUN
bracis-33591	66	89	taken	take	VERB
bracis-33591	66	90	by	by	ADP
bracis-33591	66	91	the	the	DET
bracis-33591	66	92	expert	expert	NOUN
bracis-33591	66	93	.	.	PUNCT
bracis-33591	67	1	although	although	SCONJ
bracis-33591	67	2	the	the	DET
bracis-33591	67	3	behavior	behavior	NOUN
bracis-33591	67	4	cloning	clone	VERB
bracis-33591	67	5	loss	loss	NOUN
bracis-33591	67	6	function	function	NOUN
bracis-33591	67	7	can	can	AUX
bracis-33591	67	8	be	be	AUX
bracis-33591	67	9	defined	define	VERB
bracis-33591	67	10	as	as	ADP
bracis-33591	67	11	the	the	DET
bracis-33591	67	12	mean	mean	ADJ
bracis-33591	67	13	squared	square	VERB
bracis-33591	67	14	error	error	NOUN
bracis-33591	67	15	(	(	PUNCT
bracis-33591	67	16	mse	mse	NOUN
bracis-33591	67	17	)	)	PUNCT
bracis-33591	67	18	between	between	ADP
bracis-33591	67	19	the	the	DET
bracis-33591	67	20	predicted	predict	VERB
bracis-33591	67	21	actions	action	NOUN
bracis-33591	67	22	and	and	CCONJ
bracis-33591	67	23	the	the	DET
bracis-33591	67	24	expert	expert	ADJ
bracis-33591	67	25	actions	action	NOUN
bracis-33591	67	26	(	(	PUNCT
bracis-33591	67	27	or	or	CCONJ
bracis-33591	67	28	the	the	DET
bracis-33591	67	29	cross	cross	ADJ
bracis-33591	67	30	-	-	ADJ
bracis-33591	67	31	entropy	entropy	ADJ
bracis-33591	67	32	loss	loss	NOUN
bracis-33591	67	33	if	if	SCONJ
bracis-33591	67	34	the	the	DET
bracis-33591	67	35	actions	action	NOUN
bracis-33591	67	36	are	be	AUX
bracis-33591	67	37	discrete	discrete	ADJ
bracis-33591	67	38	)	)	PUNCT
bracis-33591	67	39	,	,	PUNCT
bracis-33591	67	40	in	in	ADP
bracis-33591	67	41	this	this	DET
bracis-33591	67	42	work	work	NOUN
bracis-33591	67	43	,	,	PUNCT
bracis-33591	67	44	we	we	PRON
bracis-33591	67	45	model	model	VERB
bracis-33591	67	46	a	a	DET
bracis-33591	67	47	stochastic	stochastic	ADJ
bracis-33591	67	48	policy	policy	NOUN
bracis-33591	67	49	and	and	CCONJ
bracis-33591	67	50	,	,	PUNCT
bracis-33591	67	51	for	for	ADP
bracis-33591	67	52	that	that	DET
bracis-33591	67	53	reason	reason	NOUN
bracis-33591	67	54	,	,	PUNCT
bracis-33591	67	55	the	the	DET
bracis-33591	67	56	policy	policy	NOUN
bracis-33591	67	57	is	be	AUX
bracis-33591	67	58	represented	represent	VERB
bracis-33591	67	59	 	 	SPACE
bracis-33591	67	60	by	by	ADP
bracis-33591	67	61	a	a	DET
bracis-33591	67	62	beta	beta	ADJ
bracis-33591	67	63	distribution	distribution	NOUN
bracis-33591	67	64	.	.	PUNCT
bracis-33591	68	1	the	the	DET
bracis-33591	68	2	beta	beta	ADJ
bracis-33591	68	3	distribution	distribution	NOUN
bracis-33591	68	4	is	be	AUX
bracis-33591	68	5	suitable	suitable	ADJ
bracis-33591	68	6	for	for	ADP
bracis-33591	68	7	modeling	model	VERB
bracis-33591	68	8	variables	variable	NOUN
bracis-33591	68	9	that	that	PRON
bracis-33591	68	10	are	be	AUX
bracis-33591	68	11	bounded	bound	VERB
bracis-33591	68	12	within	within	ADP
bracis-33591	68	13	an	an	DET
bracis-33591	68	14	interval	interval	NOUN
bracis-33591	68	15	,	,	PUNCT
bracis-33591	68	16	such	such	ADJ
bracis-33591	68	17	as	as	ADP
bracis-33591	68	18	acceleration	acceleration	NOUN
bracis-33591	68	19	and	and	CCONJ
bracis-33591	68	20	steering	steering	NOUN
bracis-33591	68	21	actions	action	NOUN
bracis-33591	68	22	within	within	ADP
bracis-33591	68	23	\([-1	\([-1	NOUN
bracis-33591	68	24	,	,	PUNCT
bracis-33591	68	25	1]\	1]\	PROPN
bracis-33591	68	26	)	)	PUNCT
bracis-33591	68	27	.	.	PUNCT
bracis-33591	69	1	given	give	VERB
bracis-33591	69	2	the	the	DET
bracis-33591	69	3	actions	action	NOUN
bracis-33591	69	4	\(a_i	\(a_i	X
bracis-33591	69	5	=	=	SYM
bracis-33591	69	6	(	(	PUNCT
bracis-33591	69	7	a_{i}^\textrm{acc	a_{i}^\textrm{acc	PROPN
bracis-33591	69	8	}	}	PUNCT
bracis-33591	69	9	,	,	PUNCT
bracis-33591	69	10	a_{i}^\textrm{steer})\	a_{i}^\textrm{steer})\	PROPN
bracis-33591	69	11	)	)	PUNCT
bracis-33591	69	12	and	and	CCONJ
bracis-33591	69	13	the	the	DET
bracis-33591	69	14	policy	policy	NOUN
bracis-33591	69	15	\(\pi	\(\pi	ADP
bracis-33591	69	16	_	_	PUNCT
bracis-33591	69	17	{	{	PUNCT
bracis-33591	69	18	\theta	\theta	PROPN
bracis-33591	69	19	}	}	PUNCT
bracis-33591	69	20	(	(	PUNCT
bracis-33591	69	21	s_i	s_i	ADV
bracis-33591	69	22	)	)	PUNCT
bracis-33591	69	23	=	=	PUNCT
bracis-33591	70	1	(	(	PUNCT
bracis-33591	70	2	\alpha	\alpha	PROPN
bracis-33591	70	3	_	_	PRON
bracis-33591	70	4	{	{	PUNCT
bracis-33591	70	5	i}^\textrm{acc	i}^\textrm{acc	X
bracis-33591	70	6	}	}	PUNCT
bracis-33591	70	7	,	,	PUNCT
bracis-33591	70	8	\beta	\beta	PROPN
bracis-33591	70	9	_	_	PUNCT
bracis-33591	70	10	{	{	PUNCT
bracis-33591	70	11	i}^\textrm{acc	i}^\textrm{acc	X
bracis-33591	70	12	}	}	PUNCT
bracis-33591	70	13	,	,	PUNCT
bracis-33591	70	14	\alpha	\alpha	PUNCT
bracis-33591	70	15	_	_	PRON
bracis-33591	70	16	{	{	PUNCT
bracis-33591	70	17	i}^\textrm{steer},\	i}^\textrm{steer},\	PROPN
bracis-33591	70	18	)	)	PUNCT
bracis-33591	70	19	\(\beta	\(\beta	X
bracis-33591	70	20	_	_	PUNCT
bracis-33591	70	21	{	{	PUNCT
bracis-33591	70	22	i}^\textrm{steer})\	i}^\textrm{steer})\	NOUN
bracis-33591	70	23	)	)	PUNCT
bracis-33591	70	24	,	,	PUNCT
bracis-33591	70	25	where	where	SCONJ
bracis-33591	70	26	\(\alpha	\(\alpha	ADV
bracis-33591	70	27	\	\	NOUN
bracis-33591	70	28	)	)	PUNCT
bracis-33591	70	29	and	and	CCONJ
bracis-33591	70	30	\(\beta	\(\beta	PRON
bracis-33591	70	31	\	\	PROPN
bracis-33591	70	32	)	)	PUNCT
bracis-33591	70	33	are	be	AUX
bracis-33591	70	34	the	the	DET
bracis-33591	70	35	shape	shape	NOUN
bracis-33591	70	36	parameters	parameter	NOUN
bracis-33591	70	37	of	of	ADP
bracis-33591	70	38	the	the	DET
bracis-33591	70	39	beta	beta	ADJ
bracis-33591	70	40	distribution	distribution	NOUN
bracis-33591	70	41	,	,	PUNCT
bracis-33591	70	42	the	the	DET
bracis-33591	70	43	loss	loss	NOUN
bracis-33591	70	44	function	function	NOUN
bracis-33591	70	45	will	will	AUX
bracis-33591	70	46	be	be	AUX
bracis-33591	70	47	based	base	VERB
bracis-33591	70	48	on	on	ADP
bracis-33591	70	49	the	the	DET
bracis-33591	70	50	negative	negative	ADJ
bracis-33591	70	51	log	log	NOUN
bracis-33591	70	52	-	-	PUNCT
bracis-33591	70	53	likelihood	likelihood	NOUN
bracis-33591	70	54	of	of	ADP
bracis-33591	70	55	the	the	DET
bracis-33591	70	56	beta	beta	ADJ
bracis-33591	70	57	distribution	distribution	NOUN
bracis-33591	70	58	.	.	PUNCT
bracis-33591	71	1	the	the	DET
bracis-33591	71	2	probability	probability	NOUN
bracis-33591	71	3	density	density	NOUN
bracis-33591	71	4	function	function	NOUN
bracis-33591	71	5	of	of	ADP
bracis-33591	71	6	the	the	DET
bracis-33591	71	7	beta	beta	ADJ
bracis-33591	71	8	distribution	distribution	NOUN
bracis-33591	71	9	[	[	X
bracis-33591	71	10	10	10	NUM
bracis-33591	71	11	]	]	PUNCT
bracis-33591	71	12	is	be	AUX
bracis-33591	71	13	:	:	PUNCT
bracis-33591	71	14	$	$	SYM
bracis-33591	71	15	$	$	SYM
bracis-33591	71	16	\begin{aligned	\begin{aligne	VERB
bracis-33591	71	17	}	}	PUNCT
bracis-33591	71	18	f(x	f(x	PROPN
bracis-33591	71	19	;	;	PUNCT
bracis-33591	71	20	\alpha	\alpha	ADP
bracis-33591	71	21	,	,	PUNCT
bracis-33591	71	22	\beta	\beta	PROPN
bracis-33591	71	23	)	)	PUNCT
bracis-33591	72	1	=	=	PUNCT
bracis-33591	72	2	\frac{x^{\alpha	\frac{x^{\alpha	PROPN
bracis-33591	72	3	-1	-1	PROPN
bracis-33591	72	4	}	}	PUNCT
bracis-33591	72	5	(	(	PUNCT
bracis-33591	72	6	1	1	NUM
bracis-33591	72	7	-	-	SYM
bracis-33591	72	8	x)^{\beta	x)^{\beta	PROPN
bracis-33591	72	9	-1}}{b(\alpha	-1}}{b(\alpha	X
bracis-33591	72	10	,	,	PUNCT
bracis-33591	72	11	\beta	\beta	PROPN
bracis-33591	72	12	)	)	PUNCT
bracis-33591	72	13	}	}	PUNCT
bracis-33591	72	14	,	,	PUNCT
bracis-33591	72	15	\end{aligned}$$	\end{aligned}$$	VERB
bracis-33591	72	16	where	where	SCONJ
bracis-33591	72	17	\(b(\alpha	\(b(\alpha	NOUN
bracis-33591	72	18	,	,	PUNCT
bracis-33591	72	19	\beta	\beta	PROPN
bracis-33591	72	20	)	)	PUNCT
bracis-33591	72	21	\	\	PROPN
bracis-33591	72	22	)	)	PUNCT
bracis-33591	72	23	is	be	AUX
bracis-33591	72	24	the	the	DET
bracis-33591	72	25	beta	beta	ADJ
bracis-33591	72	26	function	function	NOUN
bracis-33591	72	27	,	,	PUNCT
bracis-33591	72	28	a	a	DET
bracis-33591	72	29	normalization	normalization	NOUN
bracis-33591	72	30	constant	constant	ADJ
bracis-33591	72	31	to	to	PART
bracis-33591	72	32	ensure	ensure	VERB
bracis-33591	72	33	that	that	SCONJ
bracis-33591	72	34	the	the	DET
bracis-33591	72	35	total	total	ADJ
bracis-33591	72	36	probability	probability	NOUN
bracis-33591	72	37	is	be	AUX
bracis-33591	72	38	1	1	NUM
bracis-33591	72	39	.	.	PUNCT
bracis-33591	72	40	to	to	PART
bracis-33591	72	41	transform	transform	VERB
bracis-33591	72	42	actions	action	NOUN
bracis-33591	72	43	in	in	ADP
bracis-33591	72	44	\([-1	\([-1	NOUN
bracis-33591	72	45	,	,	PUNCT
bracis-33591	72	46	1]\	1]\	NUM
bracis-33591	72	47	)	)	PUNCT
bracis-33591	72	48	to	to	ADP
bracis-33591	72	49	\([0	\([0	NOUN
bracis-33591	72	50	,	,	PUNCT
bracis-33591	72	51	1]\	1]\	NUM
bracis-33591	72	52	)	)	PUNCT
bracis-33591	72	53	,	,	PUNCT
bracis-33591	72	54	we	we	PRON
bracis-33591	72	55	use	use	VERB
bracis-33591	72	56	:	:	PUNCT
bracis-33591	72	57	$	$	SYM
bracis-33591	72	58	$	$	SYM
bracis-33591	72	59	\begin{aligned	\begin{aligne	VERB
bracis-33591	72	60	}	}	PUNCT
bracis-33591	72	61	a_i	a_i	NOUN
bracis-33591	72	62	'	'	PART
bracis-33591	72	63	=	=	SYM
bracis-33591	72	64	\frac{a_i	\frac{a_i	PROPN
bracis-33591	72	65	+	+	SYM
bracis-33591	72	66	1}{2	1}{2	NUM
bracis-33591	72	67	}	}	PUNCT
bracis-33591	72	68	\end{aligned}$$	\end{aligned}$$	ADP
bracis-33591	72	69	the	the	DET
bracis-33591	72	70	negative	negative	ADJ
bracis-33591	72	71	log	log	NOUN
bracis-33591	72	72	-	-	PUNCT
bracis-33591	72	73	likelihood	likelihood	NOUN
bracis-33591	72	74	loss	loss	NOUN
bracis-33591	72	75	for	for	ADP
bracis-33591	72	76	the	the	DET
bracis-33591	72	77	beta	beta	ADJ
bracis-33591	72	78	distribution	distribution	NOUN
bracis-33591	72	79	can	can	AUX
bracis-33591	72	80	then	then	ADV
bracis-33591	72	81	be	be	AUX
bracis-33591	72	82	written	write	VERB
bracis-33591	72	83	as	as	ADP
bracis-33591	72	84	:	:	PUNCT
bracis-33591	72	85	$	$	SYM
bracis-33591	72	86	$	$	SYM
bracis-33591	72	87	\begin{aligned	\begin{aligne	VERB
bracis-33591	72	88	}	}	PUNCT
bracis-33591	72	89	\mathcal	\mathcal	ADJ
bracis-33591	72	90	{	{	PUNCT
bracis-33591	72	91	l}(\theta	l}(\theta	NOUN
bracis-33591	72	92	)	)	PUNCT
bracis-33591	73	1	=	=	SYM
bracis-33591	73	2	-\frac{1}{n	-\frac{1}{n	ADJ
bracis-33591	73	3	}	}	PUNCT
bracis-33591	73	4	\sum	\sum	NOUN
bracis-33591	73	5	_	_	PUNCT
bracis-33591	73	6	{	{	PUNCT
bracis-33591	73	7	i=1}^n	i=1}^n	SYM
bracis-33591	73	8	\left	\left	PROPN
bracis-33591	73	9	[	[	PUNCT
bracis-33591	73	10	\log	\log	PROPN
bracis-33591	73	11	f\left	f\left	PROPN
bracis-33591	73	12	(	(	PUNCT
bracis-33591	73	13	\frac{a_{i}^\textrm{acc	\frac{a_{i}^\textrm{acc	PROPN
bracis-33591	73	14	}	}	PUNCT
bracis-33591	73	15	+	+	NOUN
bracis-33591	73	16	1}{2	1}{2	NUM
bracis-33591	73	17	}	}	PUNCT
bracis-33591	73	18	;	;	PUNCT
bracis-33591	73	19	\alpha	\alpha	ADP
bracis-33591	73	20	_	_	PRON
bracis-33591	73	21	{	{	PUNCT
bracis-33591	73	22	i}^\textrm{acc	i}^\textrm{acc	X
bracis-33591	73	23	}	}	PUNCT
bracis-33591	73	24	,	,	PUNCT
bracis-33591	73	25	\beta	\beta	PROPN
bracis-33591	73	26	_	_	PUNCT
bracis-33591	73	27	{	{	PUNCT
bracis-33591	73	28	i}^\textrm{acc	i}^\textrm{acc	NOUN
bracis-33591	73	29	}	}	PUNCT
bracis-33591	73	30	\right	\right	PROPN
bracis-33591	73	31	)	)	PUNCT
bracis-33591	73	32	+	+	CCONJ
bracis-33591	73	33	\log	\log	PROPN
bracis-33591	73	34	f\left	f\left	NOUN
bracis-33591	73	35	(	(	PUNCT
bracis-33591	73	36	\frac{a_{i}^\textrm{steer	\frac{a_{i}^\textrm{steer	PROPN
bracis-33591	73	37	}	}	PUNCT
bracis-33591	73	38	+	+	NOUN
bracis-33591	73	39	1}{2	1}{2	NUM
bracis-33591	73	40	}	}	PUNCT
bracis-33591	73	41	;	;	PUNCT
bracis-33591	73	42	\alpha	\alpha	X
bracis-33591	73	43	_	_	PRON
bracis-33591	73	44	{	{	PUNCT
bracis-33591	73	45	i}^\textrm{steer	i}^\textrm{steer	NOUN
bracis-33591	73	46	}	}	PUNCT
bracis-33591	73	47	,	,	PUNCT
bracis-33591	73	48	\beta	\beta	PROPN
bracis-33591	73	49	_	_	PUNCT
bracis-33591	73	50	{	{	PUNCT
bracis-33591	73	51	i}^\textrm{steer	i}^\textrm{steer	NOUN
bracis-33591	73	52	}	}	PUNCT
bracis-33591	73	53	\right	\right	PROPN
bracis-33591	73	54	)	)	PUNCT
bracis-33591	73	55	\right	\right	PROPN
bracis-33591	73	56	]	]	PUNCT
bracis-33591	73	57	\end{aligned}$$	\end{aligned}$$	X
bracis-33591	73	58	(	(	PUNCT
bracis-33591	73	59	1	1	X
bracis-33591	73	60	)	)	PUNCT
bracis-33591	73	61	this	this	DET
bracis-33591	73	62	loss	loss	NOUN
bracis-33591	73	63	function	function	NOUN
bracis-33591	73	64	accounts	account	VERB
bracis-33591	73	65	for	for	ADP
bracis-33591	73	66	the	the	DET
bracis-33591	73	67	probabilistic	probabilistic	ADJ
bracis-33591	73	68	nature	nature	NOUN
bracis-33591	73	69	of	of	ADP
bracis-33591	73	70	the	the	DET
bracis-33591	73	71	beta	beta	ADJ
bracis-33591	73	72	distribution	distribution	NOUN
bracis-33591	73	73	,	,	PUNCT
bracis-33591	73	74	ensuring	ensure	VERB
bracis-33591	73	75	that	that	SCONJ
bracis-33591	73	76	the	the	DET
bracis-33591	73	77	model	model	NOUN
bracis-33591	73	78	learns	learn	VERB
bracis-33591	73	79	to	to	PART
bracis-33591	73	80	predict	predict	VERB
bracis-33591	73	81	parameters	parameter	NOUN
bracis-33591	73	82	(	(	PUNCT
bracis-33591	73	83	\(\alpha	\(\alpha	NOUN
bracis-33591	73	84	,	,	PUNCT
bracis-33591	73	85	\beta	\beta	PROPN
bracis-33591	73	86	\	\	PROPN
bracis-33591	73	87	)	)	PUNCT
bracis-33591	73	88	)	)	PUNCT
bracis-33591	73	89	for	for	ADP
bracis-33591	73	90	the	the	DET
bracis-33591	73	91	distribution	distribution	NOUN
bracis-33591	73	92	of	of	ADP
bracis-33591	73	93	actions	action	NOUN
bracis-33591	73	94	rather	rather	ADV
bracis-33591	73	95	than	than	ADP
bracis-33591	73	96	the	the	DET
bracis-33591	73	97	actions	action	NOUN
bracis-33591	73	98	directly	directly	ADV
bracis-33591	73	99	.	.	PUNCT
bracis-33591	74	1	this	this	DET
bracis-33591	74	2	approach	approach	NOUN
bracis-33591	74	3	allows	allow	VERB
bracis-33591	74	4	for	for	ADP
bracis-33591	74	5	modeling	model	VERB
bracis-33591	74	6	uncertainty	uncertainty	NOUN
bracis-33591	74	7	and	and	CCONJ
bracis-33591	74	8	variability	variability	NOUN
bracis-33591	74	9	in	in	ADP
bracis-33591	74	10	the	the	DET
bracis-33591	74	11	predicted	predict	VERB
bracis-33591	74	12	actions	action	NOUN
bracis-33591	74	13	.	.	PUNCT
bracis-33591	75	1	2.3	2.3	NUM
bracis-33591	75	2	kernel	kernel	PROPN
bracis-33591	75	3	density	density	PROPN
bracis-33591	75	4	estimation	estimation	PROPN
bracis-33591	75	5	a	a	DET
bracis-33591	75	6	kernel	kernel	PROPN
bracis-33591	75	7	density	density	PROPN
bracis-33591	75	8	estimator	estimator	NOUN
bracis-33591	75	9	(	(	PUNCT
bracis-33591	75	10	kde	kde	PROPN
bracis-33591	75	11	)	)	PUNCT
bracis-33591	75	12	is	be	AUX
bracis-33591	75	13	a	a	DET
bracis-33591	75	14	non	non	ADJ
bracis-33591	75	15	-	-	ADJ
bracis-33591	75	16	parametric	parametric	ADJ
bracis-33591	75	17	way	way	NOUN
bracis-33591	75	18	to	to	PART
bracis-33591	75	19	estimate	estimate	VERB
bracis-33591	75	20	the	the	DET
bracis-33591	75	21	probability	probability	NOUN
bracis-33591	75	22	density	density	NOUN
bracis-33591	75	23	function	function	NOUN
bracis-33591	75	24	(	(	PUNCT
bracis-33591	75	25	pdf	pdf	NOUN
bracis-33591	75	26	)	)	PUNCT
bracis-33591	75	27	of	of	ADP
bracis-33591	75	28	a	a	DET
bracis-33591	75	29	random	random	ADJ
bracis-33591	75	30	variable	variable	NOUN
bracis-33591	75	31	.	.	PUNCT
bracis-33591	76	1	for	for	ADP
bracis-33591	76	2	each	each	DET
bracis-33591	76	3	data	datum	NOUN
bracis-33591	76	4	point	point	NOUN
bracis-33591	76	5	in	in	ADP
bracis-33591	76	6	the	the	DET
bracis-33591	76	7	sample	sample	NOUN
bracis-33591	76	8	,	,	PUNCT
bracis-33591	76	9	the	the	DET
bracis-33591	76	10	kernel	kernel	NOUN
bracis-33591	76	11	function	function	NOUN
bracis-33591	76	12	is	be	AUX
bracis-33591	76	13	centered	center	VERB
bracis-33591	76	14	at	at	ADP
bracis-33591	76	15	that	that	DET
bracis-33591	76	16	point	point	NOUN
bracis-33591	76	17	.	.	PUNCT
bracis-33591	77	1	the	the	DET
bracis-33591	77	2	kde	kde	NOUN
bracis-33591	77	3	is	be	AUX
bracis-33591	77	4	then	then	ADV
bracis-33591	77	5	computed	compute	VERB
bracis-33591	77	6	by	by	ADP
bracis-33591	77	7	summing	sum	VERB
bracis-33591	77	8	up	up	ADP
bracis-33591	77	9	all	all	DET
bracis-33591	77	10	these	these	DET
bracis-33591	77	11	kernel	kernel	NOUN
bracis-33591	77	12	functions	function	NOUN
bracis-33591	77	13	and	and	CCONJ
bracis-33591	77	14	normalizing	normalize	VERB
bracis-33591	77	15	by	by	ADP
bracis-33591	77	16	the	the	DET
bracis-33591	77	17	number	number	NOUN
bracis-33591	77	18	of	of	ADP
bracis-33591	77	19	data	datum	NOUN
bracis-33591	77	20	points	point	NOUN
bracis-33591	77	21	.	.	PUNCT
bracis-33591	78	1	mathematically	mathematically	ADV
bracis-33591	78	2	,	,	PUNCT
bracis-33591	78	3	the	the	DET
bracis-33591	78	4	kde	kde	NOUN
bracis-33591	78	5	for	for	ADP
bracis-33591	78	6	a	a	DET
bracis-33591	78	7	point	point	NOUN
bracis-33591	78	8	\(x\	\(x\	VERB
bracis-33591	78	9	)	)	PUNCT
bracis-33591	78	10	is	be	AUX
bracis-33591	78	11	given	give	VERB
bracis-33591	78	12	by	by	ADP
bracis-33591	78	13	:	:	PUNCT
bracis-33591	78	14	$	$	SYM
bracis-33591	78	15	$	$	SYM
bracis-33591	78	16	\begin{aligned	\begin{aligne	VERB
bracis-33591	78	17	}	}	PUNCT
bracis-33591	78	18	\hat{f}(x	\hat{f}(x	PROPN
bracis-33591	78	19	)	)	PUNCT
bracis-33591	78	20	=	=	SYM
bracis-33591	78	21	\frac{1}{n	\frac{1}{n	NOUN
bracis-33591	78	22	h	h	NOUN
bracis-33591	78	23	}	}	PUNCT
bracis-33591	78	24	\sum	\sum	NOUN
bracis-33591	78	25	_	_	PUNCT
bracis-33591	78	26	{	{	PUNCT
bracis-33591	78	27	i=1}^{n	i=1}^{n	ADJ
bracis-33591	78	28	}	}	PUNCT
bracis-33591	78	29	k	k	PROPN
bracis-33591	78	30	\left	\left	PROPN
bracis-33591	78	31	(	(	PUNCT
bracis-33591	78	32	\frac{x	\frac{x	NOUN
bracis-33591	78	33	x_i}{h	x_i}{h	PROPN
bracis-33591	78	34	}	}	PUNCT
bracis-33591	78	35	\right	\right	PROPN
bracis-33591	78	36	)	)	PUNCT
bracis-33591	78	37	,	,	PUNCT
bracis-33591	78	38	\end{aligned}$$	\end{aligned}$$	X
bracis-33591	78	39	(	(	PUNCT
bracis-33591	78	40	2	2	NUM
bracis-33591	78	41	)	)	PUNCT
bracis-33591	78	42	where	where	SCONJ
bracis-33591	78	43	\	\	PROPN
bracis-33591	78	44	(	(	PUNCT
bracis-33591	78	45	\hat{f}(x	\hat{f}(x	NOUN
bracis-33591	78	46	)	)	PUNCT
bracis-33591	78	47	\	\	NOUN
bracis-33591	78	48	)	)	PUNCT
bracis-33591	78	49	is	be	AUX
bracis-33591	78	50	the	the	DET
bracis-33591	78	51	estimated	estimate	VERB
bracis-33591	78	52	density	density	NOUN
bracis-33591	78	53	at	at	ADP
bracis-33591	78	54	point	point	NOUN
bracis-33591	78	55	\	\	PROPN
bracis-33591	78	56	(	(	PUNCT
bracis-33591	78	57	x	x	SYM
bracis-33591	78	58	\	\	PROPN
bracis-33591	78	59	)	)	PUNCT
bracis-33591	78	60	,	,	PUNCT
bracis-33591	78	61	\	\	PROPN
bracis-33591	78	62	(	(	PUNCT
bracis-33591	78	63	n	n	PRON
bracis-33591	78	64	\	\	NOUN
bracis-33591	78	65	)	)	PUNCT
bracis-33591	78	66	is	be	AUX
bracis-33591	78	67	the	the	DET
bracis-33591	78	68	number	number	NOUN
bracis-33591	78	69	of	of	ADP
bracis-33591	78	70	data	datum	NOUN
bracis-33591	78	71	points	point	NOUN
bracis-33591	78	72	,	,	PUNCT
bracis-33591	78	73	\	\	PROPN
bracis-33591	78	74	(	(	PUNCT
bracis-33591	78	75	h	h	NOUN
bracis-33591	78	76	\	\	NOUN
bracis-33591	78	77	)	)	PUNCT
bracis-33591	78	78	is	be	AUX
bracis-33591	78	79	the	the	DET
bracis-33591	78	80	bandwidth	bandwidth	NOUN
bracis-33591	78	81	,	,	PUNCT
bracis-33591	78	82	\	\	PROPN
bracis-33591	78	83	(	(	PUNCT
bracis-33591	78	84	x_i	x_i	PUNCT
bracis-33591	78	85	\	\	NOUN
bracis-33591	78	86	)	)	PUNCT
bracis-33591	78	87	are	be	AUX
bracis-33591	78	88	the	the	DET
bracis-33591	78	89	data	data	NOUN
bracis-33591	78	90	points	point	NOUN
bracis-33591	78	91	,	,	PUNCT
bracis-33591	78	92	and	and	CCONJ
bracis-33591	78	93	\	\	PROPN
bracis-33591	78	94	(	(	PUNCT
bracis-33591	78	95	k	k	PROPN
bracis-33591	78	96	\	\	PROPN
bracis-33591	78	97	)	)	PUNCT
bracis-33591	78	98	is	be	AUX
bracis-33591	78	99	the	the	DET
bracis-33591	78	100	kernel	kernel	PROPN
bracis-33591	78	101	function	function	NOUN
bracis-33591	78	102	.	.	PUNCT
bracis-33591	79	1	the	the	DET
bracis-33591	79	2	gaussian	gaussian	ADJ
bracis-33591	79	3	kernel	kernel	NOUN
bracis-33591	79	4	,	,	PUNCT
bracis-33591	79	5	often	often	ADV
bracis-33591	79	6	used	use	VERB
bracis-33591	79	7	in	in	ADP
bracis-33591	79	8	kde	kde	PROPN
bracis-33591	79	9	,	,	PUNCT
bracis-33591	79	10	is	be	AUX
bracis-33591	79	11	a	a	DET
bracis-33591	79	12	type	type	NOUN
bracis-33591	79	13	of	of	ADP
bracis-33591	79	14	kernel	kernel	NOUN
bracis-33591	79	15	function	function	NOUN
bracis-33591	79	16	that	that	PRON
bracis-33591	79	17	assigns	assign	VERB
bracis-33591	79	18	weights	weight	NOUN
bracis-33591	79	19	to	to	ADP
bracis-33591	79	20	data	datum	NOUN
bracis-33591	79	21	points	point	NOUN
bracis-33591	79	22	based	base	VERB
bracis-33591	79	23	on	on	ADP
bracis-33591	79	24	their	their	PRON
bracis-33591	79	25	distance	distance	NOUN
bracis-33591	79	26	from	from	ADP
bracis-33591	79	27	the	the	DET
bracis-33591	79	28	point	point	NOUN
bracis-33591	79	29	where	where	SCONJ
bracis-33591	79	30	the	the	DET
bracis-33591	79	31	density	density	NOUN
bracis-33591	79	32	is	be	AUX
bracis-33591	79	33	being	be	AUX
bracis-33591	79	34	estimated	estimate	VERB
bracis-33591	79	35	.	.	PUNCT
bracis-33591	80	1	the	the	DET
bracis-33591	80	2	gaussian	gaussian	ADJ
bracis-33591	80	3	kernel	kernel	NOUN
bracis-33591	80	4	is	be	AUX
bracis-33591	80	5	defined	define	VERB
bracis-33591	80	6	by	by	ADP
bracis-33591	80	7	the	the	DET
bracis-33591	80	8	standard	standard	ADJ
bracis-33591	80	9	normal	normal	ADJ
bracis-33591	80	10	distribution	distribution	NOUN
bracis-33591	80	11	,	,	PUNCT
bracis-33591	80	12	and	and	CCONJ
bracis-33591	80	13	it	it	PRON
bracis-33591	80	14	ensures	ensure	VERB
bracis-33591	80	15	that	that	SCONJ
bracis-33591	80	16	closer	close	ADJ
bracis-33591	80	17	points	point	NOUN
bracis-33591	80	18	have	have	VERB
bracis-33591	80	19	a	a	DET
bracis-33591	80	20	higher	high	ADJ
bracis-33591	80	21	influence	influence	NOUN
bracis-33591	80	22	on	on	ADP
bracis-33591	80	23	the	the	DET
bracis-33591	80	24	density	density	NOUN
bracis-33591	80	25	estimate	estimate	NOUN
bracis-33591	80	26	than	than	ADP
bracis-33591	80	27	points	point	NOUN
bracis-33591	80	28	further	far	ADV
bracis-33591	80	29	away	away	ADV
bracis-33591	80	30	.	.	PUNCT
bracis-33591	81	1	the	the	DET
bracis-33591	81	2	mathematical	mathematical	ADJ
bracis-33591	81	3	form	form	NOUN
bracis-33591	81	4	of	of	ADP
bracis-33591	81	5	the	the	DET
bracis-33591	81	6	gaussian	gaussian	ADJ
bracis-33591	81	7	kernel	kernel	NOUN
bracis-33591	81	8	\	\	PROPN
bracis-33591	81	9	(	(	PUNCT
bracis-33591	81	10	k	k	PROPN
bracis-33591	81	11	\	\	PROPN
bracis-33591	81	12	)	)	PUNCT
bracis-33591	81	13	is	be	AUX
bracis-33591	81	14	:	:	PUNCT
bracis-33591	81	15	$	$	SYM
bracis-33591	81	16	$	$	SYM
bracis-33591	81	17	\begin{aligned	\begin{aligne	VERB
bracis-33591	81	18	}	}	PUNCT
bracis-33591	81	19	k(u	k(u	NOUN
bracis-33591	81	20	)	)	PUNCT
bracis-33591	81	21	=	=	PUNCT
bracis-33591	81	22	\frac{1}{\sqrt{2\pi	\frac{1}{\sqrt{2\pi	NOUN
bracis-33591	81	23	}	}	PUNCT
bracis-33591	81	24	}	}	PUNCT
bracis-33591	81	25	e^{-\frac{u^2}{2	e^{-\frac{u^2}{2	ADJ
bracis-33591	81	26	}	}	PUNCT
bracis-33591	81	27	}	}	PUNCT
bracis-33591	81	28	,	,	PUNCT
bracis-33591	81	29	\end{aligned}$$	\end{aligned}$$	VERB
bracis-33591	81	30	where	where	SCONJ
bracis-33591	81	31	\	\	PROPN
bracis-33591	81	32	(	(	PUNCT
bracis-33591	81	33	u	u	NOUN
bracis-33591	81	34	\	\	PROPN
bracis-33591	81	35	)	)	PUNCT
bracis-33591	81	36	is	be	AUX
bracis-33591	81	37	the	the	DET
bracis-33591	81	38	standardized	standardized	ADJ
bracis-33591	81	39	distance	distance	NOUN
bracis-33591	81	40	between	between	ADP
bracis-33591	81	41	the	the	DET
bracis-33591	81	42	point	point	NOUN
bracis-33591	81	43	where	where	SCONJ
bracis-33591	81	44	the	the	DET
bracis-33591	81	45	density	density	NOUN
bracis-33591	81	46	is	be	AUX
bracis-33591	81	47	being	be	AUX
bracis-33591	81	48	estimated	estimate	VERB
bracis-33591	81	49	and	and	CCONJ
bracis-33591	81	50	the	the	DET
bracis-33591	81	51	data	data	NOUN
bracis-33591	81	52	point	point	NOUN
bracis-33591	81	53	,	,	PUNCT
bracis-33591	81	54	scaled	scale	VERB
bracis-33591	81	55	by	by	ADP
bracis-33591	81	56	the	the	DET
bracis-33591	81	57	bandwidth	bandwidth	ADJ
bracis-33591	81	58	\	\	PROPN
bracis-33591	81	59	(	(	PUNCT
bracis-33591	81	60	h	h	NOUN
bracis-33591	81	61	\	\	PROPN
bracis-33591	81	62	)	)	PUNCT
bracis-33591	81	63	.	.	PUNCT
bracis-33591	82	1	in	in	ADP
bracis-33591	82	2	this	this	DET
bracis-33591	82	3	work	work	NOUN
bracis-33591	82	4	,	,	PUNCT
bracis-33591	82	5	the	the	DET
bracis-33591	82	6	kde	kde	NOUN
bracis-33591	82	7	is	be	AUX
bracis-33591	82	8	used	use	VERB
bracis-33591	82	9	to	to	PART
bracis-33591	82	10	weigh	weigh	VERB
bracis-33591	82	11	the	the	DET
bracis-33591	82	12	training	training	NOUN
bracis-33591	82	13	samples	sample	NOUN
bracis-33591	82	14	in	in	ADP
bracis-33591	82	15	the	the	DET
bracis-33591	82	16	bc	bc	PROPN
bracis-33591	82	17	loss	loss	NOUN
bracis-33591	82	18	in	in	ADP
bracis-33591	82	19	(	(	PUNCT
bracis-33591	82	20	1	1	NUM
bracis-33591	82	21	)	)	PUNCT
bracis-33591	82	22	.	.	PUNCT
bracis-33591	83	1	by	by	ADP
bracis-33591	83	2	using	use	VERB
bracis-33591	83	3	the	the	DET
bracis-33591	83	4	inverse	inverse	NOUN
bracis-33591	83	5	of	of	ADP
bracis-33591	83	6	the	the	DET
bracis-33591	83	7	kernel	kernel	PROPN
bracis-33591	83	8	density	density	PROPN
bracis-33591	83	9	estimation	estimation	NOUN
bracis-33591	83	10	of	of	ADP
bracis-33591	83	11	the	the	DET
bracis-33591	83	12	actions	action	NOUN
bracis-33591	83	13	as	as	ADP
bracis-33591	83	14	weights	weight	NOUN
bracis-33591	83	15	,	,	PUNCT
bracis-33591	83	16	we	we	PRON
bracis-33591	83	17	give	give	VERB
bracis-33591	83	18	more	more	ADJ
bracis-33591	83	19	importance	importance	NOUN
bracis-33591	83	20	to	to	ADP
bracis-33591	83	21	less	less	ADV
bracis-33591	83	22	frequent	frequent	ADJ
bracis-33591	83	23	actions	action	NOUN
bracis-33591	83	24	.	.	PUNCT
bracis-33591	84	1	this	this	DET
bracis-33591	84	2	approach	approach	NOUN
bracis-33591	84	3	can	can	AUX
bracis-33591	84	4	help	help	VERB
bracis-33591	84	5	the	the	DET
bracis-33591	84	6	model	model	NOUN
bracis-33591	84	7	learn	learn	VERB
bracis-33591	84	8	better	well	ADV
bracis-33591	84	9	on	on	ADP
bracis-33591	84	10	underrepresented	underrepresented	ADJ
bracis-33591	84	11	parts	part	NOUN
bracis-33591	84	12	of	of	ADP
bracis-33591	84	13	the	the	DET
bracis-33591	84	14	action	action	NOUN
bracis-33591	84	15	space	space	NOUN
bracis-33591	84	16	.	.	PUNCT
bracis-33591	85	1	the	the	DET
bracis-33591	85	2	resulting	result	VERB
bracis-33591	85	3	weighted	weight	VERB
bracis-33591	85	4	bc	bc	PROPN
bracis-33591	85	5	loss	loss	NOUN
bracis-33591	85	6	function	function	NOUN
bracis-33591	85	7	can	can	AUX
bracis-33591	85	8	be	be	AUX
bracis-33591	85	9	written	write	VERB
bracis-33591	85	10	as	as	ADP
bracis-33591	85	11	:	:	PUNCT
bracis-33591	85	12	$	$	SYM
bracis-33591	85	13	$	$	SYM
bracis-33591	85	14	\begin{aligned	\begin{aligne	VERB
bracis-33591	85	15	}	}	PUNCT
bracis-33591	85	16	\mathcal	\mathcal	ADJ
bracis-33591	85	17	{	{	PUNCT
bracis-33591	85	18	l}(\theta	l}(\theta	NOUN
bracis-33591	85	19	)	)	PUNCT
bracis-33591	86	1	=	=	SYM
bracis-33591	86	2	-\frac{1}{n	-\frac{1}{n	ADJ
bracis-33591	86	3	}	}	PUNCT
bracis-33591	86	4	\sum	\sum	NOUN
bracis-33591	86	5	_	_	PUNCT
bracis-33591	86	6	{	{	PUNCT
bracis-33591	86	7	i=1}^n	i=1}^n	SYM
bracis-33591	86	8	w_i	w_i	ADP
bracis-33591	86	9	\left	\left	PROPN
bracis-33591	86	10	[	[	PUNCT
bracis-33591	86	11	\log	\log	PROPN
bracis-33591	86	12	f\left	f\left	PROPN
bracis-33591	86	13	(	(	PUNCT
bracis-33591	86	14	\frac{a_{i}^\textrm{ac	\frac{a_{i}^\textrm{ac	PROPN
bracis-33591	86	15	}	}	PUNCT
bracis-33591	86	16	+	+	NUM
bracis-33591	86	17	1}{2	1}{2	NUM
bracis-33591	86	18	}	}	PUNCT
bracis-33591	86	19	;	;	PUNCT
bracis-33591	86	20	\alpha	\alpha	ADP
bracis-33591	86	21	_	_	NOUN
bracis-33591	86	22	{	{	PUNCT
bracis-33591	86	23	i}^\textrm{ac	i}^\textrm{ac	ADJ
bracis-33591	86	24	}	}	PUNCT
bracis-33591	86	25	,	,	PUNCT
bracis-33591	86	26	\beta	\beta	PROPN
bracis-33591	86	27	_	_	PUNCT
bracis-33591	86	28	{	{	PUNCT
bracis-33591	86	29	i}^\textrm{ac	i}^\textrm{ac	ADJ
bracis-33591	86	30	}	}	PUNCT
bracis-33591	86	31	\right	\right	PROPN
bracis-33591	86	32	)	)	PUNCT
bracis-33591	86	33	+	+	CCONJ
bracis-33591	86	34	\log	\log	PROPN
bracis-33591	86	35	f\left	f\left	NOUN
bracis-33591	86	36	(	(	PUNCT
bracis-33591	86	37	\frac{a_{i}^\textrm{steer	\frac{a_{i}^\textrm{steer	PROPN
bracis-33591	86	38	}	}	PUNCT
bracis-33591	86	39	+	+	NOUN
bracis-33591	86	40	1}{2	1}{2	NUM
bracis-33591	86	41	}	}	PUNCT
bracis-33591	86	42	;	;	PUNCT
bracis-33591	86	43	\alpha	\alpha	X
bracis-33591	86	44	_	_	PRON
bracis-33591	86	45	{	{	PUNCT
bracis-33591	86	46	i}^\textrm{steer	i}^\textrm{steer	NOUN
bracis-33591	86	47	}	}	PUNCT
bracis-33591	86	48	,	,	PUNCT
bracis-33591	86	49	\beta	\beta	PROPN
bracis-33591	86	50	_	_	PUNCT
bracis-33591	86	51	{	{	PUNCT
bracis-33591	86	52	i}^\textrm{steer	i}^\textrm{steer	NOUN
bracis-33591	86	53	}	}	PUNCT
bracis-33591	86	54	\right	\right	PROPN
bracis-33591	86	55	)	)	PUNCT
bracis-33591	86	56	\right	\right	PROPN
bracis-33591	86	57	]	]	PUNCT
bracis-33591	86	58	\end{aligned}$$	\end{aligned}$$	X
bracis-33591	86	59	(	(	PUNCT
bracis-33591	86	60	3	3	NUM
bracis-33591	86	61	)	)	PUNCT
bracis-33591	86	62	where	where	SCONJ
bracis-33591	86	63	:	:	PUNCT
bracis-33591	86	64	\	\	PROPN
bracis-33591	86	65	(	(	PUNCT
bracis-33591	86	66	w_i	w_i	NUM
bracis-33591	86	67	=	=	SYM
bracis-33591	86	68	\frac{1}{\textrm{kde}(a_i	\frac{1}{\textrm{kde}(a_i	X
bracis-33591	86	69	)	)	PUNCT
bracis-33591	86	70	}	}	PUNCT
bracis-33591	86	71	\	\	PROPN
bracis-33591	86	72	)	)	PUNCT
bracis-33591	86	73	;	;	PUNCT
bracis-33591	86	74	and	and	CCONJ
bracis-33591	86	75	\	\	PROPN
bracis-33591	86	76	(	(	PUNCT
bracis-33591	86	77	\textrm{kde}(a_i	\textrm{kde}(a_i	PROPN
bracis-33591	86	78	)	)	PUNCT
bracis-33591	86	79	\	\	NOUN
bracis-33591	86	80	)	)	PUNCT
bracis-33591	86	81	is	be	AUX
bracis-33591	86	82	the	the	DET
bracis-33591	86	83	kernel	kernel	PROPN
bracis-33591	86	84	density	density	PROPN
bracis-33591	86	85	estimation	estimation	NOUN
bracis-33591	86	86	evaluated	evaluate	VERB
bracis-33591	86	87	at	at	ADP
bracis-33591	86	88	the	the	DET
bracis-33591	86	89	action	action	NOUN
bracis-33591	86	90	\	\	PROPN
bracis-33591	86	91	(	(	PUNCT
bracis-33591	86	92	a_i	a_i	PROPN
bracis-33591	86	93	\	\	PROPN
bracis-33591	86	94	)	)	PUNCT
bracis-33591	86	95	.	.	PUNCT
bracis-33591	87	1	the	the	DET
bracis-33591	87	2	kde	kde	NOUN
bracis-33591	87	3	is	be	AUX
bracis-33591	87	4	estimated	estimate	VERB
bracis-33591	87	5	for	for	ADP
bracis-33591	87	6	the	the	DET
bracis-33591	87	7	actions	action	NOUN
bracis-33591	87	8	in	in	ADP
bracis-33591	87	9	the	the	DET
bracis-33591	87	10	training	training	NOUN
bracis-33591	87	11	set	set	NOUN
bracis-33591	87	12	.	.	PUNCT
bracis-33591	88	1	then	then	ADV
bracis-33591	88	2	the	the	DET
bracis-33591	88	3	weights	weight	NOUN
bracis-33591	88	4	\(w_i\	\(w_i\	NOUN
bracis-33591	88	5	)	)	PUNCT
bracis-33591	88	6	are	be	AUX
bracis-33591	88	7	calculated	calculate	VERB
bracis-33591	88	8	as	as	ADP
bracis-33591	88	9	the	the	DET
bracis-33591	88	10	inverse	inverse	NOUN
bracis-33591	88	11	of	of	ADP
bracis-33591	88	12	the	the	DET
bracis-33591	88	13	kde	kde	NOUN
bracis-33591	88	14	for	for	ADP
bracis-33591	88	15	each	each	DET
bracis-33591	88	16	action	action	NOUN
bracis-33591	88	17	.	.	PUNCT
bracis-33591	89	1	this	this	DET
bracis-33591	89	2	approach	approach	NOUN
bracis-33591	89	3	ensures	ensure	VERB
bracis-33591	89	4	that	that	SCONJ
bracis-33591	89	5	the	the	DET
bracis-33591	89	6	loss	loss	NOUN
bracis-33591	89	7	function	function	NOUN
bracis-33591	89	8	accounts	account	VERB
bracis-33591	89	9	for	for	ADP
bracis-33591	89	10	the	the	DET
bracis-33591	89	11	density	density	NOUN
bracis-33591	89	12	of	of	ADP
bracis-33591	89	13	actions	action	NOUN
bracis-33591	89	14	in	in	ADP
bracis-33591	89	15	the	the	DET
bracis-33591	89	16	training	training	NOUN
bracis-33591	89	17	set	set	NOUN
bracis-33591	89	18	,	,	PUNCT
bracis-33591	89	19	giving	give	VERB
bracis-33591	89	20	higher	high	ADJ
bracis-33591	89	21	importance	importance	NOUN
bracis-33591	89	22	to	to	ADP
bracis-33591	89	23	less	less	ADV
bracis-33591	89	24	frequent	frequent	ADJ
bracis-33591	89	25	actions	action	NOUN
bracis-33591	89	26	.	.	PUNCT
bracis-33591	90	1	3	3	NUM
bracis-33591	90	2	agent	agent	NOUN
bracis-33591	90	3	3.1	3.1	NUM
bracis-33591	90	4	input	input	NOUN
bracis-33591	90	5	representation	representation	NOUN
bracis-33591	90	6	the	the	DET
bracis-33591	90	7	input	input	NOUN
bracis-33591	90	8	\	\	PROPN
bracis-33591	90	9	(	(	PUNCT
bracis-33591	90	10	s	s	X
bracis-33591	90	11	\	\	NOUN
bracis-33591	90	12	)	)	PUNCT
bracis-33591	90	13	to	to	ADP
bracis-33591	90	14	the	the	DET
bracis-33591	90	15	agent	agent	NOUN
bracis-33591	90	16	’s	’s	PART
bracis-33591	90	17	policy	policy	NOUN
bracis-33591	90	18	is	be	AUX
bracis-33591	90	19	a	a	DET
bracis-33591	90	20	six	six	NUM
bracis-33591	90	21	-	-	PUNCT
bracis-33591	90	22	channel	channel	NOUN
bracis-33591	90	23	192\(\,\times	192\(\,\times	NUM
bracis-33591	90	24	\,\)192	\,\)192	NUM
bracis-33591	90	25	image	image	NOUN
bracis-33591	90	26	produced	produce	VERB
bracis-33591	90	27	by	by	ADP
bracis-33591	90	28	a	a	DET
bracis-33591	90	29	module	module	NOUN
bracis-33591	90	30	in	in	ADP
bracis-33591	90	31	carla	carla	PROPN
bracis-33591	90	32	simulator	simulator	NOUN
bracis-33591	90	33	that	that	PRON
bracis-33591	90	34	has	have	VERB
bracis-33591	90	35	access	access	NOUN
bracis-33591	90	36	to	to	ADP
bracis-33591	90	37	the	the	DET
bracis-33591	90	38	city	city	NOUN
bracis-33591	90	39	map	map	NOUN
bracis-33591	90	40	.	.	PUNCT
bracis-33591	91	1	this	this	DET
bracis-33591	91	2	image	image	NOUN
bracis-33591	91	3	represents	represent	VERB
bracis-33591	91	4	the	the	DET
bracis-33591	91	5	mid	mid	ADJ
bracis-33591	91	6	-	-	NOUN
bracis-33591	91	7	level	level	ADJ
bracis-33591	91	8	bird’s	bird’s	NOUN
bracis-33591	91	9	-	-	PUNCT
bracis-33591	91	10	eye	eye	NOUN
bracis-33591	91	11	view	view	NOUN
bracis-33591	91	12	of	of	ADP
bracis-33591	91	13	the	the	DET
bracis-33591	91	14	vehicle	vehicle	NOUN
bracis-33591	91	15	’s	’s	PART
bracis-33591	91	16	current	current	ADJ
bracis-33591	91	17	position	position	NOUN
bracis-33591	91	18	.	.	PUNCT
bracis-33591	92	1	in	in	ADP
bracis-33591	92	2	this	this	DET
bracis-33591	92	3	work	work	NOUN
bracis-33591	92	4	,	,	PUNCT
bracis-33591	92	5	the	the	DET
bracis-33591	92	6	bev	bev	PROPN
bracis-33591	92	7	contains	contain	VERB
bracis-33591	92	8	three	three	NUM
bracis-33591	92	9	channels	channel	NOUN
bracis-33591	92	10	,	,	PUNCT
bracis-33591	92	11	the	the	DET
bracis-33591	92	12	road	road	NOUN
bracis-33591	92	13	,	,	PUNCT
bracis-33591	92	14	the	the	DET
bracis-33591	92	15	route	route	NOUN
bracis-33591	92	16	and	and	CCONJ
bracis-33591	92	17	the	the	DET
bracis-33591	92	18	lane	lane	NOUN
bracis-33591	92	19	,	,	PUNCT
bracis-33591	92	20	and	and	CCONJ
bracis-33591	92	21	 	 	SPACE
bracis-33591	92	22	also	also	ADV
bracis-33591	92	23	three	three	NUM
bracis-33591	92	24	more	more	ADJ
bracis-33591	92	25	channels	channel	NOUN
bracis-33591	92	26	representing	represent	VERB
bracis-33591	92	27	the	the	DET
bracis-33591	92	28	history	history	NOUN
bracis-33591	92	29	of	of	ADP
bracis-33591	92	30	the	the	DET
bracis-33591	92	31	traffic	traffic	NOUN
bracis-33591	92	32	lights	light	NOUN
bracis-33591	92	33	at	at	ADP
bracis-33591	92	34	time	time	NOUN
bracis-33591	92	35	steps	step	NOUN
bracis-33591	92	36	–	–	PUNCT
bracis-33591	92	37	16	16	NUM
bracis-33591	92	38	,	,	PUNCT
bracis-33591	92	39	–	–	PUNCT
bracis-33591	92	40	9	9	NUM
bracis-33591	92	41	and	and	CCONJ
bracis-33591	92	42	–	–	PUNCT
bracis-33591	92	43	1	1	NUM
bracis-33591	92	44	.	.	PUNCT
bracis-33591	92	45	additionally	additionally	ADV
bracis-33591	92	46	,	,	PUNCT
bracis-33591	92	47	the	the	DET
bracis-33591	92	48	agent	agent	NOUN
bracis-33591	92	49	receives	receive	VERB
bracis-33591	92	50	the	the	DET
bracis-33591	92	51	current	current	ADJ
bracis-33591	92	52	speed	speed	NOUN
bracis-33591	92	53	of	of	ADP
bracis-33591	92	54	the	the	DET
bracis-33591	92	55	vehicle	vehicle	NOUN
bracis-33591	92	56	and	and	CCONJ
bracis-33591	92	57	the	the	DET
bracis-33591	92	58	last	last	ADJ
bracis-33591	92	59	values	value	NOUN
bracis-33591	92	60	of	of	ADP
bracis-33591	92	61	the	the	DET
bracis-33591	92	62	policy	policy	NOUN
bracis-33591	92	63	actuators	actuator	NOUN
bracis-33591	92	64	(	(	PUNCT
bracis-33591	92	65	previous	previous	ADJ
bracis-33591	92	66	acceleration	acceleration	NOUN
bracis-33591	92	67	and	and	CCONJ
bracis-33591	92	68	steering	steering	NOUN
bracis-33591	92	69	)	)	PUNCT
bracis-33591	92	70	.	.	PUNCT
bracis-33591	93	1	these	these	DET
bracis-33591	93	2	additional	additional	ADJ
bracis-33591	93	3	inputs	input	NOUN
bracis-33591	93	4	are	be	AUX
bracis-33591	93	5	incorporated	incorporate	VERB
bracis-33591	93	6	further	far	ADV
bracis-33591	93	7	down	down	ADV
bracis-33591	93	8	in	in	ADP
bracis-33591	93	9	the	the	DET
bracis-33591	93	10	network	network	NOUN
bracis-33591	93	11	,	,	PUNCT
bracis-33591	93	12	specifically	specifically	ADV
bracis-33591	93	13	in	in	ADP
bracis-33591	93	14	the	the	DET
bracis-33591	93	15	first	first	ADJ
bracis-33591	93	16	fully	fully	ADV
bracis-33591	93	17	connected	connect	VERB
bracis-33591	93	18	layer	layer	NOUN
bracis-33591	93	19	.	.	PUNCT
bracis-33591	94	1	3.2	3.2	NUM
bracis-33591	94	2	output	output	NOUN
bracis-33591	94	3	representation	representation	NOUN
bracis-33591	94	4	the	the	DET
bracis-33591	94	5	vehicle	vehicle	NOUN
bracis-33591	94	6	in	in	ADP
bracis-33591	94	7	carla	carla	PROPN
bracis-33591	94	8	has	have	VERB
bracis-33591	94	9	three	three	NUM
bracis-33591	94	10	actuators	actuator	NOUN
bracis-33591	94	11	:	:	PUNCT
bracis-33591	94	12	steering	steer	VERB
bracis-33591	94	13	\([-1	\([-1	NOUN
bracis-33591	94	14	,	,	PUNCT
bracis-33591	94	15	1]\	1]\	NUM
bracis-33591	94	16	)	)	PUNCT
bracis-33591	94	17	,	,	PUNCT
bracis-33591	94	18	throttle	throttle	NOUN
bracis-33591	94	19	\([0	\([0	NOUN
bracis-33591	94	20	,	,	PUNCT
bracis-33591	94	21	1]\	1]\	NUM
bracis-33591	94	22	)	)	PUNCT
bracis-33591	94	23	,	,	PUNCT
bracis-33591	94	24	and	and	CCONJ
bracis-33591	94	25	brake	brake	NOUN
bracis-33591	94	26	\([0	\([0	PROPN
bracis-33591	94	27	,	,	PUNCT
bracis-33591	94	28	1]\	1]\	NUM
bracis-33591	94	29	)	)	PUNCT
bracis-33591	94	30	.	.	PUNCT
bracis-33591	95	1	our	our	PRON
bracis-33591	95	2	agent	agent	NOUN
bracis-33591	95	3	’s	’s	PART
bracis-33591	95	4	action	action	NOUN
bracis-33591	95	5	space	space	NOUN
bracis-33591	95	6	is	be	AUX
bracis-33591	95	7	\(\textbf{a	\(\textbf{a	ADJ
bracis-33591	95	8	}	}	PUNCT
bracis-33591	95	9	\in	\in	PROPN
bracis-33591	95	10	[	[	X
bracis-33591	95	11	-1	-1	ADJ
bracis-33591	95	12	,	,	PUNCT
bracis-33591	95	13	1]^2\	1]^2\	NUM
bracis-33591	95	14	)	)	PUNCT
bracis-33591	95	15	,	,	PUNCT
bracis-33591	95	16	where	where	SCONJ
bracis-33591	95	17	the	the	DET
bracis-33591	95	18	two	two	NUM
bracis-33591	95	19	components	component	NOUN
bracis-33591	95	20	correspond	correspond	VERB
bracis-33591	95	21	to	to	ADP
bracis-33591	95	22	steering	steering	NOUN
bracis-33591	95	23	and	and	CCONJ
bracis-33591	95	24	acceleration	acceleration	NOUN
bracis-33591	95	25	.	.	PUNCT
bracis-33591	96	1	braking	braking	NOUN
bracis-33591	96	2	is	be	AUX
bracis-33591	96	3	implied	imply	VERB
bracis-33591	96	4	when	when	SCONJ
bracis-33591	96	5	acceleration	acceleration	NOUN
bracis-33591	96	6	is	be	AUX
bracis-33591	96	7	negative	negative	ADJ
bracis-33591	96	8	,	,	PUNCT
bracis-33591	96	9	ensuring	ensure	VERB
bracis-33591	96	10	the	the	DET
bracis-33591	96	11	agent	agent	NOUN
bracis-33591	96	12	can	can	AUX
bracis-33591	96	13	not	not	PART
bracis-33591	96	14	brake	brake	VERB
bracis-33591	96	15	and	and	CCONJ
bracis-33591	96	16	accelerate	accelerate	VERB
bracis-33591	96	17	simultaneously	simultaneously	ADV
bracis-33591	96	18	[	[	X
bracis-33591	96	19	17	17	NUM
bracis-33591	96	20	]	]	PUNCT
bracis-33591	96	21	.	.	PUNCT
bracis-33591	97	1	instead	instead	ADV
bracis-33591	97	2	of	of	ADP
bracis-33591	97	3	using	use	VERB
bracis-33591	97	4	the	the	DET
bracis-33591	97	5	gaussian	gaussian	ADJ
bracis-33591	97	6	distribution	distribution	NOUN
bracis-33591	97	7	for	for	ADP
bracis-33591	97	8	the	the	DET
bracis-33591	97	9	policy	policy	NOUN
bracis-33591	97	10	’s	’s	PART
bracis-33591	97	11	actions	action	NOUN
bracis-33591	97	12	,	,	PUNCT
bracis-33591	97	13	we	we	PRON
bracis-33591	97	14	employ	employ	VERB
bracis-33591	97	15	the	the	DET
bracis-33591	97	16	beta	beta	ADJ
bracis-33591	97	17	distribution	distribution	NOUN
bracis-33591	97	18	\(\mathcal	\(\mathcal	ADJ
bracis-33591	97	19	{	{	PUNCT
bracis-33591	97	20	b}(\alpha	b}(\alpha	NOUN
bracis-33591	97	21	,	,	PUNCT
bracis-33591	97	22	\beta	\beta	PROPN
bracis-33591	97	23	)	)	PUNCT
bracis-33591	97	24	\	\	PROPN
bracis-33591	97	25	)	)	PUNCT
bracis-33591	97	26	.	.	PUNCT
bracis-33591	98	1	the	the	DET
bracis-33591	98	2	beta	beta	ADJ
bracis-33591	98	3	distribution	distribution	NOUN
bracis-33591	98	4	’s	’s	PART
bracis-33591	98	5	bounded	bounded	ADJ
bracis-33591	98	6	support	support	NOUN
bracis-33591	98	7	is	be	AUX
bracis-33591	98	8	suitable	suitable	ADJ
bracis-33591	98	9	for	for	ADP
bracis-33591	98	10	real	real	ADJ
bracis-33591	98	11	-	-	PUNCT
bracis-33591	98	12	world	world	NOUN
bracis-33591	98	13	applications	application	NOUN
bracis-33591	98	14	like	like	ADP
bracis-33591	98	15	autonomous	autonomous	ADJ
bracis-33591	98	16	driving	driving	NOUN
bracis-33591	98	17	,	,	PUNCT
bracis-33591	98	18	where	where	SCONJ
bracis-33591	98	19	actions	action	NOUN
bracis-33591	98	20	are	be	AUX
bracis-33591	98	21	naturally	naturally	ADV
bracis-33591	98	22	constrained	constrain	VERB
bracis-33591	98	23	[	[	X
bracis-33591	98	24	17	17	NUM
bracis-33591	98	25	]	]	PUNCT
bracis-33591	98	26	.	.	PUNCT
bracis-33591	99	1	this	this	DET
bracis-33591	99	2	approach	approach	NOUN
bracis-33591	99	3	avoids	avoid	VERB
bracis-33591	99	4	the	the	DET
bracis-33591	99	5	need	need	NOUN
bracis-33591	99	6	for	for	ADP
bracis-33591	99	7	clipping	clip	VERB
bracis-33591	99	8	or	or	CCONJ
bracis-33591	99	9	squashing	squash	VERB
bracis-33591	99	10	inputs	input	NOUN
bracis-33591	99	11	to	to	PART
bracis-33591	99	12	enforce	enforce	VERB
bracis-33591	99	13	constraints	constraint	NOUN
bracis-33591	99	14	,	,	PUNCT
bracis-33591	99	15	allowing	allow	VERB
bracis-33591	99	16	explicit	explicit	ADJ
bracis-33591	99	17	computation	computation	NOUN
bracis-33591	99	18	of	of	ADP
bracis-33591	99	19	the	the	DET
bracis-33591	99	20	policy	policy	NOUN
bracis-33591	99	21	loss	loss	NOUN
bracis-33591	99	22	\(\mathcal	\(\mathcal	ADJ
bracis-33591	99	23	{	{	PUNCT
bracis-33591	99	24	l}_p\	l}_p\	NOUN
bracis-33591	99	25	)	)	PUNCT
bracis-33591	99	26	.	.	PUNCT
bracis-33591	100	1	the	the	DET
bracis-33591	100	2	beta	beta	ADJ
bracis-33591	100	3	distribution	distribution	NOUN
bracis-33591	100	4	also	also	ADV
bracis-33591	100	5	handles	handle	VERB
bracis-33591	100	6	extreme	extreme	ADJ
bracis-33591	100	7	driving	driving	NOUN
bracis-33591	100	8	scenarios	scenario	NOUN
bracis-33591	100	9	,	,	PUNCT
bracis-33591	100	10	such	such	ADJ
bracis-33591	100	11	as	as	ADP
bracis-33591	100	12	sharp	sharp	ADJ
bracis-33591	100	13	turns	turn	NOUN
bracis-33591	100	14	and	and	CCONJ
bracis-33591	100	15	sudden	sudden	ADJ
bracis-33591	100	16	braking	braking	NOUN
bracis-33591	100	17	,	,	PUNCT
bracis-33591	100	18	effectively	effectively	ADV
bracis-33591	100	19	.	.	PUNCT
bracis-33591	101	1	the	the	DET
bracis-33591	101	2	parameters	parameter	NOUN
bracis-33591	101	3	\(\alpha	\(\alpha	VERB
bracis-33591	101	4	\	\	NOUN
bracis-33591	101	5	)	)	PUNCT
bracis-33591	101	6	and	and	CCONJ
bracis-33591	101	7	\(\beta	\(\beta	PRON
bracis-33591	101	8	\	\	PROPN
bracis-33591	101	9	)	)	PUNCT
bracis-33591	101	10	,	,	PUNCT
bracis-33591	101	11	which	which	PRON
bracis-33591	101	12	are	be	AUX
bracis-33591	101	13	outputs	output	NOUN
bracis-33591	101	14	of	of	ADP
bracis-33591	101	15	the	the	DET
bracis-33591	101	16	policy	policy	NOUN
bracis-33591	101	17	neural	neural	ADJ
bracis-33591	101	18	network	network	NOUN
bracis-33591	101	19	\(\pi	\(\pi	PROPN
bracis-33591	102	1	_	_	PUNCT
bracis-33591	102	2	\theta	\theta	PROPN
bracis-33591	102	3	\	\	PROPN
bracis-33591	102	4	)	)	PUNCT
bracis-33591	102	5	,	,	PUNCT
bracis-33591	102	6	control	control	VERB
bracis-33591	102	7	the	the	DET
bracis-33591	102	8	shape	shape	NOUN
bracis-33591	102	9	of	of	ADP
bracis-33591	102	10	the	the	DET
bracis-33591	102	11	distribution	distribution	NOUN
bracis-33591	102	12	,	,	PUNCT
bracis-33591	102	13	enabling	enable	VERB
bracis-33591	102	14	the	the	DET
bracis-33591	102	15	policy	policy	NOUN
bracis-33591	102	16	to	to	PART
bracis-33591	102	17	adapt	adapt	VERB
bracis-33591	102	18	to	to	ADP
bracis-33591	102	19	these	these	DET
bracis-33591	102	20	critical	critical	ADJ
bracis-33591	102	21	behaviors	behavior	NOUN
bracis-33591	102	22	.	.	PUNCT
bracis-33591	103	1	3.3	3.3	NUM
bracis-33591	103	2	network	network	NOUN
bracis-33591	103	3	architecture	architecture	NOUN
bracis-33591	103	4	in	in	ADP
bracis-33591	103	5	this	this	DET
bracis-33591	103	6	work	work	NOUN
bracis-33591	103	7	,	,	PUNCT
bracis-33591	103	8	we	we	PRON
bracis-33591	103	9	train	train	VERB
bracis-33591	103	10	a	a	DET
bracis-33591	103	11	network	network	NOUN
bracis-33591	103	12	architecture	architecture	NOUN
bracis-33591	103	13	,	,	PUNCT
bracis-33591	103	14	shown	show	VERB
bracis-33591	103	15	in	in	ADP
bracis-33591	103	16	fig	fig	NOUN
bracis-33591	103	17	.	.	PUNCT
bracis-33591	103	18	 	 	SPACE
bracis-33591	103	19	2	2	NUM
bracis-33591	103	20	,	,	PUNCT
bracis-33591	103	21	to	to	PART
bracis-33591	103	22	learn	learn	VERB
bracis-33591	103	23	to	to	PART
bracis-33591	103	24	control	control	VERB
bracis-33591	103	25	an	an	DET
bracis-33591	103	26	autonomous	autonomous	ADJ
bracis-33591	103	27	vehicle	vehicle	NOUN
bracis-33591	103	28	,	,	PUNCT
bracis-33591	103	29	using	use	VERB
bracis-33591	103	30	steering	steering	NOUN
bracis-33591	103	31	and	and	CCONJ
bracis-33591	103	32	acceleration	acceleration	NOUN
bracis-33591	103	33	actuators	actuator	NOUN
bracis-33591	103	34	,	,	PUNCT
bracis-33591	103	35	based	base	VERB
bracis-33591	103	36	on	on	ADP
bracis-33591	103	37	the	the	DET
bracis-33591	103	38	current	current	ADJ
bracis-33591	103	39	bev	bev	PROPN
bracis-33591	103	40	and	and	CCONJ
bracis-33591	103	41	some	some	DET
bracis-33591	103	42	state	state	NOUN
bracis-33591	103	43	variables	variable	NOUN
bracis-33591	103	44	as	as	ADP
bracis-33591	103	45	inputs	input	NOUN
bracis-33591	103	46	.	.	PUNCT
bracis-33591	104	1	the	the	DET
bracis-33591	104	2	convolutionary	convolutionary	ADJ
bracis-33591	104	3	neural	neural	ADJ
bracis-33591	104	4	network	network	NOUN
bracis-33591	104	5	(	(	PUNCT
bracis-33591	104	6	cnn	cnn	PROPN
bracis-33591	104	7	)	)	PUNCT
bracis-33591	104	8	maps	map	VERB
bracis-33591	104	9	the	the	DET
bracis-33591	104	10	bev	bev	PROPN
bracis-33591	104	11	into	into	ADP
bracis-33591	104	12	an	an	DET
bracis-33591	104	13	embedding	embed	VERB
bracis-33591	104	14	vector	vector	NOUN
bracis-33591	104	15	of	of	ADP
bracis-33591	104	16	size	size	NOUN
bracis-33591	104	17	256	256	NUM
bracis-33591	104	18	.	.	PUNCT
bracis-33591	105	1	similarly	similarly	ADV
bracis-33591	105	2	,	,	PUNCT
bracis-33591	105	3	the	the	DET
bracis-33591	105	4	scalar	scalar	ADJ
bracis-33591	105	5	state	state	NOUN
bracis-33591	105	6	variables	variable	NOUN
bracis-33591	105	7	are	be	AUX
bracis-33591	105	8	embedded	embed	VERB
bracis-33591	105	9	into	into	ADP
bracis-33591	105	10	a	a	DET
bracis-33591	105	11	vector	vector	NOUN
bracis-33591	105	12	of	of	ADP
bracis-33591	105	13	size	size	NOUN
bracis-33591	105	14	256	256	NUM
bracis-33591	105	15	by	by	ADP
bracis-33591	105	16	a	a	DET
bracis-33591	105	17	standard	standard	ADJ
bracis-33591	105	18	mlp	mlp	NOUN
bracis-33591	105	19	(	(	PUNCT
bracis-33591	105	20	multi	multi	ADJ
bracis-33591	105	21	-	-	ADJ
bracis-33591	105	22	layer	layer	ADJ
bracis-33591	105	23	perceptron	perceptron	NOUN
bracis-33591	105	24	layer	layer	NOUN
bracis-33591	105	25	)	)	PUNCT
bracis-33591	105	26	.	.	PUNCT
bracis-33591	106	1	together	together	ADV
bracis-33591	106	2	they	they	PRON
bracis-33591	106	3	form	form	VERB
bracis-33591	106	4	the	the	DET
bracis-33591	106	5	current	current	ADJ
bracis-33591	106	6	representation	representation	NOUN
bracis-33591	106	7	of	of	ADP
bracis-33591	106	8	the	the	DET
bracis-33591	106	9	environment	environment	NOUN
bracis-33591	106	10	the	the	DET
bracis-33591	106	11	agent	agent	NOUN
bracis-33591	106	12	faces	face	VERB
bracis-33591	106	13	.	.	PUNCT
bracis-33591	107	1	this	this	PRON
bracis-33591	107	2	concatenated	concatenate	VERB
bracis-33591	107	3	embedding	embed	VERB
bracis-33591	107	4	vector	vector	NOUN
bracis-33591	107	5	is	be	AUX
bracis-33591	107	6	processed	process	VERB
bracis-33591	107	7	by	by	ADP
bracis-33591	107	8	another	another	DET
bracis-33591	107	9	mlp	mlp	NOUN
bracis-33591	107	10	to	to	PART
bracis-33591	107	11	map	map	VERB
bracis-33591	107	12	to	to	ADP
bracis-33591	107	13	the	the	DET
bracis-33591	107	14	desired	desire	VERB
bracis-33591	107	15	action	action	NOUN
bracis-33591	107	16	.	.	PUNCT
bracis-33591	108	1	fig	fig	NOUN
bracis-33591	108	2	.	.	PUNCT
bracis-33591	109	1	2	2	X
bracis-33591	109	2	.	.	X
bracis-33591	109	3	network	network	NOUN
bracis-33591	109	4	architecture	architecture	NOUN
bracis-33591	109	5	.	.	PUNCT
bracis-33591	110	1	the	the	DET
bracis-33591	110	2	bev	bev	PROPN
bracis-33591	110	3	(	(	PUNCT
bracis-33591	110	4	state	state	NOUN
bracis-33591	110	5	)	)	PUNCT
bracis-33591	110	6	input	input	NOUN
bracis-33591	110	7	is	be	AUX
bracis-33591	110	8	processed	process	VERB
bracis-33591	110	9	by	by	ADP
bracis-33591	110	10	a	a	DET
bracis-33591	110	11	cnn	cnn	PROPN
bracis-33591	110	12	(	(	PUNCT
bracis-33591	110	13	mlp	mlp	NOUN
bracis-33591	110	14	)	)	PUNCT
bracis-33591	110	15	to	to	PART
bracis-33591	110	16	create	create	VERB
bracis-33591	110	17	an	an	DET
bracis-33591	110	18	image	image	NOUN
bracis-33591	110	19	(	(	PUNCT
bracis-33591	110	20	state	state	NOUN
bracis-33591	110	21	)	)	PUNCT
bracis-33591	110	22	encoding	encoding	NOUN
bracis-33591	110	23	.	.	PUNCT
bracis-33591	111	1	both	both	PRON
bracis-33591	111	2	image	image	NOUN
bracis-33591	111	3	and	and	CCONJ
bracis-33591	111	4	state	state	NOUN
bracis-33591	111	5	encodings	encoding	NOUN
bracis-33591	111	6	are	be	AUX
bracis-33591	111	7	concatenated	concatenate	VERB
bracis-33591	111	8	and	and	CCONJ
bracis-33591	111	9	fed	feed	VERB
bracis-33591	111	10	into	into	ADP
bracis-33591	111	11	a	a	DET
bracis-33591	111	12	final	final	ADJ
bracis-33591	111	13	mlp	mlp	NOUN
bracis-33591	111	14	that	that	PRON
bracis-33591	111	15	outputs	output	VERB
bracis-33591	111	16	the	the	DET
bracis-33591	111	17	actions	action	NOUN
bracis-33591	111	18	.	.	PUNCT
bracis-33591	112	1	full	full	ADJ
bracis-33591	112	2	size	size	NOUN
bracis-33591	112	3	image	image	NOUN
bracis-33591	112	4	figure	figure	NOUN
bracis-33591	112	5	 	 	SPACE
bracis-33591	112	6	3	3	NUM
bracis-33591	112	7	shows	show	VERB
bracis-33591	112	8	the	the	DET
bracis-33591	112	9	detailed	detailed	ADJ
bracis-33591	112	10	network	network	NOUN
bracis-33591	112	11	architecture	architecture	NOUN
bracis-33591	112	12	.	.	PUNCT
bracis-33591	113	1	fig	fig	NOUN
bracis-33591	113	2	.	.	PUNCT
bracis-33591	114	1	3	3	X
bracis-33591	114	2	.	.	X
bracis-33591	114	3	detailed	detailed	ADJ
bracis-33591	114	4	network	network	NOUN
bracis-33591	114	5	architecture	architecture	NOUN
bracis-33591	114	6	.	.	PUNCT
bracis-33591	115	1	the	the	DET
bracis-33591	115	2	bev	bev	PROPN
bracis-33591	115	3	input	input	NOUN
bracis-33591	115	4	consists	consist	VERB
bracis-33591	115	5	of	of	ADP
bracis-33591	115	6	6	6	NUM
bracis-33591	115	7	channels	channel	NOUN
bracis-33591	115	8	of	of	ADP
bracis-33591	115	9	192\(\,\times	192\(\,\times	NUM
bracis-33591	115	10	\,\)192	\,\)192	NUM
bracis-33591	115	11	resolution	resolution	NOUN
bracis-33591	115	12	,	,	PUNCT
bracis-33591	115	13	while	while	SCONJ
bracis-33591	115	14	the	the	DET
bracis-33591	115	15	state	state	NOUN
bracis-33591	115	16	input	input	NOUN
bracis-33591	115	17	correponds	correpond	VERB
bracis-33591	115	18	to	to	ADP
bracis-33591	115	19	the	the	DET
bracis-33591	115	20	last	last	ADJ
bracis-33591	115	21	executed	execute	VERB
bracis-33591	115	22	actions	action	NOUN
bracis-33591	115	23	,	,	PUNCT
bracis-33591	115	24	and	and	CCONJ
bracis-33591	115	25	the	the	DET
bracis-33591	115	26	current	current	ADJ
bracis-33591	115	27	speed	speed	NOUN
bracis-33591	115	28	measurements	measurement	NOUN
bracis-33591	115	29	.	.	PUNCT
bracis-33591	116	1	the	the	DET
bracis-33591	116	2	final	final	ADJ
bracis-33591	116	3	policy	policy	NOUN
bracis-33591	116	4	output	output	NOUN
bracis-33591	116	5	corresponds	correspond	VERB
bracis-33591	116	6	to	to	ADP
bracis-33591	116	7	the	the	DET
bracis-33591	116	8	two	two	NUM
bracis-33591	116	9	parameters	parameter	NOUN
bracis-33591	116	10	\(\alpha	\(\alpha	X
bracis-33591	116	11	\	\	NOUN
bracis-33591	116	12	)	)	PUNCT
bracis-33591	116	13	and	and	CCONJ
bracis-33591	116	14	\(\beta	\(\beta	PRON
bracis-33591	116	15	\	\	PROPN
bracis-33591	116	16	)	)	PUNCT
bracis-33591	116	17	of	of	ADP
bracis-33591	116	18	the	the	DET
bracis-33591	116	19	beta	beta	ADJ
bracis-33591	116	20	distribution	distribution	NOUN
bracis-33591	116	21	for	for	ADP
bracis-33591	116	22	both	both	CCONJ
bracis-33591	116	23	acceleration	acceleration	NOUN
bracis-33591	116	24	and	and	CCONJ
bracis-33591	116	25	steering	steering	NOUN
bracis-33591	116	26	(	(	PUNCT
bracis-33591	116	27	thus	thus	ADV
bracis-33591	116	28	,	,	PUNCT
bracis-33591	116	29	the	the	DET
bracis-33591	116	30	two	two	NUM
bracis-33591	116	31	heads	head	NOUN
bracis-33591	116	32	)	)	PUNCT
bracis-33591	116	33	.	.	PUNCT
bracis-33591	117	1	full	full	ADJ
bracis-33591	117	2	size	size	NOUN
bracis-33591	117	3	image	image	NOUN
bracis-33591	117	4	4	4	NUM
bracis-33591	117	5	experiments	experiment	NOUN
bracis-33591	117	6	in	in	ADP
bracis-33591	117	7	this	this	DET
bracis-33591	117	8	section	section	NOUN
bracis-33591	117	9	,	,	PUNCT
bracis-33591	117	10	the	the	DET
bracis-33591	117	11	proposed	propose	VERB
bracis-33591	117	12	bc	bc	PROPN
bracis-33591	117	13	with	with	ADP
bracis-33591	117	14	weigthed	weigthe	VERB
bracis-33591	117	15	loss	loss	NOUN
bracis-33591	117	16	function	function	NOUN
bracis-33591	117	17	is	be	AUX
bracis-33591	117	18	compared	compare	VERB
bracis-33591	117	19	with	with	ADP
bracis-33591	117	20	the	the	DET
bracis-33591	117	21	standard	standard	ADJ
bracis-33591	117	22	bc	bc	PROPN
bracis-33591	117	23	approach	approach	NOUN
bracis-33591	117	24	for	for	ADP
bracis-33591	117	25	autonomous	autonomous	ADJ
bracis-33591	117	26	vehicle	vehicle	NOUN
bracis-33591	117	27	navigation	navigation	NOUN
bracis-33591	117	28	tasks	task	NOUN
bracis-33591	117	29	in	in	ADP
bracis-33591	117	30	urban	urban	ADJ
bracis-33591	117	31	scenarios	scenario	NOUN
bracis-33591	117	32	using	use	VERB
bracis-33591	117	33	the	the	DET
bracis-33591	117	34	carla	carla	PROPN
bracis-33591	117	35	simulator	simulator	NOUN
bracis-33591	117	36	.	.	PUNCT
bracis-33591	118	1	4.1	4.1	NUM
bracis-33591	118	2	dataset	dataset	NOUN
bracis-33591	118	3	generation	generation	NOUN
bracis-33591	118	4	the	the	DET
bracis-33591	118	5	environment	environment	NOUN
bracis-33591	118	6	and	and	CCONJ
bracis-33591	118	7	trajectories	trajectory	NOUN
bracis-33591	118	8	are	be	AUX
bracis-33591	118	9	sourced	source	VERB
bracis-33591	118	10	from	from	ADP
bracis-33591	118	11	the	the	DET
bracis-33591	118	12	carla	carla	PROPN
bracis-33591	118	13	leaderboard	leaderboard	PROPN
bracis-33591	118	14	evaluation	evaluation	NOUN
bracis-33591	118	15	platform	platform	NOUN
bracis-33591	118	16	[	[	X
bracis-33591	118	17	1	1	NUM
bracis-33591	118	18	]	]	PUNCT
bracis-33591	118	19	.	.	PUNCT
bracis-33591	119	1	specifically	specifically	ADV
bracis-33591	119	2	,	,	PUNCT
bracis-33591	119	3	the	the	DET
bracis-33591	119	4	town01	town01	NOUN
bracis-33591	119	5	environment	environment	NOUN
bracis-33591	119	6	from	from	ADP
bracis-33591	119	7	this	this	DET
bracis-33591	119	8	platform	platform	NOUN
bracis-33591	119	9	,	,	PUNCT
bracis-33591	119	10	along	along	ADP
bracis-33591	119	11	with	with	ADP
bracis-33591	119	12	ten	ten	NUM
bracis-33591	119	13	predefined	predefine	VERB
bracis-33591	119	14	trajectories	trajectory	NOUN
bracis-33591	119	15	,	,	PUNCT
bracis-33591	119	16	is	be	AUX
bracis-33591	119	17	used	use	VERB
bracis-33591	119	18	to	to	PART
bracis-33591	119	19	create	create	VERB
bracis-33591	119	20	the	the	DET
bracis-33591	119	21	expert	expert	NOUN
bracis-33591	119	22	dataset	dataset	NOUN
bracis-33591	119	23	.	.	PUNCT
bracis-33591	120	1	the	the	DET
bracis-33591	120	2	expert	expert	NOUN
bracis-33591	120	3	dataset	dataset	NOUN
bracis-33591	120	4	is	be	AUX
bracis-33591	120	5	generated	generate	VERB
bracis-33591	120	6	using	use	VERB
bracis-33591	120	7	a	a	DET
bracis-33591	120	8	deterministic	deterministic	ADJ
bracis-33591	120	9	agent	agent	NOUN
bracis-33591	120	10	that	that	PRON
bracis-33591	120	11	navigates	navigate	VERB
bracis-33591	120	12	with	with	ADP
bracis-33591	120	13	a	a	DET
bracis-33591	120	14	dense	dense	ADJ
bracis-33591	120	15	point	point	NOUN
bracis-33591	120	16	trajectory	trajectory	NOUN
bracis-33591	120	17	and	and	CCONJ
bracis-33591	120	18	a	a	DET
bracis-33591	120	19	classic	classic	ADJ
bracis-33591	120	20	pid	pid	NOUN
bracis-33591	120	21	controller	controller	NOUN
bracis-33591	121	1	[	[	X
bracis-33591	121	2	5	5	NUM
bracis-33591	121	3	]	]	PUNCT
bracis-33591	121	4	.	.	PUNCT
bracis-33591	122	1	the	the	DET
bracis-33591	122	2	dense	dense	ADJ
bracis-33591	122	3	point	point	NOUN
bracis-33591	122	4	trajectory	trajectory	NOUN
bracis-33591	122	5	offers	offer	VERB
bracis-33591	122	6	numerous	numerous	ADJ
bracis-33591	122	7	points	point	NOUN
bracis-33591	122	8	at	at	ADP
bracis-33591	122	9	a	a	DET
bracis-33591	122	10	high	high	ADJ
bracis-33591	122	11	resolution	resolution	NOUN
bracis-33591	122	12	,	,	PUNCT
bracis-33591	122	13	while	while	SCONJ
bracis-33591	122	14	a	a	DET
bracis-33591	122	15	sparse	sparse	ADJ
bracis-33591	122	16	point	point	NOUN
bracis-33591	122	17	trajectory	trajectory	NOUN
bracis-33591	122	18	has	have	VERB
bracis-33591	122	19	significantly	significantly	ADV
bracis-33591	122	20	fewer	few	ADJ
bracis-33591	122	21	points	point	NOUN
bracis-33591	122	22	,	,	PUNCT
bracis-33591	122	23	giving	give	VERB
bracis-33591	122	24	the	the	DET
bracis-33591	122	25	agent	agent	NOUN
bracis-33591	122	26	only	only	ADV
bracis-33591	122	27	a	a	DET
bracis-33591	122	28	general	general	ADJ
bracis-33591	122	29	direction	direction	NOUN
bracis-33591	122	30	.	.	PUNCT
bracis-33591	123	1	therefore	therefore	ADV
bracis-33591	123	2	,	,	PUNCT
bracis-33591	123	3	the	the	DET
bracis-33591	123	4	dense	dense	ADJ
bracis-33591	123	5	point	point	NOUN
bracis-33591	123	6	trajectory	trajectory	NOUN
bracis-33591	123	7	is	be	AUX
bracis-33591	123	8	employed	employ	VERB
bracis-33591	123	9	to	to	PART
bracis-33591	123	10	generate	generate	VERB
bracis-33591	123	11	the	the	DET
bracis-33591	123	12	expert	expert	NOUN
bracis-33591	123	13	’s	’s	PART
bracis-33591	123	14	training	training	NOUN
bracis-33591	123	15	data	datum	NOUN
bracis-33591	123	16	,	,	PUNCT
bracis-33591	123	17	whereas	whereas	SCONJ
bracis-33591	123	18	the	the	DET
bracis-33591	123	19	sparse	sparse	ADJ
bracis-33591	123	20	point	point	NOUN
bracis-33591	123	21	trajectory	trajectory	NOUN
bracis-33591	123	22	is	be	AUX
bracis-33591	123	23	used	use	VERB
bracis-33591	123	24	by	by	ADP
bracis-33591	123	25	the	the	DET
bracis-33591	123	26	agent	agent	NOUN
bracis-33591	123	27	for	for	ADP
bracis-33591	123	28	broader	broad	ADJ
bracis-33591	123	29	guidance	guidance	NOUN
bracis-33591	123	30	.	.	PUNCT
bracis-33591	124	1	thus	thus	ADV
bracis-33591	124	2	,	,	PUNCT
bracis-33591	124	3	the	the	DET
bracis-33591	124	4	agent	agent	NOUN
bracis-33591	124	5	has	have	VERB
bracis-33591	124	6	no	no	DET
bracis-33591	124	7	access	access	NOUN
bracis-33591	124	8	to	to	ADP
bracis-33591	124	9	the	the	DET
bracis-33591	124	10	dense	dense	ADJ
bracis-33591	124	11	point	point	NOUN
bracis-33591	124	12	trajectory	trajectory	NOUN
bracis-33591	124	13	.	.	PUNCT
bracis-33591	125	1	besides	besides	SCONJ
bracis-33591	125	2	,	,	PUNCT
bracis-33591	125	3	the	the	DET
bracis-33591	125	4	expert	expert	NOUN
bracis-33591	125	5	breaks	break	VERB
bracis-33591	125	6	at	at	ADP
bracis-33591	125	7	the	the	DET
bracis-33591	125	8	detection	detection	NOUN
bracis-33591	125	9	of	of	ADP
bracis-33591	125	10	red	red	ADJ
bracis-33591	125	11	traffic	traffic	NOUN
bracis-33591	125	12	lights	light	NOUN
bracis-33591	125	13	and	and	CCONJ
bracis-33591	125	14	accelerates	accelerate	VERB
bracis-33591	125	15	when	when	SCONJ
bracis-33591	125	16	the	the	DET
bracis-33591	125	17	light	light	NOUN
bracis-33591	125	18	turns	turn	VERB
bracis-33591	125	19	back	back	ADV
bracis-33591	125	20	to	to	ADP
bracis-33591	125	21	green	green	ADJ
bracis-33591	125	22	.	.	PUNCT
bracis-33591	126	1	in	in	SCONJ
bracis-33591	126	2	fig	fig	NOUN
bracis-33591	126	3	.	.	PUNCT
bracis-33591	126	4	 	 	SPACE
bracis-33591	126	5	4	4	NUM
bracis-33591	126	6	,	,	PUNCT
bracis-33591	126	7	one	one	NUM
bracis-33591	126	8	of	of	ADP
bracis-33591	126	9	the	the	DET
bracis-33591	126	10	10	10	NUM
bracis-33591	126	11	routes	route	NOUN
bracis-33591	126	12	executed	execute	VERB
bracis-33591	126	13	by	by	ADP
bracis-33591	126	14	the	the	DET
bracis-33591	126	15	expert	expert	NOUN
bracis-33591	126	16	to	to	PART
bracis-33591	126	17	create	create	VERB
bracis-33591	126	18	the	the	DET
bracis-33591	126	19	labeled	label	VERB
bracis-33591	126	20	training	training	NOUN
bracis-33591	126	21	set	set	NOUN
bracis-33591	126	22	of	of	ADP
bracis-33591	126	23	demonstrations	demonstration	NOUN
bracis-33591	126	24	is	be	AUX
bracis-33591	126	25	illustrated	illustrate	VERB
bracis-33591	126	26	.	.	PUNCT
bracis-33591	127	1	the	the	DET
bracis-33591	127	2	line	line	NOUN
bracis-33591	127	3	that	that	PRON
bracis-33591	127	4	starts	start	VERB
bracis-33591	127	5	in	in	ADP
bracis-33591	127	6	yellow	yellow	NOUN
bracis-33591	127	7	and	and	CCONJ
bracis-33591	127	8	ends	end	NOUN
bracis-33591	127	9	in	in	ADP
bracis-33591	127	10	red	red	ADJ
bracis-33591	127	11	represents	represent	VERB
bracis-33591	127	12	the	the	DET
bracis-33591	127	13	desired	desire	VERB
bracis-33591	127	14	trajectory	trajectory	NOUN
bracis-33591	127	15	(	(	PUNCT
bracis-33591	127	16	not	not	PART
bracis-33591	127	17	visible	visible	ADJ
bracis-33591	127	18	to	to	ADP
bracis-33591	127	19	the	the	DET
bracis-33591	127	20	agent	agent	NOUN
bracis-33591	127	21	as	as	SCONJ
bracis-33591	127	22	it	it	PRON
bracis-33591	127	23	is	be	AUX
bracis-33591	127	24	)	)	PUNCT
bracis-33591	127	25	.	.	PUNCT
bracis-33591	128	1	the	the	DET
bracis-33591	128	2	sparse	sparse	ADJ
bracis-33591	128	3	trajectory	trajectory	NOUN
bracis-33591	128	4	appears	appear	VERB
bracis-33591	128	5	as	as	ADP
bracis-33591	128	6	yellow	yellow	ADJ
bracis-33591	128	7	dots	dot	NOUN
bracis-33591	128	8	,	,	PUNCT
bracis-33591	128	9	generated	generate	VERB
bracis-33591	128	10	every	every	DET
bracis-33591	128	11	50	50	NUM
bracis-33591	128	12	 	 	SPACE
bracis-33591	128	13	m	m	PROPN
bracis-33591	128	14	or	or	CCONJ
bracis-33591	128	15	when	when	SCONJ
bracis-33591	128	16	the	the	DET
bracis-33591	128	17	vehicle	vehicle	NOUN
bracis-33591	128	18	is	be	AUX
bracis-33591	128	19	about	about	ADJ
bracis-33591	128	20	to	to	PART
bracis-33591	128	21	change	change	VERB
bracis-33591	128	22	its	its	PRON
bracis-33591	128	23	movement	movement	NOUN
bracis-33591	128	24	(	(	PUNCT
bracis-33591	128	25	e.g.	e.g.	ADV
bracis-33591	128	26	,	,	PUNCT
bracis-33591	128	27	from	from	ADP
bracis-33591	128	28	straight	straight	ADV
bracis-33591	128	29	to	to	PART
bracis-33591	128	30	turn	turn	VERB
bracis-33591	128	31	and	and	CCONJ
bracis-33591	128	32	vice	vice	NOUN
bracis-33591	128	33	versa	versa	ADV
bracis-33591	128	34	)	)	PUNCT
bracis-33591	128	35	.	.	PUNCT
bracis-33591	129	1	the	the	DET
bracis-33591	129	2	ten	ten	NUM
bracis-33591	129	3	trajectories	trajectory	NOUN
bracis-33591	129	4	in	in	ADP
bracis-33591	129	5	the	the	DET
bracis-33591	129	6	expert	expert	NOUN
bracis-33591	129	7	set	set	VERB
bracis-33591	129	8	were	be	AUX
bracis-33591	129	9	recorded	record	VERB
bracis-33591	129	10	at	at	ADP
bracis-33591	129	11	a	a	DET
bracis-33591	129	12	rate	rate	NOUN
bracis-33591	129	13	of	of	ADP
bracis-33591	129	14	10	10	NUM
bracis-33591	129	15	 	 	SPACE
bracis-33591	129	16	hz	hz	VERB
bracis-33591	129	17	,	,	PUNCT
bracis-33591	129	18	producing	produce	VERB
bracis-33591	129	19	10	10	NUM
bracis-33591	129	20	observation	observation	NOUN
bracis-33591	129	21	-	-	PUNCT
bracis-33591	129	22	action	action	NOUN
bracis-33591	129	23	pairs	pair	NOUN
bracis-33591	129	24	per	per	ADP
bracis-33591	129	25	second	second	ADJ
bracis-33591	129	26	.	.	PUNCT
bracis-33591	130	1	for	for	ADP
bracis-33591	130	2	the	the	DET
bracis-33591	130	3	shortest	short	ADJ
bracis-33591	130	4	route	route	NOUN
bracis-33591	130	5	of	of	ADP
bracis-33591	130	6	1480	1480	NUM
bracis-33591	130	7	samples	sample	NOUN
bracis-33591	130	8	(	(	PUNCT
bracis-33591	130	9	average	average	ADJ
bracis-33591	130	10	route	route	NOUN
bracis-33591	130	11	of	of	ADP
bracis-33591	130	12	2129	2129	NUM
bracis-33591	130	13	samples	sample	NOUN
bracis-33591	130	14	)	)	PUNCT
bracis-33591	130	15	,	,	PUNCT
bracis-33591	130	16	this	this	PRON
bracis-33591	130	17	equates	equate	VERB
bracis-33591	130	18	to	to	ADP
bracis-33591	130	19	2.5	2.5	NUM
bracis-33591	130	20	 	 	SPACE
bracis-33591	130	21	min	min	NOUN
bracis-33591	130	22	(	(	PUNCT
bracis-33591	130	23	3.5	3.5	NUM
bracis-33591	130	24	 	 	SPACE
bracis-33591	130	25	min	min	NOUN
bracis-33591	130	26	)	)	PUNCT
bracis-33591	130	27	of	of	ADP
bracis-33591	130	28	simulated	simulated	ADJ
bracis-33591	130	29	driving	driving	NOUN
bracis-33591	130	30	.	.	PUNCT
bracis-33591	131	1	altogether	altogether	ADV
bracis-33591	131	2	,	,	PUNCT
bracis-33591	131	3	the	the	DET
bracis-33591	131	4	ten	ten	NUM
bracis-33591	131	5	trajectories	trajectory	NOUN
bracis-33591	131	6	resulted	result	VERB
bracis-33591	131	7	in	in	ADP
bracis-33591	131	8	21,287	21,287	NUM
bracis-33591	131	9	labeled	label	VERB
bracis-33591	131	10	samples	sample	NOUN
bracis-33591	131	11	(	(	PUNCT
bracis-33591	131	12	30	30	NUM
bracis-33591	131	13	gb	gb	NOUN
bracis-33591	131	14	of	of	ADP
bracis-33591	131	15	uncompressed	uncompressed	ADJ
bracis-33591	131	16	data	datum	NOUN
bracis-33591	131	17	)	)	PUNCT
bracis-33591	131	18	.	.	PUNCT
bracis-33591	132	1	the	the	DET
bracis-33591	132	2	entire	entire	ADJ
bracis-33591	132	3	set	set	VERB
bracis-33591	132	4	corresponds	correspond	NOUN
bracis-33591	132	5	to	to	ADP
bracis-33591	132	6	approximately	approximately	ADV
bracis-33591	132	7	36	36	NUM
bracis-33591	132	8	 	 	SPACE
bracis-33591	132	9	min	min	NOUN
bracis-33591	132	10	or	or	CCONJ
bracis-33591	132	11	8	8	NUM
bracis-33591	132	12	 	 	SPACE
bracis-33591	132	13	km	km	NOUN
bracis-33591	132	14	of	of	ADP
bracis-33591	132	15	driving	driving	NOUN
bracis-33591	132	16	.	.	PUNCT
bracis-33591	133	1	fig	fig	NOUN
bracis-33591	133	2	.	.	PUNCT
bracis-33591	134	1	4	4	X
bracis-33591	134	2	.	.	X
bracis-33591	134	3	(	(	PUNCT
bracis-33591	134	4	a	a	X
bracis-33591	134	5	)	)	PUNCT
bracis-33591	134	6	the	the	DET
bracis-33591	134	7	town01	town01	PROPN
bracis-33591	134	8	environment	environment	NOUN
bracis-33591	134	9	of	of	ADP
bracis-33591	134	10	the	the	DET
bracis-33591	134	11	agent	agent	NOUN
bracis-33591	134	12	includes	include	VERB
bracis-33591	134	13	one	one	NUM
bracis-33591	134	14	of	of	ADP
bracis-33591	134	15	the	the	DET
bracis-33591	134	16	routes	route	NOUN
bracis-33591	134	17	used	use	VERB
bracis-33591	134	18	by	by	ADP
bracis-33591	134	19	the	the	DET
bracis-33591	134	20	expert	expert	NOUN
bracis-33591	134	21	to	to	PART
bracis-33591	134	22	collect	collect	VERB
bracis-33591	134	23	data	datum	NOUN
bracis-33591	134	24	.	.	PUNCT
bracis-33591	135	1	this	this	DET
bracis-33591	135	2	highlighted	highlight	VERB
bracis-33591	135	3	path	path	NOUN
bracis-33591	135	4	measures	measure	VERB
bracis-33591	135	5	740	740	NUM
bracis-33591	135	6	 	 	SPACE
bracis-33591	135	7	m	m	PRON
bracis-33591	135	8	,	,	PUNCT
bracis-33591	135	9	featuring	feature	VERB
bracis-33591	135	10	20	20	NUM
bracis-33591	135	11	points	point	NOUN
bracis-33591	135	12	in	in	ADP
bracis-33591	135	13	the	the	DET
bracis-33591	135	14	sparse	sparse	ADJ
bracis-33591	135	15	trajectory	trajectory	NOUN
bracis-33591	135	16	(	(	PUNCT
bracis-33591	135	17	indicated	indicate	VERB
bracis-33591	135	18	by	by	ADP
bracis-33591	135	19	yellow	yellow	ADJ
bracis-33591	135	20	dots	dot	NOUN
bracis-33591	135	21	)	)	PUNCT
bracis-33591	135	22	and	and	CCONJ
bracis-33591	135	23	762	762	NUM
bracis-33591	135	24	points	point	NOUN
bracis-33591	135	25	in	in	ADP
bracis-33591	135	26	the	the	DET
bracis-33591	135	27	dense	dense	ADJ
bracis-33591	135	28	point	point	NOUN
bracis-33591	135	29	trajectory	trajectory	NOUN
bracis-33591	135	30	(	(	PUNCT
bracis-33591	135	31	not	not	PART
bracis-33591	135	32	shown	show	VERB
bracis-33591	135	33	)	)	PUNCT
bracis-33591	135	34	.	.	PUNCT
bracis-33591	136	1	(	(	PUNCT
bracis-33591	136	2	b	b	X
bracis-33591	136	3	)	)	PUNCT
bracis-33591	136	4	the	the	DET
bracis-33591	136	5	town02	town02	NOUN
bracis-33591	136	6	is	be	AUX
bracis-33591	136	7	used	use	VERB
bracis-33591	136	8	to	to	PART
bracis-33591	136	9	evaluate	evaluate	VERB
bracis-33591	136	10	the	the	DET
bracis-33591	136	11	trained	train	VERB
bracis-33591	136	12	agent	agent	NOUN
bracis-33591	136	13	in	in	ADP
bracis-33591	136	14	a	a	DET
bracis-33591	136	15	new	new	ADJ
bracis-33591	136	16	environment	environment	NOUN
bracis-33591	136	17	.	.	PUNCT
bracis-33591	137	1	(	(	PUNCT
bracis-33591	137	2	color	color	NOUN
bracis-33591	137	3	figure	figure	NOUN
bracis-33591	137	4	online	online	ADV
bracis-33591	137	5	)	)	PUNCT
bracis-33591	137	6	full	full	ADJ
bracis-33591	137	7	size	size	NOUN
bracis-33591	137	8	image	image	NOUN
bracis-33591	137	9	4.2	4.2	NUM
bracis-33591	137	10	training	training	NOUN
bracis-33591	137	11	and	and	CCONJ
bracis-33591	137	12	 	 	SPACE
bracis-33591	137	13	inference	inference	NOUN
bracis-33591	137	14	the	the	DET
bracis-33591	137	15	network	network	NOUN
bracis-33591	137	16	shown	show	VERB
bracis-33591	137	17	in	in	ADP
bracis-33591	137	18	fig	fig	NOUN
bracis-33591	137	19	.	.	PUNCT
bracis-33591	137	20	 	 	SPACE
bracis-33591	137	21	3	3	NUM
bracis-33591	137	22	is	be	AUX
bracis-33591	137	23	trained	train	VERB
bracis-33591	137	24	with	with	ADP
bracis-33591	137	25	8	8	NUM
bracis-33591	137	26	routes	route	NOUN
bracis-33591	137	27	from	from	ADP
bracis-33591	137	28	the	the	DET
bracis-33591	137	29	expert	expert	NOUN
bracis-33591	137	30	dataset	dataset	NOUN
bracis-33591	137	31	of	of	ADP
bracis-33591	137	32	town01	town01	PROPN
bracis-33591	137	33	environment	environment	NOUN
bracis-33591	137	34	,	,	PUNCT
bracis-33591	137	35	where	where	SCONJ
bracis-33591	137	36	the	the	DET
bracis-33591	137	37	agent	agent	NOUN
bracis-33591	137	38	must	must	AUX
bracis-33591	137	39	also	also	ADV
bracis-33591	137	40	respect	respect	VERB
bracis-33591	137	41	traffic	traffic	NOUN
bracis-33591	137	42	lights	light	NOUN
bracis-33591	137	43	.	.	PUNCT
bracis-33591	138	1	the	the	DET
bracis-33591	138	2	first	first	ADJ
bracis-33591	138	3	agent	agent	NOUN
bracis-33591	138	4	(	(	PUNCT
bracis-33591	138	5	weighted	weight	VERB
bracis-33591	138	6	bc	bc	PROPN
bracis-33591	138	7	)	)	PUNCT
bracis-33591	138	8	weighs	weigh	VERB
bracis-33591	138	9	the	the	DET
bracis-33591	138	10	samples	sample	NOUN
bracis-33591	138	11	according	accord	VERB
bracis-33591	138	12	to	to	ADP
bracis-33591	138	13	the	the	DET
bracis-33591	138	14	density	density	NOUN
bracis-33591	138	15	of	of	ADP
bracis-33591	138	16	the	the	DET
bracis-33591	138	17	actions	action	NOUN
bracis-33591	138	18	using	use	VERB
bracis-33591	138	19	(	(	PUNCT
bracis-33591	138	20	3	3	NUM
bracis-33591	138	21	)	)	PUNCT
bracis-33591	138	22	as	as	ADP
bracis-33591	138	23	loss	loss	NOUN
bracis-33591	138	24	function	function	NOUN
bracis-33591	138	25	,	,	PUNCT
bracis-33591	138	26	whereas	whereas	SCONJ
bracis-33591	138	27	the	the	DET
bracis-33591	138	28	second	second	ADJ
bracis-33591	138	29	agent	agent	NOUN
bracis-33591	138	30	(	(	PUNCT
bracis-33591	138	31	bc	bc	PROPN
bracis-33591	138	32	)	)	PUNCT
bracis-33591	138	33	considers	consider	VERB
bracis-33591	138	34	all	all	DET
bracis-33591	138	35	actions	action	NOUN
bracis-33591	138	36	with	with	ADP
bracis-33591	138	37	same	same	ADJ
bracis-33591	138	38	weight	weight	NOUN
bracis-33591	138	39	,	,	PUNCT
bracis-33591	138	40	i.e.	i.e.	X
bracis-33591	138	41	,	,	PUNCT
bracis-33591	138	42	it	it	PRON
bracis-33591	138	43	removes	remove	VERB
bracis-33591	138	44	the	the	DET
bracis-33591	138	45	higher	high	ADJ
bracis-33591	138	46	importance	importance	NOUN
bracis-33591	138	47	of	of	ADP
bracis-33591	138	48	less	less	ADV
bracis-33591	138	49	frequent	frequent	ADJ
bracis-33591	138	50	actions	action	NOUN
bracis-33591	138	51	,	,	PUNCT
bracis-33591	138	52	using	use	VERB
bracis-33591	138	53	(	(	PUNCT
bracis-33591	138	54	1	1	NUM
bracis-33591	138	55	)	)	PUNCT
bracis-33591	138	56	as	as	ADP
bracis-33591	138	57	the	the	DET
bracis-33591	138	58	conventional	conventional	ADJ
bracis-33591	138	59	bc	bc	PROPN
bracis-33591	138	60	loss	loss	NOUN
bracis-33591	138	61	function	function	NOUN
bracis-33591	138	62	.	.	PUNCT
bracis-33591	139	1	4.3	4.3	NUM
bracis-33591	139	2	evaluation	evaluation	NOUN
bracis-33591	139	3	although	although	SCONJ
bracis-33591	139	4	training	training	NOUN
bracis-33591	139	5	is	be	AUX
bracis-33591	139	6	offline	offline	ADJ
bracis-33591	139	7	in	in	ADP
bracis-33591	139	8	town01	town01	PROPN
bracis-33591	139	9	environment	environment	NOUN
bracis-33591	139	10	,	,	PUNCT
bracis-33591	139	11	we	we	PRON
bracis-33591	139	12	still	still	ADV
bracis-33591	139	13	evaluate	evaluate	VERB
bracis-33591	139	14	both	both	PRON
bracis-33591	139	15	bc	bc	PROPN
bracis-33591	139	16	and	and	CCONJ
bracis-33591	139	17	weighted	weight	VERB
bracis-33591	139	18	bc	bc	PROPN
bracis-33591	139	19	agents	agent	NOUN
bracis-33591	139	20	as	as	SCONJ
bracis-33591	139	21	their	their	PRON
bracis-33591	139	22	model	model	NOUN
bracis-33591	139	23	’s	’s	PART
bracis-33591	139	24	parameters	parameter	NOUN
bracis-33591	139	25	are	be	AUX
bracis-33591	139	26	updated	update	VERB
bracis-33591	139	27	.	.	PUNCT
bracis-33591	140	1	every	every	DET
bracis-33591	140	2	eight	eight	NUM
bracis-33591	140	3	training	training	NOUN
bracis-33591	140	4	epochs	epoch	NOUN
bracis-33591	140	5	,	,	PUNCT
bracis-33591	140	6	both	both	DET
bracis-33591	140	7	agents	agent	NOUN
bracis-33591	140	8	are	be	AUX
bracis-33591	140	9	evaluated	evaluate	VERB
bracis-33591	140	10	using	use	VERB
bracis-33591	140	11	all	all	DET
bracis-33591	140	12	ten	ten	NUM
bracis-33591	140	13	routes	route	NOUN
bracis-33591	140	14	from	from	ADP
bracis-33591	140	15	the	the	DET
bracis-33591	140	16	same	same	ADJ
bracis-33591	140	17	training	training	NOUN
bracis-33591	140	18	town	town	NOUN
bracis-33591	140	19	(	(	PUNCT
bracis-33591	140	20	fig	fig	NOUN
bracis-33591	140	21	.	.	PUNCT
bracis-33591	140	22	 	 	SPACE
bracis-33591	140	23	5	5	NUM
bracis-33591	140	24	)	)	PUNCT
bracis-33591	140	25	.	.	PUNCT
bracis-33591	141	1	as	as	SCONJ
bracis-33591	141	2	four	four	NUM
bracis-33591	141	3	random	random	ADJ
bracis-33591	141	4	runs	run	NOUN
bracis-33591	141	5	are	be	AUX
bracis-33591	141	6	executed	execute	VERB
bracis-33591	141	7	for	for	ADP
bracis-33591	141	8	each	each	DET
bracis-33591	141	9	agent	agent	NOUN
bracis-33591	141	10	,	,	PUNCT
bracis-33591	141	11	the	the	DET
bracis-33591	141	12	mean	mean	ADJ
bracis-33591	141	13	and	and	CCONJ
bracis-33591	141	14	standard	standard	ADJ
bracis-33591	141	15	deviation	deviation	NOUN
bracis-33591	141	16	of	of	ADP
bracis-33591	141	17	the	the	DET
bracis-33591	141	18	number	number	NOUN
bracis-33591	141	19	of	of	ADP
bracis-33591	141	20	incomplete	incomplete	ADJ
bracis-33591	141	21	routes	route	NOUN
bracis-33591	141	22	is	be	AUX
bracis-33591	141	23	plot	plot	NOUN
bracis-33591	141	24	in	in	ADP
bracis-33591	141	25	fig	fig	NOUN
bracis-33591	141	26	.	.	PUNCT
bracis-33591	141	27	 	 	SPACE
bracis-33591	142	1	5	5	NUM
bracis-33591	142	2	.	.	X
bracis-33591	142	3	one	one	NUM
bracis-33591	142	4	incomplete	incomplete	ADJ
bracis-33591	142	5	route	route	NOUN
bracis-33591	142	6	means	mean	VERB
bracis-33591	142	7	that	that	SCONJ
bracis-33591	142	8	the	the	DET
bracis-33591	142	9	vehicle	vehicle	NOUN
bracis-33591	142	10	committed	commit	VERB
bracis-33591	142	11	an	an	DET
bracis-33591	142	12	infraction	infraction	NOUN
bracis-33591	142	13	before	before	ADP
bracis-33591	142	14	completing	complete	VERB
bracis-33591	142	15	the	the	DET
bracis-33591	142	16	route	route	NOUN
bracis-33591	142	17	.	.	PUNCT
bracis-33591	143	1	as	as	SCONJ
bracis-33591	143	2	the	the	DET
bracis-33591	143	3	total	total	ADJ
bracis-33591	143	4	number	number	NOUN
bracis-33591	143	5	of	of	ADP
bracis-33591	143	6	routes	route	NOUN
bracis-33591	143	7	is	be	AUX
bracis-33591	143	8	ten	ten	NUM
bracis-33591	143	9	for	for	ADP
bracis-33591	143	10	town01	town01	NOUN
bracis-33591	143	11	,	,	PUNCT
bracis-33591	143	12	both	both	CCONJ
bracis-33591	143	13	bc	bc	PROPN
bracis-33591	143	14	and	and	CCONJ
bracis-33591	143	15	weighted	weight	VERB
bracis-33591	143	16	bc	bc	PROPN
bracis-33591	143	17	start	start	VERB
bracis-33591	143	18	at	at	ADP
bracis-33591	143	19	10	10	NUM
bracis-33591	143	20	,	,	PUNCT
bracis-33591	143	21	the	the	DET
bracis-33591	143	22	minimum	minimum	ADJ
bracis-33591	143	23	performance	performance	NOUN
bracis-33591	143	24	.	.	PUNCT
bracis-33591	144	1	as	as	SCONJ
bracis-33591	144	2	training	training	NOUN
bracis-33591	144	3	evolves	evolve	NOUN
bracis-33591	144	4	,	,	PUNCT
bracis-33591	144	5	both	both	DET
bracis-33591	144	6	agents	agent	NOUN
bracis-33591	144	7	improve	improve	VERB
bracis-33591	144	8	the	the	DET
bracis-33591	144	9	performance	performance	NOUN
bracis-33591	144	10	by	by	ADP
bracis-33591	144	11	committing	commit	VERB
bracis-33591	144	12	less	less	ADJ
bracis-33591	144	13	infractions	infraction	NOUN
bracis-33591	144	14	,	,	PUNCT
bracis-33591	144	15	such	such	ADJ
bracis-33591	144	16	as	as	ADP
bracis-33591	144	17	going	go	VERB
bracis-33591	144	18	out	out	ADP
bracis-33591	144	19	of	of	ADP
bracis-33591	144	20	the	the	DET
bracis-33591	144	21	correct	correct	ADJ
bracis-33591	144	22	lane	lane	NOUN
bracis-33591	144	23	or	or	CCONJ
bracis-33591	144	24	passing	pass	VERB
bracis-33591	144	25	a	a	DET
bracis-33591	144	26	red	red	ADJ
bracis-33591	144	27	light	light	NOUN
bracis-33591	144	28	,	,	PUNCT
bracis-33591	144	29	but	but	CCONJ
bracis-33591	144	30	the	the	DET
bracis-33591	144	31	weighted	weight	VERB
bracis-33591	144	32	bc	bc	PROPN
bracis-33591	144	33	agent	agent	PROPN
bracis-33591	144	34	attains	attain	VERB
bracis-33591	144	35	the	the	DET
bracis-33591	144	36	minimum	minimum	NOUN
bracis-33591	144	37	error	error	NOUN
bracis-33591	144	38	faster	fast	ADV
bracis-33591	144	39	,	,	PUNCT
bracis-33591	144	40	i.e.	i.e.	X
bracis-33591	144	41	,	,	PUNCT
bracis-33591	144	42	it	it	PRON
bracis-33591	144	43	can	can	AUX
bracis-33591	144	44	complete	complete	VERB
bracis-33591	144	45	all	all	DET
bracis-33591	144	46	routes	route	NOUN
bracis-33591	144	47	without	without	ADP
bracis-33591	144	48	any	any	DET
bracis-33591	144	49	infractions	infraction	NOUN
bracis-33591	144	50	and	and	CCONJ
bracis-33591	144	51	respecting	respect	VERB
bracis-33591	144	52	traffic	traffic	NOUN
bracis-33591	144	53	lights	light	NOUN
bracis-33591	144	54	.	.	PUNCT
bracis-33591	145	1	fig	fig	NOUN
bracis-33591	145	2	.	.	PUNCT
bracis-33591	146	1	5	5	X
bracis-33591	146	2	.	.	X
bracis-33591	146	3	evaluation	evaluation	NOUN
bracis-33591	146	4	of	of	ADP
bracis-33591	146	5	both	both	DET
bracis-33591	146	6	bc	bc	PROPN
bracis-33591	146	7	policies	policy	NOUN
bracis-33591	146	8	(	(	PUNCT
bracis-33591	146	9	weighted	weight	VERB
bracis-33591	146	10	and	and	CCONJ
bracis-33591	146	11	regular	regular	ADJ
bracis-33591	146	12	)	)	PUNCT
bracis-33591	146	13	throughout	throughout	ADP
bracis-33591	146	14	its	its	PRON
bracis-33591	146	15	learning	learning	NOUN
bracis-33591	146	16	epochs	epoch	NOUN
bracis-33591	146	17	.	.	PUNCT
bracis-33591	147	1	at	at	ADP
bracis-33591	147	2	every	every	DET
bracis-33591	147	3	eight	eight	NUM
bracis-33591	147	4	training	training	NOUN
bracis-33591	147	5	epochs	epoch	NOUN
bracis-33591	147	6	,	,	PUNCT
bracis-33591	147	7	both	both	CCONJ
bracis-33591	147	8	bc	bc	PROPN
bracis-33591	147	9	and	and	CCONJ
bracis-33591	147	10	weighted	weight	VERB
bracis-33591	147	11	bc	bc	PROPN
bracis-33591	147	12	agents	agent	NOUN
bracis-33591	147	13	are	be	AUX
bracis-33591	147	14	evaluated	evaluate	VERB
bracis-33591	147	15	in	in	ADP
bracis-33591	147	16	all	all	DET
bracis-33591	147	17	ten	ten	NUM
bracis-33591	147	18	routes	route	NOUN
bracis-33591	147	19	of	of	ADP
bracis-33591	147	20	town01	town01	NOUN
bracis-33591	147	21	.	.	PUNCT
bracis-33591	148	1	the	the	DET
bracis-33591	148	2	vertical	vertical	ADJ
bracis-33591	148	3	axis	axis	NOUN
bracis-33591	148	4	presents	present	VERB
bracis-33591	148	5	the	the	DET
bracis-33591	148	6	number	number	NOUN
bracis-33591	148	7	of	of	ADP
bracis-33591	148	8	incomplete	incomplete	ADJ
bracis-33591	148	9	routes	route	NOUN
bracis-33591	148	10	.	.	PUNCT
bracis-33591	149	1	four	four	NUM
bracis-33591	149	2	runs	run	NOUN
bracis-33591	149	3	were	be	AUX
bracis-33591	149	4	executed	execute	VERB
bracis-33591	149	5	for	for	ADP
bracis-33591	149	6	each	each	DET
bracis-33591	149	7	agent	agent	NOUN
bracis-33591	149	8	,	,	PUNCT
bracis-33591	149	9	with	with	ADP
bracis-33591	149	10	mean	mean	ADJ
bracis-33591	149	11	and	and	CCONJ
bracis-33591	149	12	standard	standard	ADJ
bracis-33591	149	13	deviation	deviation	NOUN
bracis-33591	149	14	shown	show	VERB
bracis-33591	149	15	by	by	ADP
bracis-33591	149	16	the	the	DET
bracis-33591	149	17	solid	solid	ADJ
bracis-33591	149	18	line	line	NOUN
bracis-33591	149	19	and	and	CCONJ
bracis-33591	149	20	the	the	DET
bracis-33591	149	21	shaded	shaded	ADJ
bracis-33591	149	22	area	area	NOUN
bracis-33591	149	23	,	,	PUNCT
bracis-33591	149	24	respectively	respectively	ADV
bracis-33591	149	25	.	.	PUNCT
bracis-33591	150	1	in	in	ADP
bracis-33591	150	2	the	the	DET
bracis-33591	150	3	beginning	beginning	NOUN
bracis-33591	150	4	,	,	PUNCT
bracis-33591	150	5	both	both	DET
bracis-33591	150	6	agents	agent	NOUN
bracis-33591	150	7	commit	commit	VERB
bracis-33591	150	8	infractions	infraction	NOUN
bracis-33591	150	9	in	in	ADP
bracis-33591	150	10	all	all	DET
bracis-33591	150	11	routes	route	NOUN
bracis-33591	150	12	and	and	CCONJ
bracis-33591	150	13	,	,	PUNCT
bracis-33591	150	14	thus	thus	ADV
bracis-33591	150	15	,	,	PUNCT
bracis-33591	150	16	the	the	DET
bracis-33591	150	17	number	number	NOUN
bracis-33591	150	18	of	of	ADP
bracis-33591	150	19	incomplete	incomplete	ADJ
bracis-33591	150	20	routes	route	NOUN
bracis-33591	150	21	is	be	AUX
bracis-33591	150	22	ten	ten	NUM
bracis-33591	150	23	since	since	SCONJ
bracis-33591	150	24	one	one	NUM
bracis-33591	150	25	infraction	infraction	NOUN
bracis-33591	150	26	ends	end	VERB
bracis-33591	150	27	the	the	DET
bracis-33591	150	28	route	route	NOUN
bracis-33591	150	29	uncompleted	uncomplete	VERB
bracis-33591	150	30	.	.	PUNCT
bracis-33591	151	1	the	the	DET
bracis-33591	151	2	weighted	weight	VERB
bracis-33591	151	3	bc	bc	PROPN
bracis-33591	151	4	agent	agent	PROPN
bracis-33591	151	5	is	be	AUX
bracis-33591	151	6	able	able	ADJ
bracis-33591	151	7	to	to	PART
bracis-33591	151	8	achieve	achieve	VERB
bracis-33591	151	9	zero	zero	NUM
bracis-33591	151	10	infractions	infraction	NOUN
bracis-33591	151	11	by	by	ADP
bracis-33591	151	12	the	the	DET
bracis-33591	151	13	end	end	NOUN
bracis-33591	151	14	of	of	ADP
bracis-33591	151	15	training	training	NOUN
bracis-33591	151	16	,	,	PUNCT
bracis-33591	151	17	unlike	unlike	ADP
bracis-33591	151	18	the	the	DET
bracis-33591	151	19	bc	bc	PROPN
bracis-33591	151	20	agent	agent	NOUN
bracis-33591	151	21	.	.	PUNCT
bracis-33591	152	1	full	full	ADJ
bracis-33591	152	2	size	size	NOUN
bracis-33591	152	3	image	image	NOUN
bracis-33591	152	4	to	to	PART
bracis-33591	152	5	understand	understand	VERB
bracis-33591	152	6	what	what	PRON
bracis-33591	152	7	the	the	DET
bracis-33591	152	8	action	action	NOUN
bracis-33591	152	9	’s	’s	PART
bracis-33591	152	10	density	density	NOUN
bracis-33591	152	11	given	give	VERB
bracis-33591	152	12	by	by	ADP
bracis-33591	152	13	kde	kde	NOUN
bracis-33591	152	14	and	and	CCONJ
bracis-33591	152	15	,	,	PUNCT
bracis-33591	152	16	consequently	consequently	ADV
bracis-33591	152	17	,	,	PUNCT
bracis-33591	152	18	the	the	DET
bracis-33591	152	19	weights	weight	NOUN
bracis-33591	152	20	in	in	ADP
bracis-33591	152	21	the	the	DET
bracis-33591	152	22	bc	bc	PROPN
bracis-33591	152	23	loss	loss	NOUN
bracis-33591	152	24	function	function	NOUN
bracis-33591	152	25	,	,	PUNCT
bracis-33591	152	26	look	look	VERB
bracis-33591	152	27	like	like	ADP
bracis-33591	152	28	for	for	ADP
bracis-33591	152	29	the	the	DET
bracis-33591	152	30	first	first	ADJ
bracis-33591	152	31	route	route	NOUN
bracis-33591	152	32	in	in	ADP
bracis-33591	152	33	town01	town01	NOUN
bracis-33591	152	34	(	(	PUNCT
bracis-33591	152	35	shown	show	VERB
bracis-33591	152	36	in	in	ADP
bracis-33591	152	37	fig	fig	NOUN
bracis-33591	152	38	.	.	PUNCT
bracis-33591	152	39	 	 	SPACE
bracis-33591	153	1	4	4	NUM
bracis-33591	153	2	)	)	PUNCT
bracis-33591	153	3	,	,	PUNCT
bracis-33591	153	4	we	we	PRON
bracis-33591	153	5	record	record	VERB
bracis-33591	153	6	both	both	DET
bracis-33591	153	7	actuators	actuator	NOUN
bracis-33591	153	8	’s	’s	PART
bracis-33591	153	9	values	value	NOUN
bracis-33591	153	10	,	,	PUNCT
bracis-33591	153	11	acceleration	acceleration	NOUN
bracis-33591	153	12	and	and	CCONJ
bracis-33591	153	13	steering	steering	NOUN
bracis-33591	153	14	,	,	PUNCT
bracis-33591	153	15	from	from	ADP
bracis-33591	153	16	our	our	PRON
bracis-33591	153	17	expert	expert	NOUN
bracis-33591	153	18	as	as	SCONJ
bracis-33591	153	19	it	it	PRON
bracis-33591	153	20	follows	follow	VERB
bracis-33591	153	21	the	the	DET
bracis-33591	153	22	route	route	NOUN
bracis-33591	153	23	as	as	ADV
bracis-33591	153	24	well	well	ADV
bracis-33591	153	25	as	as	ADP
bracis-33591	153	26	the	the	DET
bracis-33591	153	27	corresponding	corresponding	ADJ
bracis-33591	153	28	logarithm	logarithm	NOUN
bracis-33591	153	29	of	of	ADP
bracis-33591	153	30	the	the	DET
bracis-33591	153	31	action	action	NOUN
bracis-33591	153	32	’s	’s	PART
bracis-33591	153	33	density	density	NOUN
bracis-33591	153	34	for	for	ADP
bracis-33591	153	35	each	each	DET
bracis-33591	153	36	timestep	timestep	NOUN
bracis-33591	153	37	of	of	ADP
bracis-33591	153	38	the	the	DET
bracis-33591	153	39	route	route	NOUN
bracis-33591	153	40	.	.	PUNCT
bracis-33591	154	1	these	these	DET
bracis-33591	154	2	values	value	NOUN
bracis-33591	154	3	are	be	AUX
bracis-33591	154	4	plot	plot	NOUN
bracis-33591	154	5	in	in	ADP
bracis-33591	154	6	fig	fig	NOUN
bracis-33591	154	7	.	.	PUNCT
bracis-33591	154	8	 	 	SPACE
bracis-33591	155	1	6	6	NUM
bracis-33591	155	2	,	,	PUNCT
bracis-33591	155	3	where	where	SCONJ
bracis-33591	155	4	we	we	PRON
bracis-33591	155	5	can	can	AUX
bracis-33591	155	6	see	see	VERB
bracis-33591	155	7	that	that	SCONJ
bracis-33591	155	8	different	different	ADJ
bracis-33591	155	9	actions	action	NOUN
bracis-33591	155	10	will	will	AUX
bracis-33591	155	11	produce	produce	VERB
bracis-33591	155	12	different	different	ADJ
bracis-33591	155	13	weights	weight	NOUN
bracis-33591	155	14	in	in	ADP
bracis-33591	155	15	the	the	DET
bracis-33591	155	16	loss	loss	NOUN
bracis-33591	155	17	function	function	NOUN
bracis-33591	155	18	since	since	SCONJ
bracis-33591	155	19	some	some	PRON
bracis-33591	155	20	of	of	ADP
bracis-33591	155	21	them	they	PRON
bracis-33591	155	22	are	be	AUX
bracis-33591	155	23	less	less	ADV
bracis-33591	155	24	frequent	frequent	ADJ
bracis-33591	155	25	than	than	ADP
bracis-33591	155	26	others	other	NOUN
bracis-33591	155	27	in	in	ADP
bracis-33591	155	28	the	the	DET
bracis-33591	155	29	expert	expert	NOUN
bracis-33591	155	30	dataset	dataset	NOUN
bracis-33591	155	31	.	.	PUNCT
bracis-33591	156	1	the	the	DET
bracis-33591	156	2	highest	high	ADJ
bracis-33591	156	3	action	action	NOUN
bracis-33591	156	4	density	density	NOUN
bracis-33591	156	5	corresponds	correspond	VERB
bracis-33591	156	6	to	to	ADP
bracis-33591	156	7	going	go	VERB
bracis-33591	156	8	straight	straight	ADV
bracis-33591	156	9	with	with	ADP
bracis-33591	156	10	constant	constant	ADJ
bracis-33591	156	11	acceleration	acceleration	NOUN
bracis-33591	156	12	and	and	CCONJ
bracis-33591	156	13	zero	zero	NUM
bracis-33591	156	14	steering	steering	NOUN
bracis-33591	156	15	,	,	PUNCT
bracis-33591	156	16	for	for	ADP
bracis-33591	156	17	instance	instance	NOUN
bracis-33591	156	18	,	,	PUNCT
bracis-33591	156	19	between	between	ADP
bracis-33591	156	20	timesteps	timestep	NOUN
bracis-33591	156	21	470	470	NUM
bracis-33591	156	22	and	and	CCONJ
bracis-33591	156	23	900	900	NUM
bracis-33591	156	24	.	.	PUNCT
bracis-33591	157	1	the	the	DET
bracis-33591	157	2	least	least	ADV
bracis-33591	157	3	frequent	frequent	ADJ
bracis-33591	157	4	action	action	NOUN
bracis-33591	157	5	happens	happen	VERB
bracis-33591	157	6	after	after	SCONJ
bracis-33591	157	7	a	a	DET
bracis-33591	157	8	traffic	traffic	NOUN
bracis-33591	157	9	light	light	NOUN
bracis-33591	157	10	turns	turn	VERB
bracis-33591	157	11	from	from	ADP
bracis-33591	157	12	red	red	ADJ
bracis-33591	157	13	to	to	ADP
bracis-33591	157	14	green	green	NOUN
bracis-33591	157	15	,	,	PUNCT
bracis-33591	157	16	which	which	PRON
bracis-33591	157	17	corresponds	correspond	VERB
bracis-33591	157	18	to	to	ADP
bracis-33591	157	19	a	a	DET
bracis-33591	157	20	higher	high	ADJ
bracis-33591	157	21	,	,	PUNCT
bracis-33591	157	22	but	but	CCONJ
bracis-33591	157	23	shorter	short	ADJ
bracis-33591	157	24	,	,	PUNCT
bracis-33591	157	25	acceleration	acceleration	NOUN
bracis-33591	157	26	period	period	NOUN
bracis-33591	157	27	.	.	PUNCT
bracis-33591	158	1	fig	fig	NOUN
bracis-33591	158	2	.	.	PUNCT
bracis-33591	159	1	6	6	NUM
bracis-33591	159	2	.	.	X
bracis-33591	159	3	logarithm	logarithm	NOUN
bracis-33591	159	4	of	of	ADP
bracis-33591	159	5	the	the	DET
bracis-33591	159	6	density	density	NOUN
bracis-33591	159	7	of	of	ADP
bracis-33591	159	8	actions	action	NOUN
bracis-33591	159	9	,	,	PUNCT
bracis-33591	159	10	given	give	VERB
bracis-33591	159	11	by	by	ADP
bracis-33591	159	12	kde	kde	PROPN
bracis-33591	159	13	,	,	PUNCT
bracis-33591	159	14	during	during	ADP
bracis-33591	159	15	navigation	navigation	NOUN
bracis-33591	159	16	of	of	ADP
bracis-33591	159	17	a	a	DET
bracis-33591	159	18	route	route	NOUN
bracis-33591	159	19	in	in	ADP
bracis-33591	159	20	town1	town1	PROPN
bracis-33591	159	21	,	,	PUNCT
bracis-33591	159	22	shown	show	VERB
bracis-33591	159	23	in	in	ADP
bracis-33591	159	24	fig	fig	NOUN
bracis-33591	159	25	.	.	PUNCT
bracis-33591	159	26	 	 	SPACE
bracis-33591	160	1	4	4	NUM
bracis-33591	160	2	.	.	PUNCT
bracis-33591	161	1	the	the	DET
bracis-33591	161	2	expert	expert	NOUN
bracis-33591	161	3	encounters	encounter	VERB
bracis-33591	161	4	three	three	NUM
bracis-33591	161	5	red	red	ADJ
bracis-33591	161	6	traffic	traffic	NOUN
bracis-33591	161	7	lights	light	NOUN
bracis-33591	161	8	,	,	PUNCT
bracis-33591	161	9	during	during	ADP
bracis-33591	161	10	which	which	PRON
bracis-33591	161	11	it	it	PRON
bracis-33591	161	12	breaks	break	VERB
bracis-33591	161	13	(	(	PUNCT
bracis-33591	161	14	acceleration	acceleration	NOUN
bracis-33591	161	15	is	be	AUX
bracis-33591	161	16	\(-1\	\(-1\	PROPN
bracis-33591	161	17	)	)	PUNCT
bracis-33591	161	18	)	)	PUNCT
bracis-33591	161	19	,	,	PUNCT
bracis-33591	161	20	and	and	CCONJ
bracis-33591	161	21	subsequently	subsequently	ADV
bracis-33591	161	22	accelerates	accelerate	VERB
bracis-33591	161	23	as	as	ADV
bracis-33591	161	24	soon	soon	ADV
bracis-33591	161	25	as	as	SCONJ
bracis-33591	161	26	it	it	PRON
bracis-33591	161	27	turns	turn	VERB
bracis-33591	161	28	green	green	ADJ
bracis-33591	161	29	.	.	PUNCT
bracis-33591	162	1	two	two	NUM
bracis-33591	162	2	left	left	ADJ
bracis-33591	162	3	turns	turn	NOUN
bracis-33591	162	4	and	and	CCONJ
bracis-33591	162	5	two	two	NUM
bracis-33591	162	6	right	right	ADJ
bracis-33591	162	7	turns	turn	NOUN
bracis-33591	162	8	can	can	AUX
bracis-33591	162	9	be	be	AUX
bracis-33591	162	10	observed	observe	VERB
bracis-33591	162	11	by	by	ADP
bracis-33591	162	12	examining	examine	VERB
bracis-33591	162	13	the	the	DET
bracis-33591	162	14	steer	steer	NOUN
bracis-33591	162	15	actuator	actuator	NOUN
bracis-33591	162	16	of	of	ADP
bracis-33591	162	17	the	the	DET
bracis-33591	162	18	expert	expert	NOUN
bracis-33591	162	19	.	.	PUNCT
bracis-33591	163	1	(	(	PUNCT
bracis-33591	163	2	color	color	NOUN
bracis-33591	163	3	figure	figure	NOUN
bracis-33591	163	4	online	online	ADV
bracis-33591	163	5	)	)	PUNCT
bracis-33591	163	6	full	full	ADJ
bracis-33591	163	7	size	size	NOUN
bracis-33591	163	8	image	image	NOUN
bracis-33591	163	9	the	the	DET
bracis-33591	163	10	driving	drive	VERB
bracis-33591	163	11	performance	performance	NOUN
bracis-33591	163	12	for	for	ADP
bracis-33591	163	13	both	both	DET
bracis-33591	163	14	agents	agent	NOUN
bracis-33591	163	15	as	as	ADV
bracis-33591	163	16	well	well	ADV
bracis-33591	163	17	as	as	ADP
bracis-33591	163	18	the	the	DET
bracis-33591	163	19	expert	expert	NOUN
bracis-33591	163	20	is	be	AUX
bracis-33591	163	21	presented	present	VERB
bracis-33591	163	22	in	in	ADP
bracis-33591	163	23	table	table	NOUN
bracis-33591	163	24	 	 	SPACE
bracis-33591	163	25	1	1	NUM
bracis-33591	163	26	.	.	PUNCT
bracis-33591	164	1	the	the	DET
bracis-33591	164	2	understanding	understanding	NOUN
bracis-33591	164	3	of	of	ADP
bracis-33591	164	4	the	the	DET
bracis-33591	164	5	\(\uparrow	\(\uparrow	NOUN
bracis-33591	164	6	\	\	NOUN
bracis-33591	164	7	)	)	PUNCT
bracis-33591	164	8	or	or	CCONJ
bracis-33591	164	9	\(\downarrow	\(\downarrow	VERB
bracis-33591	164	10	\	\	NOUN
bracis-33591	164	11	)	)	PUNCT
bracis-33591	164	12	in	in	ADP
bracis-33591	164	13	the	the	DET
bracis-33591	164	14	table	table	NOUN
bracis-33591	164	15	is	be	AUX
bracis-33591	164	16	as	as	SCONJ
bracis-33591	164	17	follows	follow	VERB
bracis-33591	164	18	.	.	PUNCT
bracis-33591	165	1	for	for	ADP
bracis-33591	165	2	instance	instance	NOUN
bracis-33591	165	3	,	,	PUNCT
bracis-33591	165	4	the	the	DET
bracis-33591	165	5	lower	low	ADJ
bracis-33591	165	6	(	(	PUNCT
bracis-33591	165	7	\(\downarrow	\(\downarrow	PROPN
bracis-33591	165	8	\	\	NOUN
bracis-33591	165	9	)	)	PUNCT
bracis-33591	165	10	)	)	PUNCT
bracis-33591	166	1	the	the	DET
bracis-33591	166	2	red	red	ADJ
bracis-33591	166	3	light	light	NOUN
bracis-33591	166	4	infraction	infraction	NOUN
bracis-33591	166	5	,	,	PUNCT
bracis-33591	166	6	which	which	PRON
bracis-33591	166	7	is	be	AUX
bracis-33591	166	8	#	#	NOUN
bracis-33591	166	9	/km	/km	PUNCT
bracis-33591	166	10	or	or	CCONJ
bracis-33591	166	11	the	the	DET
bracis-33591	166	12	number	number	NOUN
bracis-33591	166	13	of	of	ADP
bracis-33591	166	14	infractions	infraction	NOUN
bracis-33591	166	15	per	per	ADP
bracis-33591	166	16	kilometer	kilometer	NOUN
bracis-33591	166	17	,	,	PUNCT
bracis-33591	166	18	the	the	DET
bracis-33591	166	19	better	well	ADJ
bracis-33591	166	20	.	.	PUNCT
bracis-33591	167	1	in	in	ADP
bracis-33591	167	2	the	the	DET
bracis-33591	167	3	same	same	ADJ
bracis-33591	167	4	vein	vein	NOUN
bracis-33591	167	5	,	,	PUNCT
bracis-33591	167	6	the	the	PRON
bracis-33591	167	7	higher	high	ADJ
bracis-33591	167	8	the	the	DET
bracis-33591	167	9	infraction	infraction	NOUN
bracis-33591	167	10	penalty	penalty	NOUN
bracis-33591	167	11	(	(	PUNCT
bracis-33591	167	12	or	or	CCONJ
bracis-33591	167	13	the	the	DET
bracis-33591	167	14	driving	driving	NOUN
bracis-33591	167	15	score	score	NOUN
bracis-33591	167	16	)	)	PUNCT
bracis-33591	167	17	,	,	PUNCT
bracis-33591	167	18	the	the	DET
bracis-33591	167	19	better	well	ADJ
bracis-33591	167	20	is	be	AUX
bracis-33591	167	21	the	the	DET
bracis-33591	167	22	performance	performance	NOUN
bracis-33591	167	23	.	.	PUNCT
bracis-33591	168	1	the	the	DET
bracis-33591	168	2	expert	expert	NOUN
bracis-33591	168	3	has	have	VERB
bracis-33591	168	4	maximum	maximum	ADJ
bracis-33591	168	5	driving	driving	NOUN
bracis-33591	168	6	score	score	NOUN
bracis-33591	168	7	,	,	PUNCT
bracis-33591	168	8	being	be	AUX
bracis-33591	168	9	able	able	ADJ
bracis-33591	168	10	to	to	PART
bracis-33591	168	11	complete	complete	VERB
bracis-33591	168	12	all	all	DET
bracis-33591	168	13	routes	route	NOUN
bracis-33591	168	14	with	with	ADP
bracis-33591	168	15	no	no	DET
bracis-33591	168	16	red	red	ADJ
bracis-33591	168	17	light	light	NOUN
bracis-33591	168	18	infraction	infraction	NOUN
bracis-33591	168	19	in	in	ADP
bracis-33591	168	20	both	both	CCONJ
bracis-33591	168	21	town01	town01	NOUN
bracis-33591	168	22	and	and	CCONJ
bracis-33591	168	23	town02	town02	NOUN
bracis-33591	168	24	.	.	PUNCT
bracis-33591	169	1	the	the	DET
bracis-33591	169	2	number	number	NOUN
bracis-33591	169	3	of	of	ADP
bracis-33591	169	4	crossed	cross	VERB
bracis-33591	169	5	traffic	traffic	NOUN
bracis-33591	169	6	lights	light	NOUN
bracis-33591	169	7	is	be	AUX
bracis-33591	169	8	just	just	ADV
bracis-33591	169	9	a	a	DET
bracis-33591	169	10	non	non	ADJ
bracis-33591	169	11	-	-	NOUN
bracis-33591	169	12	performance	performance	ADJ
bracis-33591	169	13	metric	metric	NOUN
bracis-33591	169	14	,	,	PUNCT
bracis-33591	169	15	just	just	ADV
bracis-33591	169	16	counting	count	VERB
bracis-33591	169	17	the	the	DET
bracis-33591	169	18	times	time	NOUN
bracis-33591	169	19	that	that	SCONJ
bracis-33591	169	20	the	the	DET
bracis-33591	169	21	vehicle	vehicle	NOUN
bracis-33591	169	22	cross	cross	VERB
bracis-33591	169	23	them	they	PRON
bracis-33591	169	24	.	.	PUNCT
bracis-33591	170	1	an	an	DET
bracis-33591	170	2	equivalent	equivalent	ADJ
bracis-33591	170	3	result	result	NOUN
bracis-33591	170	4	is	be	AUX
bracis-33591	170	5	achieved	achieve	VERB
bracis-33591	170	6	by	by	ADP
bracis-33591	170	7	weighted	weight	VERB
bracis-33591	170	8	bc	bc	PROPN
bracis-33591	170	9	in	in	ADP
bracis-33591	170	10	town01	town01	PROPN
bracis-33591	170	11	,	,	PUNCT
bracis-33591	170	12	the	the	DET
bracis-33591	170	13	training	training	NOUN
bracis-33591	170	14	environment	environment	NOUN
bracis-33591	170	15	,	,	PUNCT
bracis-33591	170	16	but	but	CCONJ
bracis-33591	170	17	not	not	PART
bracis-33591	170	18	by	by	ADP
bracis-33591	170	19	regular	regular	ADJ
bracis-33591	170	20	bc	bc	PROPN
bracis-33591	170	21	,	,	PUNCT
bracis-33591	170	22	which	which	PRON
bracis-33591	170	23	presents	present	VERB
bracis-33591	170	24	a	a	DET
bracis-33591	170	25	mean	mean	ADJ
bracis-33591	170	26	driving	drive	VERB
bracis-33591	170	27	score	score	NOUN
bracis-33591	170	28	of	of	ADP
bracis-33591	170	29	81	81	NUM
bracis-33591	170	30	.	.	PUNCT
bracis-33591	171	1	in	in	ADP
bracis-33591	171	2	town02	town02	NOUN
bracis-33591	171	3	,	,	PUNCT
bracis-33591	171	4	a	a	DET
bracis-33591	171	5	test	test	NOUN
bracis-33591	171	6	environment	environment	NOUN
bracis-33591	171	7	,	,	PUNCT
bracis-33591	171	8	weighted	weight	VERB
bracis-33591	171	9	bc	bc	PROPN
bracis-33591	171	10	performs	perform	VERB
bracis-33591	171	11	significantly	significantly	ADV
bracis-33591	171	12	better	well	ADV
bracis-33591	171	13	than	than	ADP
bracis-33591	171	14	bc	bc	PROPN
bracis-33591	171	15	.	.	PROPN
bracis-33591	171	16	videos	video	NOUN
bracis-33591	171	17	with	with	ADP
bracis-33591	171	18	the	the	DET
bracis-33591	171	19	agent	agent	NOUN
bracis-33591	171	20	controlling	control	VERB
bracis-33591	171	21	the	the	DET
bracis-33591	171	22	vehicle	vehicle	NOUN
bracis-33591	171	23	in	in	ADP
bracis-33591	171	24	carla	carla	PROPN
bracis-33591	171	25	are	be	AUX
bracis-33591	171	26	available	available	ADJ
bracis-33591	171	27	 	 	SPACE
bracis-33591	171	28	at	at	ADP
bracis-33591	171	29	https://sites.google.com/view/weighted-bc	https://sites.google.com/view/weighted-bc	PROPN
bracis-33591	171	30	,	,	PUNCT
bracis-33591	171	31	comparing	compare	VERB
bracis-33591	171	32	both	both	CCONJ
bracis-33591	171	33	bc	bc	PROPN
bracis-33591	171	34	and	and	CCONJ
bracis-33591	171	35	weighted	weight	VERB
bracis-33591	171	36	bc	bc	PROPN
bracis-33591	171	37	agents	agents	PROPN
bracis-33591	171	38	.	.	PUNCT
bracis-33591	172	1	table	table	NOUN
bracis-33591	172	2	1	1	NUM
bracis-33591	172	3	.	.	PUNCT
bracis-33591	173	1	driving	drive	VERB
bracis-33591	173	2	performance	performance	NOUN
bracis-33591	173	3	and	and	CCONJ
bracis-33591	173	4	infraction	infraction	NOUN
bracis-33591	173	5	analysis	analysis	NOUN
bracis-33591	173	6	for	for	ADP
bracis-33591	173	7	different	different	ADJ
bracis-33591	173	8	agents	agent	NOUN
bracis-33591	173	9	on	on	ADP
bracis-33591	173	10	town01	town01	NOUN
bracis-33591	173	11	and	and	CCONJ
bracis-33591	173	12	town02.full	town02.full	NOUN
bracis-33591	173	13	size	size	NOUN
bracis-33591	173	14	table	table	NOUN
bracis-33591	173	15	5	5	NUM
bracis-33591	173	16	conclusion	conclusion	NOUN
bracis-33591	173	17	in	in	ADP
bracis-33591	173	18	this	this	DET
bracis-33591	173	19	work	work	NOUN
bracis-33591	173	20	,	,	PUNCT
bracis-33591	173	21	we	we	PRON
bracis-33591	173	22	proposed	propose	VERB
bracis-33591	173	23	a	a	DET
bracis-33591	173	24	weighted	weighted	ADJ
bracis-33591	173	25	behavior	behavior	NOUN
bracis-33591	173	26	cloning	cloning	NOUN
bracis-33591	173	27	approach	approach	NOUN
bracis-33591	173	28	that	that	PRON
bracis-33591	173	29	improves	improve	VERB
bracis-33591	173	30	agent	agent	NOUN
bracis-33591	173	31	learning	learn	VERB
bracis-33591	173	32	by	by	ADP
bracis-33591	173	33	giving	give	VERB
bracis-33591	173	34	higher	high	ADJ
bracis-33591	173	35	weights	weight	NOUN
bracis-33591	173	36	to	to	ADP
bracis-33591	173	37	underrepresented	underrepresented	ADJ
bracis-33591	173	38	actions	action	NOUN
bracis-33591	173	39	in	in	ADP
bracis-33591	173	40	the	the	DET
bracis-33591	173	41	expert	expert	NOUN
bracis-33591	173	42	training	training	NOUN
bracis-33591	173	43	set	set	NOUN
bracis-33591	173	44	of	of	ADP
bracis-33591	173	45	driving	drive	VERB
bracis-33591	173	46	behaviors	behavior	NOUN
bracis-33591	173	47	.	.	PUNCT
bracis-33591	174	1	the	the	DET
bracis-33591	174	2	application	application	NOUN
bracis-33591	174	3	consisted	consist	VERB
bracis-33591	174	4	of	of	ADP
bracis-33591	174	5	route	route	NOUN
bracis-33591	174	6	navigation	navigation	NOUN
bracis-33591	174	7	in	in	ADP
bracis-33591	174	8	two	two	NUM
bracis-33591	174	9	simulated	simulated	ADJ
bracis-33591	174	10	cities	city	NOUN
bracis-33591	174	11	in	in	ADP
bracis-33591	174	12	the	the	DET
bracis-33591	174	13	carla	carla	PROPN
bracis-33591	174	14	realistic	realistic	ADJ
bracis-33591	174	15	simulator	simulator	NOUN
bracis-33591	174	16	for	for	ADP
bracis-33591	174	17	autonomous	autonomous	ADJ
bracis-33591	174	18	vehicles	vehicle	NOUN
bracis-33591	174	19	,	,	PUNCT
bracis-33591	174	20	while	while	SCONJ
bracis-33591	174	21	respecting	respect	VERB
bracis-33591	174	22	traffic	traffic	NOUN
bracis-33591	174	23	lights	light	NOUN
bracis-33591	174	24	.	.	PUNCT
bracis-33591	175	1	as	as	SCONJ
bracis-33591	175	2	the	the	DET
bracis-33591	175	3	action	action	NOUN
bracis-33591	175	4	space	space	NOUN
bracis-33591	175	5	of	of	ADP
bracis-33591	175	6	the	the	DET
bracis-33591	175	7	expert	expert	NOUN
bracis-33591	175	8	is	be	AUX
bracis-33591	175	9	not	not	PART
bracis-33591	175	10	uniformly	uniformly	ADV
bracis-33591	175	11	visited	visit	VERB
bracis-33591	175	12	,	,	PUNCT
bracis-33591	175	13	and	and	CCONJ
bracis-33591	175	14	the	the	DET
bracis-33591	175	15	expert	expert	NOUN
bracis-33591	175	16	training	training	NOUN
bracis-33591	175	17	dataset	dataset	NOUN
bracis-33591	175	18	is	be	AUX
bracis-33591	175	19	somewhat	somewhat	ADV
bracis-33591	175	20	limited	limited	ADJ
bracis-33591	175	21	(	(	PUNCT
bracis-33591	175	22	only	only	ADV
bracis-33591	175	23	10	10	NUM
bracis-33591	175	24	routes	route	NOUN
bracis-33591	175	25	in	in	ADP
bracis-33591	175	26	town01	town01	NOUN
bracis-33591	175	27	)	)	PUNCT
bracis-33591	175	28	,	,	PUNCT
bracis-33591	175	29	a	a	DET
bracis-33591	175	30	kernel	kernel	PROPN
bracis-33591	175	31	density	density	PROPN
bracis-33591	175	32	estimator	estimator	NOUN
bracis-33591	175	33	was	be	AUX
bracis-33591	175	34	employed	employ	VERB
bracis-33591	175	35	to	to	PART
bracis-33591	175	36	infer	infer	VERB
bracis-33591	175	37	the	the	DET
bracis-33591	175	38	action	action	NOUN
bracis-33591	175	39	density	density	NOUN
bracis-33591	175	40	which	which	PRON
bracis-33591	175	41	,	,	PUNCT
bracis-33591	175	42	in	in	ADP
bracis-33591	175	43	turn	turn	NOUN
bracis-33591	175	44	,	,	PUNCT
bracis-33591	175	45	was	be	AUX
bracis-33591	175	46	converted	convert	VERB
bracis-33591	175	47	to	to	ADP
bracis-33591	175	48	a	a	DET
bracis-33591	175	49	weight	weight	NOUN
bracis-33591	175	50	per	per	ADP
bracis-33591	175	51	observation	observation	NOUN
bracis-33591	175	52	-	-	PUNCT
bracis-33591	175	53	action	action	NOUN
bracis-33591	175	54	pair	pair	NOUN
bracis-33591	175	55	.	.	PUNCT
bracis-33591	176	1	in	in	ADP
bracis-33591	176	2	our	our	PRON
bracis-33591	176	3	investigated	investigated	ADJ
bracis-33591	176	4	scenario	scenario	NOUN
bracis-33591	176	5	,	,	PUNCT
bracis-33591	176	6	the	the	DET
bracis-33591	176	7	weighted	weight	VERB
bracis-33591	176	8	loss	loss	NOUN
bracis-33591	176	9	function	function	NOUN
bracis-33591	176	10	for	for	ADP
bracis-33591	176	11	bc	bc	PROPN
bracis-33591	176	12	proved	prove	VERB
bracis-33591	176	13	to	to	PART
bracis-33591	176	14	be	be	AUX
bracis-33591	176	15	crucial	crucial	ADJ
bracis-33591	176	16	to	to	PART
bracis-33591	176	17	learn	learn	VERB
bracis-33591	176	18	the	the	DET
bracis-33591	176	19	correct	correct	ADJ
bracis-33591	176	20	behavior	behavior	NOUN
bracis-33591	176	21	,	,	PUNCT
bracis-33591	176	22	showing	show	VERB
bracis-33591	176	23	significantly	significantly	ADV
bracis-33591	176	24	better	well	ADV
bracis-33591	176	25	driving	drive	VERB
bracis-33591	176	26	performance	performance	NOUN
bracis-33591	176	27	than	than	ADP
bracis-33591	176	28	regular	regular	ADJ
bracis-33591	176	29	bc	bc	PROPN
bracis-33591	176	30	,	,	PUNCT
bracis-33591	176	31	specially	specially	ADV
bracis-33591	176	32	for	for	ADP
bracis-33591	176	33	the	the	DET
bracis-33591	176	34	test	test	NOUN
bracis-33591	176	35	city	city	NOUN
bracis-33591	176	36	town02	town02	NOUN
bracis-33591	176	37	not	not	PART
bracis-33591	176	38	used	use	VERB
bracis-33591	176	39	during	during	ADP
bracis-33591	176	40	training	training	NOUN
bracis-33591	176	41	.	.	PUNCT
bracis-33591	177	1	future	future	ADJ
bracis-33591	177	2	work	work	NOUN
bracis-33591	177	3	include	include	VERB
bracis-33591	177	4	extensions	extension	NOUN
bracis-33591	177	5	to	to	ADP
bracis-33591	177	6	cities	city	NOUN
bracis-33591	177	7	with	with	ADP
bracis-33591	177	8	pedestrians	pedestrian	NOUN
bracis-33591	177	9	and	and	CCONJ
bracis-33591	177	10	other	other	ADJ
bracis-33591	177	11	vehicles	vehicle	NOUN
bracis-33591	177	12	and	and	CCONJ
bracis-33591	177	13	more	more	ADV
bracis-33591	177	14	advanced	advanced	ADJ
bracis-33591	177	15	behavior	behavior	NOUN
bracis-33591	177	16	cloning	cloning	NOUN
bracis-33591	177	17	approaches	approach	NOUN
bracis-33591	177	18	such	such	ADJ
bracis-33591	177	19	as	as	ADP
bracis-33591	177	20	implicit	implicit	ADJ
bracis-33591	177	21	behavioral	behavioral	ADJ
bracis-33591	177	22	cloning	cloning	NOUN
bracis-33591	177	23	[	[	X
bracis-33591	177	24	9	9	NUM
bracis-33591	177	25	]	]	PUNCT
bracis-33591	177	26	to	to	PART
bracis-33591	177	27	account	account	VERB
bracis-33591	177	28	for	for	ADP
bracis-33591	177	29	multimodal	multimodal	ADJ
bracis-33591	177	30	action	action	NOUN
bracis-33591	177	31	distributions	distribution	NOUN
bracis-33591	177	32	.	.	PUNCT
bracis-33591	178	1	references	reference	NOUN
bracis-33591	178	2	(	(	PUNCT
bracis-33591	178	3	2020	2020	NUM
bracis-33591	178	4	)	)	PUNCT
bracis-33591	178	5	.	.	PUNCT
bracis-33591	179	1	https://leaderboard.carla.org/	https://leaderboard.carla.org/	ADJ
bracis-33591	179	2	bansal	bansal	NOUN
bracis-33591	179	3	,	,	PUNCT
bracis-33591	179	4	m.	m.	NOUN
bracis-33591	179	5	,	,	PUNCT
bracis-33591	179	6	krizhevsky	krizhevsky	NOUN
bracis-33591	179	7	,	,	PUNCT
bracis-33591	179	8	a.	a.	NOUN
bracis-33591	179	9	,	,	PUNCT
bracis-33591	179	10	ogale	ogale	NOUN
bracis-33591	179	11	,	,	PUNCT
bracis-33591	179	12	a.	a.	NOUN
bracis-33591	179	13	:	:	PUNCT
bracis-33591	179	14	chauffeurnet	chauffeurnet	NOUN
bracis-33591	179	15	:	:	PUNCT
bracis-33591	179	16	learning	learn	VERB
bracis-33591	179	17	to	to	PART
bracis-33591	179	18	drive	drive	VERB
bracis-33591	179	19	by	by	ADP
bracis-33591	179	20	imitating	imitate	VERB
bracis-33591	179	21	the	the	DET
bracis-33591	179	22	best	good	ADJ
bracis-33591	179	23	and	and	CCONJ
bracis-33591	179	24	synthesizing	synthesize	VERB
bracis-33591	179	25	the	the	DET
bracis-33591	179	26	worst	bad	ADJ
bracis-33591	179	27	(	(	PUNCT
bracis-33591	179	28	2018	2018	NUM
bracis-33591	179	29	)	)	PUNCT
bracis-33591	179	30	.	.	PUNCT
bracis-33591	180	1	https://doi.org/10.48550/arxiv.1812.03079	https://doi.org/10.48550/arxiv.1812.03079	PROPN
bracis-33591	180	2	.	.	PROPN
bracis-33591	180	3	https://arxiv.org/abs/1812.03079	https://arxiv.org/abs/1812.03079	PROPN
bracis-33591	180	4	bojarski	bojarski	PROPN
bracis-33591	180	5	,	,	PUNCT
bracis-33591	180	6	m.	m.	NOUN
bracis-33591	180	7	,	,	PUNCT
bracis-33591	180	8	et	et	PROPN
bracis-33591	180	9	al	al	PROPN
bracis-33591	180	10	.	.	PUNCT
bracis-33591	180	11	:	:	PUNCT
bracis-33591	180	12	end	end	VERB
bracis-33591	180	13	to	to	PART
bracis-33591	180	14	end	end	NOUN
bracis-33591	180	15	learning	learn	VERB
bracis-33591	180	16	for	for	ADP
bracis-33591	180	17	self	self	NOUN
bracis-33591	180	18	-	-	PUNCT
bracis-33591	180	19	driving	drive	VERB
bracis-33591	180	20	cars	car	NOUN
bracis-33591	180	21	(	(	PUNCT
bracis-33591	180	22	2016	2016	NUM
bracis-33591	180	23	)	)	PUNCT
bracis-33591	180	24	.	.	PUNCT
bracis-33591	181	1	https://doi.org/10.48550/arxiv.1604.07316	https://doi.org/10.48550/arxiv.1604.07316	PROPN
bracis-33591	181	2	.	.	PROPN
bracis-33591	181	3	https://arxiv.org/abs/1604.07316	https://arxiv.org/abs/1604.07316	PROPN
bracis-33591	181	4	cai	cai	PROPN
bracis-33591	181	5	,	,	PUNCT
bracis-33591	181	6	p.	p.	PROPN
bracis-33591	181	7	,	,	PUNCT
bracis-33591	181	8	wang	wang	PROPN
bracis-33591	181	9	,	,	PUNCT
bracis-33591	181	10	s.	s.	PROPN
bracis-33591	181	11	,	,	PUNCT
bracis-33591	181	12	sun	sun	PROPN
bracis-33591	181	13	,	,	PUNCT
bracis-33591	181	14	y.	y.	PROPN
bracis-33591	181	15	,	,	PUNCT
bracis-33591	181	16	liu	liu	PROPN
bracis-33591	181	17	,	,	PUNCT
bracis-33591	181	18	m.	m.	NOUN
bracis-33591	181	19	:	:	PUNCT
bracis-33591	181	20	probabilistic	probabilistic	ADJ
bracis-33591	181	21	end	end	NOUN
bracis-33591	181	22	-	-	PUNCT
bracis-33591	181	23	to	to	ADP
bracis-33591	181	24	-	-	PUNCT
bracis-33591	181	25	end	end	NOUN
bracis-33591	181	26	vehicle	vehicle	NOUN
bracis-33591	181	27	navigation	navigation	NOUN
bracis-33591	181	28	in	in	ADP
bracis-33591	181	29	complex	complex	ADJ
bracis-33591	181	30	dynamic	dynamic	ADJ
bracis-33591	181	31	environments	environment	NOUN
bracis-33591	181	32	with	with	ADP
bracis-33591	181	33	multimodal	multimodal	ADJ
bracis-33591	181	34	sensor	sensor	NOUN
bracis-33591	181	35	fusion	fusion	NOUN
bracis-33591	181	36	.	.	PUNCT
bracis-33591	182	1	ieee	ieee	PROPN
bracis-33591	182	2	rob	rob	PROPN
bracis-33591	182	3	.	.	PUNCT
bracis-33591	183	1	autom	autom	PROPN
bracis-33591	183	2	.	.	PUNCT
bracis-33591	184	1	lett	lett	PROPN
bracis-33591	184	2	.	.	PUNCT
bracis-33591	185	1	5(3	5(3	NUM
bracis-33591	185	2	)	)	PUNCT
bracis-33591	185	3	,	,	PUNCT
bracis-33591	185	4	4218–4224	4218–4224	NUM
bracis-33591	185	5	(	(	PUNCT
bracis-33591	185	6	2020	2020	NUM
bracis-33591	185	7	)	)	PUNCT
bracis-33591	185	8	.	.	PUNCT
bracis-33591	186	1	https://doi.org/10.1109/lra.2020.2994027	https://doi.org/10.1109/lra.2020.2994027	PRON
bracis-33591	186	2	article	article	NOUN
bracis-33591	186	3	  	  	SPACE
bracis-33591	186	4	math	math	NOUN
bracis-33591	186	5	  	  	SPACE
bracis-33591	186	6	google	google	PROPN
bracis-33591	186	7	scholar	scholar	NOUN
bracis-33591	186	8	  	  	SPACE
bracis-33591	186	9	chen	chen	PROPN
bracis-33591	186	10	,	,	PUNCT
bracis-33591	186	11	d.	d.	PROPN
bracis-33591	186	12	,	,	PUNCT
bracis-33591	186	13	zhou	zhou	PROPN
bracis-33591	186	14	,	,	PUNCT
bracis-33591	186	15	b.	b.	PROPN
bracis-33591	186	16	,	,	PUNCT
bracis-33591	186	17	koltun	koltun	PROPN
bracis-33591	186	18	,	,	PUNCT
bracis-33591	186	19	v.	v.	ADV
bracis-33591	186	20	,	,	PUNCT
bracis-33591	186	21	krähenbühl	krähenbühl	ADJ
bracis-33591	186	22	,	,	PUNCT
bracis-33591	186	23	p.	p.	NOUN
bracis-33591	186	24	:	:	PUNCT
bracis-33591	187	1	learning	learn	VERB
bracis-33591	187	2	by	by	ADP
bracis-33591	187	3	cheating	cheat	VERB
bracis-33591	187	4	(	(	PUNCT
bracis-33591	187	5	2019	2019	NUM
bracis-33591	187	6	)	)	PUNCT
bracis-33591	187	7	google	google	NOUN
bracis-33591	187	8	scholar	scholar	NOUN
bracis-33591	187	9	  	  	SPACE
bracis-33591	187	10	codevilla	codevilla	NOUN
bracis-33591	187	11	,	,	PUNCT
bracis-33591	187	12	f.	f.	PROPN
bracis-33591	187	13	,	,	PUNCT
bracis-33591	187	14	müller	müller	PROPN
bracis-33591	187	15	,	,	PUNCT
bracis-33591	187	16	m.	m.	NOUN
bracis-33591	187	17	,	,	PUNCT
bracis-33591	187	18	dosovitskiy	dosovitskiy	PROPN
bracis-33591	187	19	,	,	PUNCT
bracis-33591	187	20	a.	a.	NOUN
bracis-33591	187	21	,	,	PUNCT
bracis-33591	187	22	lópez	lópez	PROPN
bracis-33591	187	23	,	,	PUNCT
bracis-33591	187	24	a.m.	a.m.	ADV
bracis-33591	187	25	,	,	PUNCT
bracis-33591	187	26	koltun	koltun	PROPN
bracis-33591	187	27	,	,	PUNCT
bracis-33591	187	28	v.	v.	ADJ
bracis-33591	187	29	:	:	PUNCT
bracis-33591	187	30	end	end	NOUN
bracis-33591	187	31	-	-	PUNCT
bracis-33591	187	32	to	to	ADP
bracis-33591	187	33	-	-	PUNCT
bracis-33591	187	34	end	end	NOUN
bracis-33591	187	35	driving	driving	NOUN
bracis-33591	187	36	via	via	ADP
bracis-33591	187	37	conditional	conditional	ADJ
bracis-33591	187	38	imitation	imitation	NOUN
bracis-33591	187	39	learning	learning	NOUN
bracis-33591	187	40	.	.	PUNCT
bracis-33591	188	1	in	in	ADP
bracis-33591	188	2	:	:	PUNCT
bracis-33591	188	3	2018	2018	NUM
bracis-33591	188	4	ieee	ieee	NOUN
bracis-33591	188	5	international	international	ADJ
bracis-33591	188	6	conference	conference	NOUN
bracis-33591	188	7	on	on	ADP
bracis-33591	188	8	robotics	robotic	NOUN
bracis-33591	188	9	and	and	CCONJ
bracis-33591	188	10	automation	automation	NOUN
bracis-33591	188	11	(	(	PUNCT
bracis-33591	188	12	icra	icra	PROPN
bracis-33591	188	13	)	)	PUNCT
bracis-33591	188	14	,	,	PUNCT
bracis-33591	188	15	pp	pp	PROPN
bracis-33591	188	16	.	.	PUNCT
bracis-33591	188	17	 	 	SPACE
bracis-33591	188	18	1–9	1–9	NUM
bracis-33591	188	19	(	(	PUNCT
bracis-33591	188	20	2017	2017	NUM
bracis-33591	188	21	)	)	PUNCT
bracis-33591	188	22	.	.	PUNCT
bracis-33591	189	1	https://api.semanticscholar.org/corpusid:3672301	https://api.semanticscholar.org/corpusid:3672301	X
bracis-33591	189	2	codevilla	codevilla	PROPN
bracis-33591	189	3	,	,	PUNCT
bracis-33591	189	4	f.	f.	PROPN
bracis-33591	189	5	,	,	PUNCT
bracis-33591	189	6	santana	santana	PROPN
bracis-33591	189	7	,	,	PUNCT
bracis-33591	189	8	e.	e.	PROPN
bracis-33591	189	9	,	,	PUNCT
bracis-33591	189	10	lopez	lopez	PROPN
bracis-33591	189	11	,	,	PUNCT
bracis-33591	189	12	a.	a.	NOUN
bracis-33591	189	13	,	,	PUNCT
bracis-33591	189	14	gaidon	gaidon	PROPN
bracis-33591	189	15	,	,	PUNCT
bracis-33591	189	16	a.	a.	NOUN
bracis-33591	189	17	:	:	PUNCT
bracis-33591	189	18	exploring	explore	VERB
bracis-33591	189	19	the	the	DET
bracis-33591	189	20	limitations	limitation	NOUN
bracis-33591	189	21	of	of	ADP
bracis-33591	189	22	behavior	behavior	NOUN
bracis-33591	189	23	cloning	clone	VERB
bracis-33591	189	24	for	for	ADP
bracis-33591	189	25	autonomous	autonomous	ADJ
bracis-33591	189	26	driving	driving	NOUN
bracis-33591	189	27	.	.	PUNCT
bracis-33591	190	1	in	in	ADP
bracis-33591	190	2	:	:	PUNCT
bracis-33591	190	3	2019	2019	NUM
bracis-33591	190	4	ieee	ieee	NOUN
bracis-33591	190	5	/	/	SYM
bracis-33591	190	6	cvf	cvf	NOUN
bracis-33591	190	7	international	international	ADJ
bracis-33591	190	8	conference	conference	NOUN
bracis-33591	190	9	on	on	ADP
bracis-33591	190	10	computer	computer	NOUN
bracis-33591	190	11	vision	vision	NOUN
bracis-33591	190	12	(	(	PUNCT
bracis-33591	190	13	iccv	iccv	PROPN
bracis-33591	190	14	)	)	PUNCT
bracis-33591	190	15	,	,	PUNCT
bracis-33591	190	16	pp	pp	ADP
bracis-33591	190	17	.	.	PUNCT
bracis-33591	191	1	9328–9337	9328–9337	NUM
bracis-33591	191	2	(	(	PUNCT
bracis-33591	191	3	2019	2019	NUM
bracis-33591	191	4	)	)	PUNCT
bracis-33591	191	5	.	.	PUNCT
bracis-33591	192	1	https://doi.org/10.1109/iccv.2019.00942	https://doi.org/10.1109/iccv.2019.00942	PROPN
bracis-33591	192	2	couto	couto	PROPN
bracis-33591	192	3	,	,	PUNCT
bracis-33591	192	4	g.c.k	g.c.k	PROPN
bracis-33591	192	5	.	.	PROPN
bracis-33591	192	6	,	,	PUNCT
bracis-33591	192	7	antonelo	antonelo	PROPN
bracis-33591	192	8	,	,	PUNCT
bracis-33591	192	9	e.a	e.a	PROPN
bracis-33591	192	10	.	.	PROPN
bracis-33591	192	11	:	:	PUNCT
bracis-33591	192	12	hierarchical	hierarchical	ADJ
bracis-33591	192	13	generative	generative	ADJ
bracis-33591	192	14	adversarial	adversarial	ADJ
bracis-33591	192	15	imitation	imitation	NOUN
bracis-33591	192	16	learning	learn	VERB
bracis-33591	192	17	with	with	ADP
bracis-33591	192	18	mid	mid	ADJ
bracis-33591	192	19	-	-	ADJ
bracis-33591	192	20	level	level	ADJ
bracis-33591	192	21	input	input	NOUN
bracis-33591	192	22	generation	generation	NOUN
bracis-33591	192	23	for	for	ADP
bracis-33591	192	24	autonomous	autonomous	ADJ
bracis-33591	192	25	driving	driving	NOUN
bracis-33591	192	26	on	on	ADP
bracis-33591	192	27	urban	urban	ADJ
bracis-33591	192	28	environments	environment	NOUN
bracis-33591	192	29	.	.	PUNCT
bracis-33591	193	1	arxiv	arxiv	PROPN
bracis-33591	193	2	preprint	preprint	VERB
bracis-33591	193	3	arxiv:2302.04823	arxiv:2302.04823	ADV
bracis-33591	193	4	(	(	PUNCT
bracis-33591	193	5	2023	2023	NUM
bracis-33591	193	6	)	)	PUNCT
bracis-33591	193	7	florence	florence	NOUN
bracis-33591	193	8	,	,	PUNCT
bracis-33591	193	9	p.	p.	PROPN
bracis-33591	193	10	,	,	PUNCT
bracis-33591	193	11	et	et	PROPN
bracis-33591	193	12	al	al	PROPN
bracis-33591	193	13	.	.	PUNCT
bracis-33591	193	14	:	:	PUNCT
bracis-33591	194	1	implicit	implicit	ADJ
bracis-33591	194	2	behavioral	behavioral	ADJ
bracis-33591	194	3	cloning	cloning	NOUN
bracis-33591	194	4	.	.	PUNCT
bracis-33591	195	1	in	in	ADP
bracis-33591	195	2	:	:	PUNCT
bracis-33591	195	3	conference	conference	NOUN
bracis-33591	195	4	on	on	ADP
bracis-33591	195	5	robot	robot	NOUN
bracis-33591	195	6	learning	learning	NOUN
bracis-33591	195	7	,	,	PUNCT
bracis-33591	195	8	pp	pp	ADP
bracis-33591	195	9	.	.	PUNCT
bracis-33591	196	1	158–168	158–168	NUM
bracis-33591	196	2	.	.	X
bracis-33591	196	3	pmlr	pmlr	NOUN
bracis-33591	196	4	(	(	PUNCT
bracis-33591	196	5	2022	2022	NUM
bracis-33591	196	6	)	)	PUNCT
bracis-33591	196	7	google	google	PROPN
bracis-33591	196	8	scholar	scholar	NOUN
bracis-33591	196	9	  	  	SPACE
bracis-33591	196	10	gelman	gelman	NOUN
bracis-33591	196	11	,	,	PUNCT
bracis-33591	196	12	a.	a.	PROPN
bracis-33591	196	13	,	,	PUNCT
bracis-33591	196	14	carlin	carlin	PROPN
bracis-33591	196	15	,	,	PUNCT
bracis-33591	196	16	j.b	j.b	PROPN
bracis-33591	196	17	.	.	PROPN
bracis-33591	196	18	,	,	PUNCT
bracis-33591	196	19	stern	stern	ADJ
bracis-33591	196	20	,	,	PUNCT
bracis-33591	196	21	h.s	h.s	PROPN
bracis-33591	196	22	.	.	PROPN
bracis-33591	196	23	,	,	PUNCT
bracis-33591	196	24	rubin	rubin	PROPN
bracis-33591	196	25	,	,	PUNCT
bracis-33591	196	26	d.b	d.b	PROPN
bracis-33591	196	27	.	.	PUNCT
bracis-33591	196	28	:	:	PUNCT
bracis-33591	197	1	bayesian	bayesian	NOUN
bracis-33591	197	2	data	datum	NOUN
bracis-33591	197	3	analysis	analysis	NOUN
bracis-33591	197	4	.	.	PUNCT
bracis-33591	198	1	chapman	chapman	NOUN
bracis-33591	198	2	and	and	CCONJ
bracis-33591	198	3	hall	hall	PROPN
bracis-33591	198	4	/	/	SYM
bracis-33591	198	5	crc	crc	PROPN
bracis-33591	198	6	,	,	PUNCT
bracis-33591	198	7	boca	boca	PROPN
bracis-33591	198	8	raton	raton	PROPN
bracis-33591	198	9	(	(	PUNCT
bracis-33591	198	10	1995	1995	NUM
bracis-33591	198	11	)	)	PUNCT
bracis-33591	198	12	book	book	NOUN
bracis-33591	198	13	  	  	SPACE
bracis-33591	198	14	math	math	NOUN
bracis-33591	198	15	  	  	SPACE
bracis-33591	198	16	google	google	PROPN
bracis-33591	198	17	scholar	scholar	NOUN
bracis-33591	198	18	  	  	SPACE
bracis-33591	198	19	karl	karl	PROPN
bracis-33591	198	20	 	 	SPACE
bracis-33591	198	21	couto	couto	PROPN
bracis-33591	198	22	,	,	PUNCT
bracis-33591	198	23	g.c	g.c	PROPN
bracis-33591	198	24	.	.	PROPN
bracis-33591	198	25	,	,	PUNCT
bracis-33591	198	26	antonelo	antonelo	NOUN
bracis-33591	198	27	,	,	PUNCT
bracis-33591	198	28	e.a	e.a	PROPN
bracis-33591	198	29	.	.	PROPN
bracis-33591	198	30	:	:	PUNCT
bracis-33591	198	31	generative	generative	VERB
bracis-33591	198	32	adversarial	adversarial	ADJ
bracis-33591	198	33	imitation	imitation	NOUN
bracis-33591	198	34	learning	learn	VERB
bracis-33591	198	35	for	for	ADP
bracis-33591	198	36	end	end	NOUN
bracis-33591	198	37	-	-	PUNCT
bracis-33591	198	38	to	to	ADP
bracis-33591	198	39	-	-	PUNCT
bracis-33591	198	40	end	end	NOUN
bracis-33591	198	41	autonomous	autonomous	ADJ
bracis-33591	198	42	driving	driving	NOUN
bracis-33591	198	43	on	on	ADP
bracis-33591	198	44	urban	urban	ADJ
bracis-33591	198	45	environments	environment	NOUN
bracis-33591	198	46	.	.	PUNCT
bracis-33591	199	1	in	in	ADP
bracis-33591	199	2	:	:	PUNCT
bracis-33591	199	3	2021	2021	NUM
bracis-33591	199	4	ieee	ieee	NOUN
bracis-33591	199	5	symposium	symposium	NOUN
bracis-33591	199	6	series	series	NOUN
bracis-33591	199	7	on	on	ADP
bracis-33591	199	8	computational	computational	ADJ
bracis-33591	199	9	intelligence	intelligence	NOUN
bracis-33591	199	10	(	(	PUNCT
bracis-33591	199	11	ssci	ssci	PROPN
bracis-33591	199	12	)	)	PUNCT
bracis-33591	199	13	,	,	PUNCT
bracis-33591	199	14	pp	pp	ADV
bracis-33591	199	15	.	.	PUNCT
bracis-33591	199	16	 	 	SPACE
bracis-33591	199	17	1–7	1–7	NUM
bracis-33591	199	18	(	(	PUNCT
bracis-33591	199	19	2021	2021	NUM
bracis-33591	199	20	)	)	PUNCT
bracis-33591	199	21	.	.	PUNCT
bracis-33591	200	1	https://doi.org/10.1109/ssci50451.2021.9660156	https://doi.org/10.1109/ssci50451.2021.9660156	PROPN
bracis-33591	200	2	liang	liang	PROPN
bracis-33591	200	3	,	,	PUNCT
bracis-33591	200	4	x.	x.	PROPN
bracis-33591	200	5	,	,	PUNCT
bracis-33591	200	6	wang	wang	PROPN
bracis-33591	200	7	,	,	PUNCT
bracis-33591	200	8	t.	t.	PROPN
bracis-33591	200	9	,	,	PUNCT
bracis-33591	200	10	yang	yang	PROPN
bracis-33591	200	11	,	,	PUNCT
bracis-33591	200	12	l.	l.	PROPN
bracis-33591	200	13	,	,	PUNCT
bracis-33591	200	14	xing	xing	PROPN
bracis-33591	200	15	,	,	PUNCT
bracis-33591	200	16	e.	e.	PROPN
bracis-33591	200	17	:	:	PUNCT
bracis-33591	200	18	cirl	cirl	NOUN
bracis-33591	200	19	:	:	PUNCT
bracis-33591	200	20	controllable	controllable	ADJ
bracis-33591	200	21	imitative	imitative	ADJ
bracis-33591	200	22	reinforcement	reinforcement	NOUN
bracis-33591	200	23	learning	learning	NOUN
bracis-33591	200	24	for	for	ADP
bracis-33591	200	25	vision	vision	NOUN
bracis-33591	200	26	-	-	PUNCT
bracis-33591	200	27	based	base	VERB
bracis-33591	200	28	self	self	NOUN
bracis-33591	200	29	-	-	PUNCT
bracis-33591	200	30	driving	driving	NOUN
bracis-33591	200	31	.	.	PUNCT
bracis-33591	201	1	in	in	ADP
bracis-33591	201	2	:	:	PUNCT
bracis-33591	201	3	ferrari	ferrari	PROPN
bracis-33591	201	4	,	,	PUNCT
bracis-33591	201	5	v.	v.	ADV
bracis-33591	201	6	,	,	PUNCT
bracis-33591	201	7	hebert	hebert	NOUN
bracis-33591	201	8	,	,	PUNCT
bracis-33591	201	9	m.	m.	NOUN
bracis-33591	201	10	,	,	PUNCT
bracis-33591	201	11	sminchisescu	sminchisescu	PROPN
bracis-33591	201	12	,	,	PUNCT
bracis-33591	201	13	c.	c.	PROPN
bracis-33591	201	14	,	,	PUNCT
bracis-33591	201	15	weiss	weiss	PROPN
bracis-33591	201	16	,	,	PUNCT
bracis-33591	201	17	y.	y.	PROPN
bracis-33591	201	18	(	(	PUNCT
bracis-33591	201	19	eds	eds	PROPN
bracis-33591	201	20	.	.	PUNCT
bracis-33591	201	21	)	)	PUNCT
bracis-33591	202	1	eccv	eccv	ADV
bracis-33591	202	2	2018	2018	NUM
bracis-33591	202	3	.	.	PUNCT
bracis-33591	203	1	lncs	lncs	PROPN
bracis-33591	203	2	,	,	PUNCT
bracis-33591	203	3	vol	vol	NOUN
bracis-33591	203	4	.	.	NOUN
bracis-33591	203	5	11211	11211	NUM
bracis-33591	203	6	,	,	PUNCT
bracis-33591	203	7	pp	pp	ADJ
bracis-33591	203	8	.	.	PUNCT
bracis-33591	204	1	604–620	604–620	NUM
bracis-33591	204	2	.	.	PUNCT
bracis-33591	204	3	springer	springer	NOUN
bracis-33591	204	4	,	,	PUNCT
bracis-33591	204	5	cham	cham	PROPN
bracis-33591	204	6	(	(	PUNCT
bracis-33591	204	7	2018	2018	NUM
bracis-33591	204	8	)	)	PUNCT
bracis-33591	204	9	.	.	PUNCT
bracis-33591	205	1	https://doi.org/10.1007/978-3-030-01234-2_36	https://doi.org/10.1007/978-3-030-01234-2_36	PROPN
bracis-33591	205	2	chapter	chapter	NOUN
bracis-33591	205	3	  	  	SPACE
bracis-33591	205	4	google	google	PROPN
bracis-33591	205	5	scholar	scholar	NOUN
bracis-33591	205	6	  	  	SPACE
bracis-33591	205	7	montemerlo	montemerlo	NOUN
bracis-33591	205	8	,	,	PUNCT
bracis-33591	205	9	m.	m.	NOUN
bracis-33591	205	10	,	,	PUNCT
bracis-33591	205	11	et	et	PROPN
bracis-33591	205	12	al	al	PROPN
bracis-33591	205	13	.	.	PUNCT
bracis-33591	205	14	:	:	PUNCT
bracis-33591	206	1	junior	junior	ADJ
bracis-33591	206	2	:	:	PUNCT
bracis-33591	206	3	the	the	DET
bracis-33591	206	4	stanford	stanford	PROPN
bracis-33591	206	5	entry	entry	NOUN
bracis-33591	206	6	in	in	ADP
bracis-33591	206	7	the	the	DET
bracis-33591	206	8	urban	urban	ADJ
bracis-33591	206	9	challenge	challenge	NOUN
bracis-33591	206	10	.	.	PUNCT
bracis-33591	207	1	j.	j.	PROPN
bracis-33591	207	2	field	field	PROPN
bracis-33591	207	3	rob	rob	PROPN
bracis-33591	207	4	.	.	PROPN
bracis-33591	208	1	25	25	NUM
bracis-33591	208	2	,	,	PUNCT
bracis-33591	208	3	569–597	569–597	NUM
bracis-33591	208	4	(	(	PUNCT
bracis-33591	208	5	2008	2008	NUM
bracis-33591	208	6	)	)	PUNCT
bracis-33591	208	7	.	.	PUNCT
bracis-33591	209	1	https://doi.org/10.1002/rob.20258	https://doi.org/10.1002/rob.20258	PROPN
bracis-33591	209	2	ota	ota	PROPN
bracis-33591	209	3	,	,	PUNCT
bracis-33591	209	4	k.	k.	PROPN
bracis-33591	209	5	,	,	PUNCT
bracis-33591	209	6	jha	jha	PROPN
bracis-33591	209	7	,	,	PUNCT
bracis-33591	209	8	d.k	d.k	PROPN
bracis-33591	209	9	.	.	PROPN
bracis-33591	209	10	,	,	PUNCT
bracis-33591	209	11	kanezaki	kanezaki	PROPN
bracis-33591	209	12	,	,	PUNCT
bracis-33591	209	13	a.	a.	NOUN
bracis-33591	209	14	:	:	PUNCT
bracis-33591	209	15	training	train	VERB
bracis-33591	209	16	larger	large	ADJ
bracis-33591	209	17	networks	network	NOUN
bracis-33591	209	18	for	for	ADP
bracis-33591	209	19	deep	deep	ADJ
bracis-33591	209	20	reinforcement	reinforcement	NOUN
bracis-33591	209	21	learning	learning	NOUN
bracis-33591	209	22	.	.	PUNCT
bracis-33591	210	1	arxiv	arxiv	PROPN
bracis-33591	210	2	preprint	preprint	VERB
bracis-33591	210	3	arxiv:2102.07920	arxiv:2102.07920	NOUN
bracis-33591	210	4	(	(	PUNCT
bracis-33591	210	5	2021	2021	NUM
bracis-33591	210	6	)	)	PUNCT
bracis-33591	210	7	paden	paden	PROPN
bracis-33591	210	8	,	,	PUNCT
bracis-33591	210	9	b.	b.	PROPN
bracis-33591	210	10	,	,	PUNCT
bracis-33591	210	11	cáp	cáp	PROPN
bracis-33591	210	12	,	,	PUNCT
bracis-33591	210	13	m.	m.	NOUN
bracis-33591	210	14	,	,	PUNCT
bracis-33591	210	15	yong	yong	PROPN
bracis-33591	210	16	,	,	PUNCT
bracis-33591	210	17	s.z	s.z	PROPN
bracis-33591	210	18	.	.	PROPN
bracis-33591	210	19	,	,	PUNCT
bracis-33591	210	20	yershov	yershov	PROPN
bracis-33591	210	21	,	,	PUNCT
bracis-33591	210	22	d.s	d.s	PROPN
bracis-33591	210	23	.	.	PROPN
bracis-33591	210	24	,	,	PUNCT
bracis-33591	210	25	frazzoli	frazzoli	PROPN
bracis-33591	210	26	,	,	PUNCT
bracis-33591	210	27	e.	e.	PROPN
bracis-33591	210	28	:	:	PUNCT
bracis-33591	210	29	a	a	DET
bracis-33591	210	30	survey	survey	NOUN
bracis-33591	210	31	of	of	ADP
bracis-33591	210	32	motion	motion	NOUN
bracis-33591	210	33	planning	planning	NOUN
bracis-33591	210	34	and	and	CCONJ
bracis-33591	210	35	control	control	NOUN
bracis-33591	210	36	techniques	technique	NOUN
bracis-33591	210	37	for	for	ADP
bracis-33591	210	38	self	self	NOUN
bracis-33591	210	39	-	-	PUNCT
bracis-33591	210	40	driving	drive	VERB
bracis-33591	210	41	urban	urban	ADJ
bracis-33591	210	42	vehicles	vehicle	NOUN
bracis-33591	210	43	.	.	PUNCT
bracis-33591	211	1	ieee	ieee	PROPN
bracis-33591	211	2	trans	trans	PROPN
bracis-33591	211	3	.	.	PUNCT
bracis-33591	212	1	intell	intell	PROPN
bracis-33591	212	2	.	.	PUNCT
bracis-33591	213	1	veh	veh	PROPN
bracis-33591	213	2	.	.	PROPN
bracis-33591	213	3	1	1	NUM
bracis-33591	213	4	,	,	PUNCT
bracis-33591	213	5	33–55	33–55	NUM
bracis-33591	213	6	(	(	PUNCT
bracis-33591	213	7	2016	2016	NUM
bracis-33591	213	8	)	)	PUNCT
bracis-33591	213	9	article	article	NOUN
bracis-33591	213	10	  	  	SPACE
bracis-33591	213	11	math	math	NOUN
bracis-33591	213	12	  	  	SPACE
bracis-33591	213	13	google	google	PROPN
bracis-33591	213	14	scholar	scholar	NOUN
bracis-33591	213	15	  	  	SPACE
bracis-33591	213	16	parizotto	parizotto	NOUN
bracis-33591	213	17	,	,	PUNCT
bracis-33591	213	18	l.m.s	l.m.	NOUN
bracis-33591	213	19	.	.	PUNCT
bracis-33591	213	20	,	,	PUNCT
bracis-33591	213	21	antonelo	antonelo	NOUN
bracis-33591	213	22	,	,	PUNCT
bracis-33591	213	23	e.a	e.a	PROPN
bracis-33591	213	24	.	.	PROPN
bracis-33591	213	25	:	:	PUNCT
bracis-33591	214	1	cone	cone	NOUN
bracis-33591	214	2	detection	detection	NOUN
bracis-33591	214	3	with	with	ADP
bracis-33591	214	4	convolutional	convolutional	ADJ
bracis-33591	214	5	neural	neural	ADJ
bracis-33591	214	6	networks	network	NOUN
bracis-33591	214	7	for	for	ADP
bracis-33591	214	8	an	an	DET
bracis-33591	214	9	autonomous	autonomous	ADJ
bracis-33591	214	10	formula	formula	NOUN
bracis-33591	214	11	student	student	NOUN
bracis-33591	214	12	race	race	NOUN
bracis-33591	214	13	car	car	NOUN
bracis-33591	214	14	.	.	PUNCT
bracis-33591	215	1	in	in	ADP
bracis-33591	215	2	:	:	PUNCT
bracis-33591	215	3	26th	26th	ADJ
bracis-33591	215	4	abcm	abcm	ADJ
bracis-33591	215	5	international	international	ADJ
bracis-33591	215	6	congress	congress	PROPN
bracis-33591	215	7	of	of	ADP
bracis-33591	215	8	mechanical	mechanical	ADJ
bracis-33591	215	9	engineering	engineering	NOUN
bracis-33591	215	10	(	(	PUNCT
bracis-33591	215	11	cobem	cobem	NOUN
bracis-33591	215	12	2021	2021	NUM
bracis-33591	215	13	)	)	PUNCT
bracis-33591	215	14	(	(	PUNCT
bracis-33591	215	15	2021	2021	NUM
bracis-33591	215	16	)	)	PUNCT
bracis-33591	215	17	google	google	NOUN
bracis-33591	215	18	scholar	scholar	NOUN
bracis-33591	215	19	  	  	SPACE
bracis-33591	215	20	petrazzini	petrazzini	NOUN
bracis-33591	215	21	,	,	PUNCT
bracis-33591	215	22	i.g	i.g	PROPN
bracis-33591	215	23	.	.	PROPN
bracis-33591	215	24	,	,	PUNCT
bracis-33591	215	25	antonelo	antonelo	NOUN
bracis-33591	215	26	,	,	PUNCT
bracis-33591	215	27	e.a	e.a	PROPN
bracis-33591	215	28	.	.	PROPN
bracis-33591	215	29	:	:	PUNCT
bracis-33591	216	1	proximal	proximal	ADJ
bracis-33591	216	2	policy	policy	NOUN
bracis-33591	216	3	optimization	optimization	NOUN
bracis-33591	216	4	with	with	ADP
bracis-33591	216	5	continuous	continuous	ADJ
bracis-33591	216	6	bounded	bounded	ADJ
bracis-33591	216	7	action	action	NOUN
bracis-33591	216	8	space	space	NOUN
bracis-33591	216	9	via	via	ADP
bracis-33591	216	10	the	the	DET
bracis-33591	216	11	beta	beta	ADJ
bracis-33591	216	12	distribution	distribution	NOUN
bracis-33591	216	13	.	.	PUNCT
bracis-33591	217	1	in	in	ADP
bracis-33591	217	2	:	:	PUNCT
bracis-33591	217	3	2021	2021	NUM
bracis-33591	217	4	ieee	ieee	NOUN
bracis-33591	217	5	symposium	symposium	NOUN
bracis-33591	217	6	series	series	NOUN
bracis-33591	217	7	on	on	ADP
bracis-33591	217	8	computational	computational	ADJ
bracis-33591	217	9	intelligence	intelligence	NOUN
bracis-33591	217	10	(	(	PUNCT
bracis-33591	217	11	ssci	ssci	PROPN
bracis-33591	217	12	)	)	PUNCT
bracis-33591	217	13	,	,	PUNCT
bracis-33591	217	14	pp	pp	ADV
bracis-33591	217	15	.	.	PUNCT
bracis-33591	217	16	 	 	SPACE
bracis-33591	217	17	1–8	1–8	X
bracis-33591	217	18	.	.	PUNCT
bracis-33591	217	19	ieee	ieee	PROPN
bracis-33591	217	20	(	(	PUNCT
bracis-33591	217	21	2021	2021	NUM
bracis-33591	217	22	)	)	PUNCT
bracis-33591	217	23	google	google	NOUN
bracis-33591	217	24	scholar	scholar	NOUN
bracis-33591	217	25	  	  	SPACE
bracis-33591	217	26	silverman	silverman	NOUN
bracis-33591	217	27	,	,	PUNCT
bracis-33591	217	28	b.w	b.w	PROPN
bracis-33591	217	29	.	.	PROPN
bracis-33591	217	30	:	:	PUNCT
bracis-33591	218	1	density	density	NOUN
bracis-33591	218	2	estimation	estimation	NOUN
bracis-33591	218	3	for	for	ADP
bracis-33591	218	4	statistics	statistic	NOUN
bracis-33591	218	5	and	and	CCONJ
bracis-33591	218	6	data	datum	NOUN
bracis-33591	218	7	analysis	analysis	NOUN
bracis-33591	218	8	.	.	PUNCT
bracis-33591	219	1	routledge	routledge	PROPN
bracis-33591	219	2	,	,	PUNCT
bracis-33591	219	3	abingdon	abingdon	PROPN
bracis-33591	219	4	(	(	PUNCT
bracis-33591	219	5	2018	2018	NUM
bracis-33591	219	6	)	)	PUNCT
bracis-33591	219	7	google	google	PROPN
bracis-33591	219	8	scholar	scholar	NOUN
bracis-33591	219	9	  	  	SPACE
bracis-33591	219	10	xu	xu	PROPN
bracis-33591	219	11	,	,	PUNCT
bracis-33591	219	12	h.	h.	PROPN
bracis-33591	219	13	,	,	PUNCT
bracis-33591	219	14	gao	gao	PROPN
bracis-33591	219	15	,	,	PUNCT
bracis-33591	219	16	y.	y.	PROPN
bracis-33591	219	17	,	,	PUNCT
bracis-33591	219	18	yu	yu	PROPN
bracis-33591	219	19	,	,	PUNCT
bracis-33591	219	20	f.	f.	PROPN
bracis-33591	219	21	,	,	PUNCT
bracis-33591	219	22	darrell	darrell	PROPN
bracis-33591	219	23	,	,	PUNCT
bracis-33591	219	24	t.	t.	PROPN
bracis-33591	219	25	:	:	PUNCT
bracis-33591	219	26	end	end	NOUN
bracis-33591	219	27	-	-	PUNCT
bracis-33591	219	28	to	to	ADP
bracis-33591	219	29	-	-	PUNCT
bracis-33591	219	30	end	end	NOUN
bracis-33591	219	31	learning	learning	NOUN
bracis-33591	219	32	of	of	ADP
bracis-33591	219	33	driving	driving	NOUN
bracis-33591	219	34	models	model	NOUN
bracis-33591	219	35	from	from	ADP
bracis-33591	219	36	large	large	ADJ
bracis-33591	219	37	-	-	PUNCT
bracis-33591	219	38	scale	scale	NOUN
bracis-33591	219	39	video	video	NOUN
bracis-33591	219	40	datasets	dataset	NOUN
bracis-33591	219	41	(	(	PUNCT
bracis-33591	219	42	2016	2016	NUM
bracis-33591	219	43	)	)	PUNCT
bracis-33591	219	44	.	.	PUNCT
bracis-33591	220	1	https://doi.org/10.48550/arxiv.1612.01079	https://doi.org/10.48550/arxiv.1612.01079	PROPN
bracis-33591	220	2	.	.	PUNCT
bracis-33591	221	1	https://arxiv.org/abs/1612.01079	https://arxiv.org/abs/1612.01079	PROPN
bracis-33591	221	2	zhang	zhang	PROPN
bracis-33591	221	3	,	,	PUNCT
bracis-33591	221	4	z.	z.	PROPN
bracis-33591	221	5	,	,	PUNCT
bracis-33591	221	6	liniger	liniger	PROPN
bracis-33591	221	7	,	,	PUNCT
bracis-33591	221	8	a.	a.	PROPN
bracis-33591	221	9	,	,	PUNCT
bracis-33591	221	10	dai	dai	PROPN
bracis-33591	221	11	,	,	PUNCT
bracis-33591	221	12	d.	d.	PROPN
bracis-33591	221	13	,	,	PUNCT
bracis-33591	221	14	yu	yu	PROPN
bracis-33591	221	15	,	,	PUNCT
bracis-33591	221	16	f.	f.	PROPN
bracis-33591	221	17	,	,	PUNCT
bracis-33591	221	18	van	van	PROPN
bracis-33591	221	19	 	 	SPACE
bracis-33591	221	20	gool	gool	PROPN
bracis-33591	221	21	,	,	PUNCT
bracis-33591	221	22	l.	l.	PROPN
bracis-33591	221	23	:	:	PUNCT
bracis-33591	221	24	end	end	NOUN
bracis-33591	221	25	-	-	PUNCT
bracis-33591	221	26	to	to	ADP
bracis-33591	221	27	-	-	PUNCT
bracis-33591	221	28	end	end	NOUN
bracis-33591	221	29	urban	urban	ADJ
bracis-33591	221	30	driving	driving	NOUN
bracis-33591	221	31	by	by	ADP
bracis-33591	221	32	imitating	imitate	VERB
bracis-33591	221	33	a	a	DET
bracis-33591	221	34	reinforcement	reinforcement	NOUN
bracis-33591	221	35	learning	learning	NOUN
bracis-33591	221	36	coach	coach	NOUN
bracis-33591	221	37	.	.	PUNCT
bracis-33591	222	1	in	in	ADP
bracis-33591	222	2	:	:	PUNCT
bracis-33591	222	3	2021	2021	NUM
bracis-33591	222	4	ieee	ieee	NOUN
bracis-33591	222	5	/	/	SYM
bracis-33591	222	6	cvf	cvf	NOUN
bracis-33591	222	7	international	international	ADJ
bracis-33591	222	8	conference	conference	NOUN
bracis-33591	222	9	on	on	ADP
bracis-33591	222	10	computer	computer	NOUN
bracis-33591	222	11	vision	vision	NOUN
bracis-33591	222	12	(	(	PUNCT
bracis-33591	222	13	iccv	iccv	PROPN
bracis-33591	222	14	)	)	PUNCT
bracis-33591	222	15	,	,	PUNCT
bracis-33591	222	16	pp	pp	ADJ
bracis-33591	222	17	.	.	PUNCT
bracis-33591	222	18	15202–15212	15202–15212	NUM
bracis-33591	222	19	(	(	PUNCT
bracis-33591	222	20	2021	2021	NUM
bracis-33591	222	21	)	)	PUNCT
bracis-33591	222	22	.	.	PUNCT
bracis-33591	223	1	https://doi.org/10.1109/iccv48922.2021.01494	https://doi.org/10.1109/iccv48922.2021.01494	PROPN
bracis-33591	223	2	zhu	zhu	PROPN
bracis-33591	223	3	,	,	PUNCT
bracis-33591	223	4	h.	h.	PROPN
bracis-33591	223	5	,	,	PUNCT
bracis-33591	223	6	yuen	yuen	PROPN
bracis-33591	223	7	,	,	PUNCT
bracis-33591	223	8	k.v	k.v	PROPN
bracis-33591	223	9	.	.	PROPN
bracis-33591	223	10	,	,	PUNCT
bracis-33591	223	11	mihaylova	mihaylova	PROPN
bracis-33591	223	12	,	,	PUNCT
bracis-33591	223	13	l.	l.	PROPN
bracis-33591	223	14	,	,	PUNCT
bracis-33591	223	15	leung	leung	PROPN
bracis-33591	223	16	,	,	PUNCT
bracis-33591	223	17	h.	h.	PROPN
bracis-33591	223	18	:	:	PUNCT
bracis-33591	223	19	overview	overview	NOUN
bracis-33591	223	20	of	of	ADP
bracis-33591	223	21	environment	environment	NOUN
bracis-33591	223	22	perception	perception	NOUN
bracis-33591	223	23	for	for	ADP
bracis-33591	223	24	intelligent	intelligent	ADJ
bracis-33591	223	25	vehicles	vehicle	NOUN
bracis-33591	223	26	.	.	PUNCT
bracis-33591	224	1	ieee	ieee	PROPN
bracis-33591	224	2	trans	trans	PROPN
bracis-33591	224	3	.	.	PUNCT
bracis-33591	225	1	intell	intell	PROPN
bracis-33591	225	2	.	.	PUNCT
bracis-33591	226	1	transp	transp	PROPN
bracis-33591	226	2	.	.	PUNCT
bracis-33591	227	1	syst	syst	PROPN
bracis-33591	227	2	.	.	PUNCT
bracis-33591	228	1	18(10	18(10	NUM
bracis-33591	228	2	)	)	PUNCT
bracis-33591	228	3	,	,	PUNCT
bracis-33591	228	4	2584–2601	2584–2601	NUM
bracis-33591	228	5	(	(	PUNCT
bracis-33591	228	6	2017	2017	NUM
bracis-33591	228	7	)	)	PUNCT
bracis-33591	228	8	.	.	PUNCT
bracis-33591	229	1	https://doi.org/10.1109/tits.2017.2658662	https://doi.org/10.1109/tits.2017.2658662	PROPN
bracis-33591	229	2	article	article	NOUN
bracis-33591	229	3	  	  	SPACE
bracis-33591	229	4	math	math	NOUN
bracis-33591	229	5	  	  	SPACE
bracis-33591	229	6	google	google	PROPN
bracis-33591	229	7	scholar	scholar	NOUN
bracis-33591	229	8	  	  	SPACE
bracis-33591	229	9	download	download	NOUN
bracis-33591	229	10	references	reference	NOUN
bracis-33591	229	11	author	author	NOUN
bracis-33591	229	12	information	information	NOUN
bracis-33591	229	13	authors	author	NOUN
bracis-33591	229	14	and	and	CCONJ
bracis-33591	229	15	affiliations	affiliation	NOUN
bracis-33591	229	16	automation	automation	NOUN
bracis-33591	229	17	and	and	CCONJ
bracis-33591	229	18	systems	systems	PROPN
bracis-33591	229	19	engineering	engineering	PROPN
bracis-33591	229	20	department	department	PROPN
bracis-33591	229	21	,	,	PUNCT
bracis-33591	229	22	federal	federal	ADJ
bracis-33591	229	23	university	university	PROPN
bracis-33591	229	24	of	of	ADP
bracis-33591	229	25	santa	santa	PROPN
bracis-33591	229	26	catarina	catarina	PROPN
bracis-33591	229	27	,	,	PUNCT
bracis-33591	229	28	florianópolis	florianópolis	PROPN
bracis-33591	229	29	,	,	PUNCT
bracis-33591	229	30	brazil	brazil	PROPN
bracis-33591	229	31	eric	eric	PROPN
bracis-33591	229	32	aislan	aislan	PROPN
bracis-33591	229	33	antonelo	antonelo	PROPN
bracis-33591	229	34	,	,	PUNCT
bracis-33591	229	35	 	 	SPACE
bracis-33591	229	36	gustavo	gustavo	PROPN
bracis-33591	229	37	claudio	claudio	PROPN
bracis-33591	229	38	karl	karl	PROPN
bracis-33591	229	39	couto	couto	PROPN
bracis-33591	229	40	 	 	SPACE
bracis-33591	229	41	&	&	CCONJ
bracis-33591	229	42	 	 	SPACE
bracis-33591	229	43	pedro	pedro	PROPN
bracis-33591	229	44	henrique	henrique	PROPN
bracis-33591	229	45	fernandes	fernandes	PROPN
bracis-33591	229	46	faculty	faculty	PROPN
bracis-33591	229	47	of	of	ADP
bracis-33591	229	48	science	science	NOUN
bracis-33591	229	49	and	and	CCONJ
bracis-33591	229	50	engineering	engineering	NOUN
bracis-33591	229	51	,	,	PUNCT
bracis-33591	229	52	information	information	NOUN
bracis-33591	229	53	technology	technology	NOUN
bracis-33591	229	54	,	,	PUNCT
bracis-33591	229	55	åbo	åbo	PROPN
bracis-33591	229	56	akademi	akademi	PROPN
bracis-33591	229	57	university	university	PROPN
bracis-33591	229	58	,	,	PUNCT
bracis-33591	229	59	turku	turku	PROPN
bracis-33591	229	60	,	,	PUNCT
bracis-33591	229	61	finland	finland	PROPN
bracis-33591	229	62	christian	christian	PROPN
bracis-33591	229	63	möller	möller	NOUN
bracis-33591	229	64	authors	author	NOUN
bracis-33591	229	65	eric	eric	PROPN
bracis-33591	229	66	aislan	aislan	PROPN
bracis-33591	229	67	antoneloview	antoneloview	NOUN
bracis-33591	229	68	author	author	NOUN
bracis-33591	229	69	publications	publication	NOUN
bracis-33591	229	70	search	search	NOUN
bracis-33591	229	71	author	author	NOUN
bracis-33591	229	72	on	on	ADP
bracis-33591	229	73	:	:	PUNCT
bracis-33591	229	74	pubmed	pubmed	PROPN
bracis-33591	229	75	 	 	SPACE
bracis-33591	229	76	google	google	PROPN
bracis-33591	229	77	scholar	scholar	NOUN
bracis-33591	229	78	gustavo	gustavo	PROPN
bracis-33591	229	79	claudio	claudio	PROPN
bracis-33591	229	80	karl	karl	PROPN
bracis-33591	229	81	coutoview	coutoview	PROPN
bracis-33591	229	82	author	author	NOUN
bracis-33591	229	83	publications	publication	NOUN
bracis-33591	229	84	search	search	NOUN
bracis-33591	229	85	author	author	NOUN
bracis-33591	229	86	on	on	ADP
bracis-33591	229	87	:	:	PUNCT
bracis-33591	229	88	pubmed	pubmed	PROPN
bracis-33591	229	89	 	 	SPACE
bracis-33591	229	90	google	google	PROPN
bracis-33591	229	91	scholar	scholar	NOUN
bracis-33591	229	92	christian	christian	ADJ
bracis-33591	229	93	möllerview	möllerview	NOUN
bracis-33591	229	94	author	author	NOUN
bracis-33591	229	95	publications	publication	VERB
bracis-33591	229	96	search	search	NOUN
bracis-33591	229	97	author	author	NOUN
bracis-33591	229	98	on	on	ADP
bracis-33591	229	99	:	:	PUNCT
bracis-33591	229	100	pubmed	pubmed	PROPN
bracis-33591	229	101	 	 	SPACE
bracis-33591	229	102	google	google	PROPN
bracis-33591	229	103	scholar	scholar	NOUN
bracis-33591	229	104	pedro	pedro	PROPN
bracis-33591	229	105	henrique	henrique	PROPN
bracis-33591	229	106	fernandesview	fernandesview	PROPN
bracis-33591	229	107	author	author	NOUN
bracis-33591	229	108	publications	publication	NOUN
bracis-33591	229	109	search	search	NOUN
bracis-33591	229	110	author	author	NOUN
bracis-33591	229	111	on	on	ADP
bracis-33591	229	112	:	:	PUNCT
bracis-33591	229	113	pubmed	pubmed	PROPN
bracis-33591	229	114	 	 	SPACE
bracis-33591	229	115	google	google	PROPN
bracis-33591	229	116	scholar	scholar	NOUN
bracis-33591	229	117	corresponding	correspond	VERB
bracis-33591	229	118	author	author	NOUN
bracis-33591	229	119	correspondence	correspondence	NOUN
bracis-33591	229	120	to	to	ADP
bracis-33591	229	121	eric	eric	PROPN
bracis-33591	229	122	aislan	aislan	PROPN
bracis-33591	229	123	antonelo	antonelo	NOUN
bracis-33591	229	124	.	.	PUNCT
bracis-33591	230	1	editor	editor	NOUN
bracis-33591	230	2	information	information	NOUN
bracis-33591	230	3	editors	editor	NOUN
bracis-33591	230	4	and	and	CCONJ
bracis-33591	230	5	affiliations	affiliation	NOUN
bracis-33591	230	6	universidade	universidade	VERB
bracis-33591	230	7	federal	federal	PROPN
bracis-33591	230	8	fluminense	fluminense	PROPN
bracis-33591	230	9	,	,	PUNCT
bracis-33591	230	10	niterói	niterói	PROPN
bracis-33591	230	11	,	,	PUNCT
bracis-33591	230	12	brazil	brazil	PROPN
bracis-33591	230	13	aline	aline	PROPN
bracis-33591	230	14	paes	paes	PROPN
bracis-33591	230	15	instituto	instituto	PROPN
bracis-33591	230	16	tecnológico	tecnológico	PROPN
bracis-33591	230	17	de	de	PROPN
bracis-33591	230	18	aeronáutica	aeronáutica	PROPN
bracis-33591	230	19	,	,	PUNCT
bracis-33591	230	20	são	são	PROPN
bracis-33591	230	21	josé	josé	PROPN
bracis-33591	230	22	dos	dos	PROPN
bracis-33591	230	23	campos	campos	PROPN
bracis-33591	230	24	,	,	PUNCT
bracis-33591	230	25	brazil	brazil	PROPN
bracis-33591	230	26	filipe	filipe	PROPN
bracis-33591	230	27	a.	a.	PROPN
bracis-33591	230	28	n.	n.	PROPN
bracis-33591	230	29	verri	verri	PROPN
bracis-33591	230	30	ethics	ethic	NOUN
bracis-33591	230	31	declarations	declaration	VERB
bracis-33591	230	32	disclosure	disclosure	NOUN
bracis-33591	230	33	of	of	ADP
bracis-33591	230	34	interests	interest	NOUN
bracis-33591	230	35	the	the	DET
bracis-33591	230	36	authors	author	NOUN
bracis-33591	230	37	have	have	VERB
bracis-33591	230	38	no	no	DET
bracis-33591	230	39	competing	compete	VERB
bracis-33591	230	40	interests	interest	NOUN
bracis-33591	230	41	to	to	PART
bracis-33591	230	42	declare	declare	VERB
bracis-33591	230	43	that	that	PRON
bracis-33591	230	44	are	be	AUX
bracis-33591	230	45	relevant	relevant	ADJ
bracis-33591	230	46	to	to	ADP
bracis-33591	230	47	the	the	DET
bracis-33591	230	48	content	content	NOUN
bracis-33591	230	49	of	of	ADP
bracis-33591	230	50	this	this	DET
bracis-33591	230	51	article	article	NOUN
bracis-33591	230	52	.	.	PUNCT
bracis-33591	231	1	rights	right	NOUN
bracis-33591	231	2	and	and	CCONJ
bracis-33591	231	3	permissions	permission	NOUN
bracis-33591	231	4	reprints	reprint	NOUN
bracis-33591	231	5	and	and	CCONJ
bracis-33591	231	6	permissions	permission	VERB
bracis-33591	231	7	copyright	copyright	NOUN
bracis-33591	231	8	information	information	NOUN
bracis-33591	231	9	©	©	ADP
bracis-33591	231	10	2025	2025	NUM
bracis-33591	231	11	the	the	DET
bracis-33591	231	12	author(s	author(s	NOUN
bracis-33591	231	13	)	)	PUNCT
bracis-33591	231	14	,	,	PUNCT
bracis-33591	231	15	under	under	ADP
bracis-33591	231	16	exclusive	exclusive	ADJ
bracis-33591	231	17	license	license	NOUN
bracis-33591	231	18	to	to	ADP
bracis-33591	231	19	springer	springer	NOUN
bracis-33591	231	20	nature	nature	PROPN
bracis-33591	231	21	switzerland	switzerland	PROPN
bracis-33591	231	22	ag	ag	PROPN
bracis-33591	231	23	about	about	ADP
bracis-33591	231	24	this	this	DET
bracis-33591	231	25	paper	paper	NOUN
bracis-33591	231	26	cite	cite	VERB
bracis-33591	231	27	this	this	DET
bracis-33591	231	28	paper	paper	NOUN
bracis-33591	231	29	antonelo	antonelo	NOUN
bracis-33591	231	30	,	,	PUNCT
bracis-33591	231	31	e.a	e.a	PROPN
bracis-33591	231	32	.	.	PROPN
bracis-33591	231	33	,	,	PUNCT
bracis-33591	231	34	couto	couto	PROPN
bracis-33591	231	35	,	,	PUNCT
bracis-33591	231	36	g.c.k	g.c.k	PROPN
bracis-33591	231	37	.	.	PROPN
bracis-33591	231	38	,	,	PUNCT
bracis-33591	231	39	möller	möller	NOUN
bracis-33591	231	40	,	,	PUNCT
bracis-33591	231	41	c.	c.	PROPN
bracis-33591	231	42	,	,	PUNCT
bracis-33591	231	43	fernandes	fernandes	PROPN
bracis-33591	231	44	,	,	PUNCT
bracis-33591	231	45	p.h	p.h	PROPN
bracis-33591	231	46	.	.	PROPN
bracis-33591	231	47	(	(	PUNCT
bracis-33591	231	48	2025	2025	NUM
bracis-33591	231	49	)	)	PUNCT
bracis-33591	231	50	.	.	PUNCT
bracis-33591	232	1	investigating	investigate	VERB
bracis-33591	232	2	behavior	behavior	NOUN
bracis-33591	232	3	cloning	clone	VERB
bracis-33591	232	4	from	from	ADP
bracis-33591	232	5	 	 	SPACE
bracis-33591	232	6	few	few	ADJ
bracis-33591	232	7	demonstrations	demonstration	NOUN
bracis-33591	232	8	for	for	ADP
bracis-33591	232	9	 	 	SPACE
bracis-33591	232	10	autonomous	autonomous	ADJ
bracis-33591	232	11	driving	driving	NOUN
bracis-33591	232	12	based	base	VERB
bracis-33591	232	13	on	on	ADP
bracis-33591	232	14	 	 	SPACE
bracis-33591	232	15	bird’s	bird’s	NOUN
bracis-33591	232	16	-	-	PUNCT
bracis-33591	232	17	eye	eye	NOUN
bracis-33591	232	18	view	view	NOUN
bracis-33591	232	19	in	in	ADP
bracis-33591	232	20	 	 	SPACE
bracis-33591	232	21	simulated	simulate	VERB
bracis-33591	232	22	cities	city	NOUN
bracis-33591	232	23	.	.	PUNCT
bracis-33591	233	1	in	in	ADP
bracis-33591	233	2	:	:	PUNCT
bracis-33591	233	3	paes	paes	PROPN
bracis-33591	233	4	,	,	PUNCT
bracis-33591	233	5	a.	a.	PROPN
bracis-33591	233	6	,	,	PUNCT
bracis-33591	233	7	verri	verri	NOUN
bracis-33591	233	8	,	,	PUNCT
bracis-33591	233	9	f.a.n	f.a.n	ADJ
bracis-33591	233	10	.	.	PUNCT
bracis-33591	233	11	(	(	PUNCT
bracis-33591	233	12	eds	ed	NOUN
bracis-33591	233	13	)	)	PUNCT
bracis-33591	233	14	intelligent	intelligent	ADJ
bracis-33591	233	15	systems	system	NOUN
bracis-33591	233	16	.	.	PUNCT
bracis-33591	233	17	bracis	bracis	PROPN
bracis-33591	233	18	2024	2024	NUM
bracis-33591	233	19	.	.	PUNCT
bracis-33591	234	1	lecture	lecture	NOUN
bracis-33591	234	2	notes	note	NOUN
bracis-33591	234	3	in	in	ADP
bracis-33591	234	4	computer	computer	NOUN
bracis-33591	234	5	science	science	NOUN
bracis-33591	234	6	(	(	PUNCT
bracis-33591	234	7	)	)	PUNCT
bracis-33591	234	8	,	,	PUNCT
bracis-33591	234	9	vol	vol	NOUN
bracis-33591	234	10	15413	15413	NUM
bracis-33591	234	11	.	.	PUNCT
bracis-33591	235	1	springer	springer	NOUN
bracis-33591	235	2	,	,	PUNCT
bracis-33591	235	3	cham	cham	PROPN
bracis-33591	235	4	.	.	PUNCT
bracis-33591	236	1	https://doi.org/10.1007/978-3-031-79032-4_11	https://doi.org/10.1007/978-3-031-79032-4_11	PROPN
bracis-33591	236	2	download	download	NOUN
bracis-33591	236	3	citation	citation	NOUN
bracis-33591	236	4	.ris	.ris	PUNCT
bracis-33591	237	1	.enw	.enw	PROPN
bracis-33591	237	2	.bib	.bib	PUNCT
bracis-33591	238	1	doi	doi	PROPN
bracis-33591	238	2	:	:	PUNCT
bracis-33591	238	3	https://doi.org/10.1007/978-3-031-79032-4_11	https://doi.org/10.1007/978-3-031-79032-4_11	PROPN
bracis-33591	238	4	published	publish	VERB
bracis-33591	238	5	:	:	PUNCT
bracis-33591	238	6	30	30	NUM
bracis-33591	238	7	january	january	PROPN
bracis-33591	238	8	2025	2025	NUM
bracis-33591	238	9	publisher	publisher	NOUN
bracis-33591	238	10	name	name	NOUN
bracis-33591	238	11	:	:	PUNCT
bracis-33591	238	12	springer	springer	NOUN
bracis-33591	238	13	,	,	PUNCT
bracis-33591	238	14	cham	cham	PROPN
bracis-33591	238	15	print	print	PROPN
bracis-33591	238	16	isbn	isbn	PROPN
bracis-33591	238	17	:	:	PUNCT
bracis-33591	238	18	978	978	NUM
bracis-33591	238	19	-	-	SYM
bracis-33591	238	20	3	3	NUM
bracis-33591	238	21	-	-	PUNCT
bracis-33591	238	22	031	031	NUM
bracis-33591	238	23	-	-	PUNCT
bracis-33591	238	24	79031	79031	NUM
bracis-33591	238	25	-	-	SYM
bracis-33591	238	26	7	7	NUM
bracis-33591	238	27	online	online	ADJ
bracis-33591	238	28	isbn	isbn	NOUN
bracis-33591	238	29	:	:	PUNCT
bracis-33591	238	30	978	978	NUM
bracis-33591	238	31	-	-	SYM
bracis-33591	238	32	3	3	NUM
bracis-33591	238	33	-	-	PUNCT
bracis-33591	238	34	031	031	NUM
bracis-33591	238	35	-	-	PUNCT
bracis-33591	238	36	79032	79032	NUM
bracis-33591	238	37	-	-	SYM
bracis-33591	238	38	4	4	NUM
bracis-33591	238	39	ebook	ebook	NOUN
bracis-33591	238	40	packages	package	NOUN
bracis-33591	238	41	:	:	PUNCT
bracis-33591	238	42	computer	computer	NOUN
bracis-33591	238	43	sciencecomputer	sciencecomputer	NOUN
bracis-33591	238	44	science	science	NOUN
bracis-33591	238	45	(	(	PUNCT
bracis-33591	238	46	r0	r0	NOUN
bracis-33591	238	47	)	)	PUNCT
bracis-33591	238	48	share	share	VERB
bracis-33591	238	49	this	this	DET
bracis-33591	238	50	paper	paper	NOUN
bracis-33591	238	51	anyone	anyone	PRON
bracis-33591	238	52	you	you	PRON
bracis-33591	238	53	share	share	VERB
bracis-33591	238	54	the	the	DET
bracis-33591	238	55	following	follow	VERB
bracis-33591	238	56	link	link	NOUN
bracis-33591	238	57	with	with	ADP
bracis-33591	238	58	will	will	AUX
bracis-33591	238	59	be	be	AUX
bracis-33591	238	60	able	able	ADJ
bracis-33591	238	61	to	to	PART
bracis-33591	238	62	read	read	VERB
bracis-33591	238	63	this	this	DET
bracis-33591	238	64	content	content	NOUN
bracis-33591	238	65	:	:	PUNCT
bracis-33591	238	66	get	get	VERB
bracis-33591	238	67	shareable	shareable	ADJ
bracis-33591	238	68	linksorry	linksorry	NOUN
bracis-33591	238	69	,	,	PUNCT
bracis-33591	238	70	a	a	DET
bracis-33591	238	71	shareable	shareable	ADJ
bracis-33591	238	72	link	link	NOUN
bracis-33591	238	73	is	be	AUX
bracis-33591	238	74	not	not	PART
bracis-33591	238	75	currently	currently	ADV
bracis-33591	238	76	available	available	ADJ
bracis-33591	238	77	for	for	ADP
bracis-33591	238	78	this	this	DET
bracis-33591	238	79	article	article	NOUN
bracis-33591	238	80	.	.	PUNCT
bracis-33591	239	1	copy	copy	VERB
bracis-33591	239	2	shareable	shareable	ADJ
bracis-33591	239	3	link	link	NOUN
bracis-33591	239	4	to	to	PART
bracis-33591	239	5	clipboard	clipboard	NOUN
bracis-33591	239	6	provided	provide	VERB
bracis-33591	239	7	by	by	ADP
bracis-33591	239	8	the	the	DET
bracis-33591	239	9	springer	springer	NOUN
bracis-33591	239	10	nature	nature	PROPN
bracis-33591	239	11	sharedit	sharedit	PROPN
bracis-33591	239	12	content	content	NOUN
bracis-33591	239	13	-	-	PUNCT
bracis-33591	239	14	sharing	share	VERB
bracis-33591	239	15	initiative	initiative	NOUN
bracis-33591	239	16	keywords	keyword	VERB
bracis-33591	239	17	autonomous	autonomous	ADJ
bracis-33591	239	18	vehicles	vehicle	NOUN
bracis-33591	239	19	expert	expert	NOUN
bracis-33591	239	20	demonstrations	demonstration	NOUN
bracis-33591	239	21	imitation	imitation	NOUN
bracis-33591	239	22	learning	learn	VERB
bracis-33591	239	23	kernel	kernel	PROPN
bracis-33591	239	24	density	density	PROPN
bracis-33591	239	25	estimation	estimation	PROPN
bracis-33591	239	26	carla	carla	PROPN
bracis-33591	239	27	simulator	simulator	PROPN
bracis-33591	239	28	publish	publish	VERB
bracis-33591	239	29	with	with	ADP
bracis-33591	239	30	us	us	PROPN
bracis-33591	239	31	policies	policy	NOUN
bracis-33591	239	32	and	and	CCONJ
bracis-33591	239	33	ethics	ethic	NOUN
bracis-33591	239	34	search	search	NOUN
bracis-33591	239	35	search	search	NOUN
bracis-33591	239	36	by	by	ADP
bracis-33591	239	37	keyword	keyword	NOUN
bracis-33591	239	38	or	or	CCONJ
bracis-33591	239	39	author	author	NOUN
bracis-33591	239	40	search	search	NOUN
bracis-33591	239	41	navigation	navigation	NOUN
bracis-33591	239	42	find	find	VERB
bracis-33591	239	43	a	a	DET
bracis-33591	239	44	journal	journal	NOUN
bracis-33591	239	45	publish	publish	VERB
bracis-33591	239	46	with	with	ADP
bracis-33591	239	47	us	we	PRON
bracis-33591	239	48	track	track	VERB
bracis-33591	239	49	your	your	PRON
bracis-33591	239	50	research	research	NOUN
bracis-33591	239	51	discover	discover	VERB
bracis-33591	239	52	content	content	NOUN
bracis-33591	239	53	journals	journal	NOUN
bracis-33591	239	54	a	a	DET
bracis-33591	239	55	-	-	PUNCT
bracis-33591	239	56	z	z	NOUN
bracis-33591	239	57	books	book	NOUN
bracis-33591	239	58	a	a	DET
bracis-33591	239	59	-	-	PUNCT
bracis-33591	239	60	z	z	NOUN
bracis-33591	239	61	publish	publish	NOUN
bracis-33591	239	62	with	with	ADP
bracis-33591	239	63	us	us	PROPN
bracis-33591	239	64	journal	journal	PROPN
bracis-33591	239	65	finder	finder	PROPN
bracis-33591	239	66	publish	publish	VERB
bracis-33591	239	67	your	your	PRON
bracis-33591	239	68	research	research	NOUN
bracis-33591	239	69	language	language	NOUN
bracis-33591	239	70	editing	edit	VERB
bracis-33591	239	71	open	open	ADJ
bracis-33591	239	72	access	access	NOUN
bracis-33591	239	73	publishing	publishing	NOUN
bracis-33591	239	74	products	product	NOUN
bracis-33591	239	75	and	and	CCONJ
bracis-33591	239	76	services	service	NOUN
bracis-33591	239	77	our	our	PRON
bracis-33591	239	78	products	product	NOUN
bracis-33591	239	79	librarians	librarian	VERB
bracis-33591	239	80	societies	society	NOUN
bracis-33591	239	81	partners	partner	NOUN
bracis-33591	239	82	and	and	CCONJ
bracis-33591	239	83	advertisers	advertiser	NOUN
bracis-33591	239	84	our	our	PRON
bracis-33591	239	85	brands	brand	NOUN
bracis-33591	239	86	springer	springer	NOUN
bracis-33591	239	87	nature	nature	PROPN
bracis-33591	239	88	portfolio	portfolio	PROPN
bracis-33591	239	89	bmc	bmc	PROPN
bracis-33591	239	90	palgrave	palgrave	PROPN
bracis-33591	239	91	macmillan	macmillan	PROPN
bracis-33591	239	92	apress	apress	PROPN
bracis-33591	239	93	discover	discover	VERB
bracis-33591	239	94	your	your	PRON
bracis-33591	239	95	privacy	privacy	NOUN
bracis-33591	239	96	choices	choice	NOUN
bracis-33591	239	97	/	/	SYM
bracis-33591	239	98	manage	manage	NOUN
bracis-33591	239	99	cookies	cookie	NOUN
bracis-33591	239	100	your	your	PRON
bracis-33591	239	101	us	us	PROPN
bracis-33591	240	1	state	state	NOUN
bracis-33591	240	2	privacy	privacy	NOUN
bracis-33591	240	3	rights	right	NOUN
bracis-33591	240	4	accessibility	accessibility	NOUN
bracis-33591	240	5	statement	statement	NOUN
bracis-33591	240	6	terms	term	NOUN
bracis-33591	240	7	and	and	CCONJ
bracis-33591	240	8	conditions	condition	NOUN
bracis-33591	240	9	privacy	privacy	NOUN
bracis-33591	240	10	policy	policy	NOUN
bracis-33591	240	11	help	help	NOUN
bracis-33591	240	12	and	and	CCONJ
bracis-33591	240	13	support	support	VERB
bracis-33591	240	14	legal	legal	ADJ
bracis-33591	240	15	notice	notice	NOUN
bracis-33591	240	16	cancel	cancel	VERB
bracis-33591	240	17	contracts	contract	NOUN
bracis-33591	240	18	here	here	ADV
bracis-33591	240	19	129.74.145.123	129.74.145.123	NUM
bracis-33591	240	20	hesburgh	hesburgh	PROPN
bracis-33591	240	21	library	library	PROPN
bracis-33591	240	22	er	er	INTJ
bracis-33591	240	23	unit	unit	NOUN
bracis-33591	240	24	(	(	PUNCT
bracis-33591	240	25	3005732405	3005732405	NUM
bracis-33591	240	26	)	)	PUNCT
bracis-33591	240	27	northeast	northeast	ADJ
bracis-33591	240	28	research	research	NOUN
bracis-33591	240	29	libraries	library	NOUN
bracis-33591	240	30	(	(	PUNCT
bracis-33591	240	31	nerl	nerl	PROPN
bracis-33591	240	32	)	)	PUNCT
bracis-33591	240	33	(	(	PUNCT
bracis-33591	240	34	8200828607	8200828607	NUM
bracis-33591	240	35	)	)	PUNCT
bracis-33591	240	36	nerl	nerl	VERB
bracis-33591	240	37	ta	ta	X
bracis-33591	240	38	account	account	NOUN
bracis-33591	240	39	(	(	PUNCT
bracis-33591	240	40	3006206169	3006206169	NUM
bracis-33591	240	41	)	)	PUNCT
bracis-33591	240	42	university	university	NOUN
bracis-33591	240	43	of	of	ADP
bracis-33591	240	44	notre	notre	PROPN
bracis-33591	240	45	dame	dame	PROPN
bracis-33591	240	46	hesburgh	hesburgh	PROPN
bracis-33591	240	47	library	library	NOUN
bracis-33591	240	48	(	(	PUNCT
bracis-33591	240	49	3000184373	3000184373	NUM
bracis-33591	240	50	)	)	PUNCT
bracis-33591	241	1	©	©	ADP
bracis-33591	241	2	2025	2025	NUM
bracis-33591	241	3	springer	springer	NOUN
bracis-33591	241	4	nature	nature	NOUN