id	sid	tid	token	lemma	pos
fumecheng-2877	1	1	plane	plane	NOUN
fumecheng-2877	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-2877	1	3	waves	wave	NOUN
fumecheng-2877	1	4	in	in	ADP
fumecheng-2877	1	5	infinite	infinite	ADJ
fumecheng-2877	1	6	half	half	ADJ
fumecheng-2877	1	7	-	-	PUNCT
fumecheng-2877	1	8	space	space	NOUN
fumecheng-2877	1	9	caused	cause	VERB
fumecheng-2877	1	10	facta	facta	PROPN
fumecheng-2877	1	11	universitatis	universitatis	PROPN
fumecheng-2877	1	12	series	series	NOUN
fumecheng-2877	1	13	:	:	PUNCT
fumecheng-2877	1	14	mechanical	mechanical	ADJ
fumecheng-2877	1	15	engineering	engineering	NOUN
fumecheng-2877	1	16	vol	vol	NOUN
fumecheng-2877	1	17	.	.	PROPN
fumecheng-2877	2	1	15	15	NUM
fumecheng-2877	2	2	,	,	PUNCT
fumecheng-2877	2	3	no	no	DET
fumecheng-2877	2	4	2	2	NUM
fumecheng-2877	2	5	,	,	PUNCT
fumecheng-2877	2	6	2017	2017	NUM
fumecheng-2877	2	7	,	,	PUNCT
fumecheng-2877	2	8	pp	pp	ADJ
fumecheng-2877	2	9	.	.	PUNCT
fumecheng-2877	3	1	217	217	NUM
fumecheng-2877	3	2	229	229	NUM
fumecheng-2877	3	3	doi	doi	NOUN
fumecheng-2877	3	4	:	:	PUNCT
fumecheng-2877	3	5	10.22190	10.22190	NUM
fumecheng-2877	3	6	/	/	SYM
fumecheng-2877	3	7	fume170515010k	fume170515010k	NOUN
fumecheng-2877	3	8	©	©	PROPN
fumecheng-2877	3	9	2017	2017	NUM
fumecheng-2877	3	10	by	by	ADP
fumecheng-2877	3	11	university	university	PROPN
fumecheng-2877	3	12	of	of	ADP
fumecheng-2877	3	13	niš	niš	PROPN
fumecheng-2877	3	14	,	,	PUNCT
fumecheng-2877	3	15	serbia	serbia	PROPN
fumecheng-2877	3	16	|	|	ADV
fumecheng-2877	3	17	creative	creative	ADJ
fumecheng-2877	3	18	commons	common	NOUN
fumecheng-2877	3	19	licence	licence	NOUN
fumecheng-2877	3	20	:	:	PUNCT
fumecheng-2877	3	21	cc	cc	VERB
fumecheng-2877	3	22	by	by	ADP
fumecheng-2877	3	23	-	-	PUNCT
fumecheng-2877	3	24	nc	nc	VERB
fumecheng-2877	3	25	-	-	PUNCT
fumecheng-2877	3	26	nd	nd	ADV
fumecheng-2877	3	27	original	original	ADJ
fumecheng-2877	3	28	scientific	scientific	ADJ
fumecheng-2877	3	29	paper	paper	NOUN
fumecheng-2877	3	30	robot	robot	NUM
fumecheng-2877	3	31	learning	learning	NOUN
fumecheng-2877	3	32	of	of	ADP
fumecheng-2877	3	33	object	object	NOUN
fumecheng-2877	3	34	manipulation	manipulation	NOUN
fumecheng-2877	3	35	task	task	NOUN
fumecheng-2877	3	36	actions	action	NOUN
fumecheng-2877	3	37	from	from	ADP
fumecheng-2877	3	38	human	human	ADJ
fumecheng-2877	3	39	demonstrations	demonstration	NOUN
fumecheng-2877	3	40	udc	udc	NOUN
fumecheng-2877	3	41	(	(	PUNCT
fumecheng-2877	3	42	004.896:61):681.5.01	004.896:61):681.5.01	PROPN
fumecheng-2877	3	43	maria	maria	PROPN
fumecheng-2877	3	44	kyrarini	kyrarini	PROPN
fumecheng-2877	3	45	,	,	PUNCT
fumecheng-2877	3	46	muhammad	muhammad	PROPN
fumecheng-2877	3	47	abdul	abdul	PROPN
fumecheng-2877	3	48	haseeb	haseeb	PROPN
fumecheng-2877	3	49	,	,	PUNCT
fumecheng-2877	3	50	danijela	danijela	PROPN
fumecheng-2877	3	51	ristić	ristić	NOUN
fumecheng-2877	3	52	-	-	PUNCT
fumecheng-2877	3	53	durrant	durrant	NOUN
fumecheng-2877	3	54	,	,	PUNCT
fumecheng-2877	3	55	axel	axel	PROPN
fumecheng-2877	3	56	gräser	gräser	PROPN
fumecheng-2877	3	57	institute	institute	PROPN
fumecheng-2877	3	58	of	of	ADP
fumecheng-2877	3	59	automation	automation	NOUN
fumecheng-2877	3	60	,	,	PUNCT
fumecheng-2877	3	61	university	university	PROPN
fumecheng-2877	3	62	of	of	ADP
fumecheng-2877	3	63	bremen	bremen	PROPN
fumecheng-2877	3	64	,	,	PUNCT
fumecheng-2877	3	65	germany	germany	PROPN
fumecheng-2877	3	66	abstract	abstract	NOUN
fumecheng-2877	3	67	.	.	PUNCT
fumecheng-2877	4	1	robot	robot	NOUN
fumecheng-2877	4	2	learning	learn	VERB
fumecheng-2877	4	3	from	from	ADP
fumecheng-2877	4	4	demonstration	demonstration	NOUN
fumecheng-2877	4	5	is	be	AUX
fumecheng-2877	4	6	a	a	DET
fumecheng-2877	4	7	method	method	NOUN
fumecheng-2877	4	8	which	which	PRON
fumecheng-2877	4	9	enables	enable	VERB
fumecheng-2877	4	10	robots	robot	NOUN
fumecheng-2877	4	11	to	to	PART
fumecheng-2877	4	12	learn	learn	VERB
fumecheng-2877	4	13	in	in	ADP
fumecheng-2877	4	14	a	a	DET
fumecheng-2877	4	15	similar	similar	ADJ
fumecheng-2877	4	16	way	way	NOUN
fumecheng-2877	4	17	as	as	ADP
fumecheng-2877	4	18	humans	human	NOUN
fumecheng-2877	4	19	.	.	PUNCT
fumecheng-2877	5	1	in	in	ADP
fumecheng-2877	5	2	this	this	DET
fumecheng-2877	5	3	paper	paper	NOUN
fumecheng-2877	5	4	,	,	PUNCT
fumecheng-2877	5	5	a	a	DET
fumecheng-2877	5	6	framework	framework	NOUN
fumecheng-2877	5	7	that	that	PRON
fumecheng-2877	5	8	enables	enable	VERB
fumecheng-2877	5	9	robots	robot	NOUN
fumecheng-2877	5	10	to	to	PART
fumecheng-2877	5	11	learn	learn	VERB
fumecheng-2877	5	12	from	from	ADP
fumecheng-2877	5	13	multiple	multiple	ADJ
fumecheng-2877	5	14	human	human	ADJ
fumecheng-2877	5	15	demonstrations	demonstration	NOUN
fumecheng-2877	5	16	via	via	ADP
fumecheng-2877	5	17	kinesthetic	kinesthetic	ADJ
fumecheng-2877	5	18	teaching	teaching	NOUN
fumecheng-2877	5	19	is	be	AUX
fumecheng-2877	5	20	presented	present	VERB
fumecheng-2877	5	21	.	.	PUNCT
fumecheng-2877	6	1	the	the	DET
fumecheng-2877	6	2	subject	subject	NOUN
fumecheng-2877	6	3	of	of	ADP
fumecheng-2877	6	4	learning	learning	NOUN
fumecheng-2877	6	5	is	be	AUX
fumecheng-2877	6	6	a	a	DET
fumecheng-2877	6	7	high	high	ADJ
fumecheng-2877	6	8	-	-	PUNCT
fumecheng-2877	6	9	level	level	NOUN
fumecheng-2877	6	10	sequence	sequence	NOUN
fumecheng-2877	6	11	of	of	ADP
fumecheng-2877	6	12	actions	action	NOUN
fumecheng-2877	6	13	,	,	PUNCT
fumecheng-2877	6	14	as	as	ADV
fumecheng-2877	6	15	well	well	ADV
fumecheng-2877	6	16	as	as	ADP
fumecheng-2877	6	17	the	the	DET
fumecheng-2877	6	18	low	low	ADJ
fumecheng-2877	6	19	-	-	PUNCT
fumecheng-2877	6	20	level	level	NOUN
fumecheng-2877	6	21	trajectories	trajectory	NOUN
fumecheng-2877	6	22	necessary	necessary	ADJ
fumecheng-2877	6	23	to	to	PART
fumecheng-2877	6	24	be	be	AUX
fumecheng-2877	6	25	followed	follow	VERB
fumecheng-2877	6	26	by	by	ADP
fumecheng-2877	6	27	the	the	DET
fumecheng-2877	6	28	robot	robot	NOUN
fumecheng-2877	6	29	to	to	PART
fumecheng-2877	6	30	perform	perform	VERB
fumecheng-2877	6	31	the	the	DET
fumecheng-2877	6	32	object	object	NOUN
fumecheng-2877	6	33	manipulation	manipulation	NOUN
fumecheng-2877	6	34	task	task	NOUN
fumecheng-2877	6	35	.	.	PUNCT
fumecheng-2877	7	1	the	the	DET
fumecheng-2877	7	2	multiple	multiple	ADJ
fumecheng-2877	7	3	human	human	ADJ
fumecheng-2877	7	4	demonstrations	demonstration	NOUN
fumecheng-2877	7	5	are	be	AUX
fumecheng-2877	7	6	recorded	record	VERB
fumecheng-2877	7	7	and	and	CCONJ
fumecheng-2877	7	8	only	only	ADV
fumecheng-2877	7	9	the	the	DET
fumecheng-2877	7	10	most	most	ADV
fumecheng-2877	7	11	similar	similar	ADJ
fumecheng-2877	7	12	demonstrations	demonstration	NOUN
fumecheng-2877	7	13	are	be	AUX
fumecheng-2877	7	14	selected	select	VERB
fumecheng-2877	7	15	for	for	ADP
fumecheng-2877	7	16	robot	robot	NOUN
fumecheng-2877	7	17	learning	learning	NOUN
fumecheng-2877	7	18	.	.	PUNCT
fumecheng-2877	8	1	the	the	DET
fumecheng-2877	8	2	high	high	ADJ
fumecheng-2877	8	3	-	-	PUNCT
fumecheng-2877	8	4	level	level	NOUN
fumecheng-2877	8	5	learning	learning	NOUN
fumecheng-2877	8	6	module	module	NOUN
fumecheng-2877	8	7	identifies	identify	VERB
fumecheng-2877	8	8	the	the	DET
fumecheng-2877	8	9	sequence	sequence	NOUN
fumecheng-2877	8	10	of	of	ADP
fumecheng-2877	8	11	actions	action	NOUN
fumecheng-2877	8	12	of	of	ADP
fumecheng-2877	8	13	the	the	DET
fumecheng-2877	8	14	demonstrated	demonstrate	VERB
fumecheng-2877	8	15	task	task	NOUN
fumecheng-2877	8	16	.	.	PUNCT
fumecheng-2877	9	1	using	use	VERB
fumecheng-2877	9	2	dynamic	dynamic	ADJ
fumecheng-2877	9	3	time	time	NOUN
fumecheng-2877	9	4	warping	warp	VERB
fumecheng-2877	9	5	(	(	PUNCT
fumecheng-2877	9	6	dtw	dtw	PROPN
fumecheng-2877	9	7	)	)	PUNCT
fumecheng-2877	9	8	and	and	CCONJ
fumecheng-2877	9	9	gaussian	gaussian	ADJ
fumecheng-2877	9	10	mixture	mixture	NOUN
fumecheng-2877	9	11	model	model	NOUN
fumecheng-2877	9	12	(	(	PUNCT
fumecheng-2877	9	13	gmm	gmm	PROPN
fumecheng-2877	9	14	)	)	PUNCT
fumecheng-2877	9	15	,	,	PUNCT
fumecheng-2877	9	16	the	the	DET
fumecheng-2877	9	17	model	model	NOUN
fumecheng-2877	9	18	of	of	ADP
fumecheng-2877	9	19	demonstrated	demonstrate	VERB
fumecheng-2877	9	20	trajectories	trajectory	NOUN
fumecheng-2877	9	21	is	be	AUX
fumecheng-2877	9	22	learned	learn	VERB
fumecheng-2877	9	23	.	.	PUNCT
fumecheng-2877	10	1	the	the	DET
fumecheng-2877	10	2	learned	learn	VERB
fumecheng-2877	10	3	trajectory	trajectory	NOUN
fumecheng-2877	10	4	is	be	AUX
fumecheng-2877	10	5	generated	generate	VERB
fumecheng-2877	10	6	by	by	ADP
fumecheng-2877	10	7	gaussian	gaussian	ADJ
fumecheng-2877	10	8	mixture	mixture	NOUN
fumecheng-2877	10	9	regression	regression	NOUN
fumecheng-2877	10	10	(	(	PUNCT
fumecheng-2877	10	11	gmr	gmr	PROPN
fumecheng-2877	10	12	)	)	PUNCT
fumecheng-2877	10	13	from	from	ADP
fumecheng-2877	10	14	the	the	DET
fumecheng-2877	10	15	learned	learn	VERB
fumecheng-2877	10	16	gaussian	gaussian	ADJ
fumecheng-2877	10	17	mixture	mixture	NOUN
fumecheng-2877	10	18	model	model	NOUN
fumecheng-2877	10	19	.	.	PUNCT
fumecheng-2877	11	1	in	in	ADP
fumecheng-2877	11	2	online	online	ADJ
fumecheng-2877	11	3	working	working	NOUN
fumecheng-2877	11	4	phase	phase	NOUN
fumecheng-2877	11	5	,	,	PUNCT
fumecheng-2877	11	6	the	the	DET
fumecheng-2877	11	7	sequence	sequence	NOUN
fumecheng-2877	11	8	of	of	ADP
fumecheng-2877	11	9	actions	action	NOUN
fumecheng-2877	11	10	is	be	AUX
fumecheng-2877	11	11	identified	identify	VERB
fumecheng-2877	11	12	and	and	CCONJ
fumecheng-2877	11	13	experimental	experimental	ADJ
fumecheng-2877	11	14	results	result	NOUN
fumecheng-2877	11	15	show	show	VERB
fumecheng-2877	11	16	that	that	SCONJ
fumecheng-2877	11	17	the	the	DET
fumecheng-2877	11	18	robot	robot	NOUN
fumecheng-2877	11	19	performs	perform	VERB
fumecheng-2877	11	20	the	the	DET
fumecheng-2877	11	21	learned	learn	VERB
fumecheng-2877	11	22	task	task	NOUN
fumecheng-2877	11	23	successfully	successfully	ADV
fumecheng-2877	11	24	.	.	PUNCT
fumecheng-2877	12	1	key	key	ADJ
fumecheng-2877	12	2	words	word	NOUN
fumecheng-2877	12	3	:	:	PUNCT
fumecheng-2877	12	4	robot	robot	NOUN
fumecheng-2877	12	5	learning	learning	NOUN
fumecheng-2877	12	6	by	by	ADP
fumecheng-2877	12	7	demonstration	demonstration	NOUN
fumecheng-2877	12	8	,	,	PUNCT
fumecheng-2877	12	9	dynamic	dynamic	ADJ
fumecheng-2877	12	10	time	time	NOUN
fumecheng-2877	12	11	warping	warping	NOUN
fumecheng-2877	12	12	,	,	PUNCT
fumecheng-2877	12	13	gaussian	gaussian	ADJ
fumecheng-2877	12	14	mixture	mixture	NOUN
fumecheng-2877	12	15	model	model	NOUN
fumecheng-2877	12	16	,	,	PUNCT
fumecheng-2877	12	17	gaussian	gaussian	ADJ
fumecheng-2877	12	18	mixture	mixture	NOUN
fumecheng-2877	12	19	regression	regression	NOUN
fumecheng-2877	12	20	,	,	PUNCT
fumecheng-2877	12	21	sequence	sequence	NOUN
fumecheng-2877	12	22	of	of	ADP
fumecheng-2877	12	23	actions	action	NOUN
fumecheng-2877	12	24	1	1	NUM
fumecheng-2877	12	25	.	.	PUNCT
fumecheng-2877	12	26	introduction	introduction	NOUN
fumecheng-2877	12	27	one	one	NUM
fumecheng-2877	12	28	of	of	ADP
fumecheng-2877	12	29	the	the	DET
fumecheng-2877	12	30	main	main	ADJ
fumecheng-2877	12	31	research	research	NOUN
fumecheng-2877	12	32	topics	topic	NOUN
fumecheng-2877	12	33	in	in	ADP
fumecheng-2877	12	34	robotics	robotic	NOUN
fumecheng-2877	12	35	community	community	NOUN
fumecheng-2877	12	36	in	in	ADP
fumecheng-2877	12	37	the	the	DET
fumecheng-2877	12	38	last	last	ADJ
fumecheng-2877	12	39	two	two	NUM
fumecheng-2877	12	40	decades	decade	NOUN
fumecheng-2877	12	41	is	be	AUX
fumecheng-2877	12	42	development	development	NOUN
fumecheng-2877	12	43	and	and	CCONJ
fumecheng-2877	12	44	implementation	implementation	NOUN
fumecheng-2877	12	45	of	of	ADP
fumecheng-2877	12	46	methods	method	NOUN
fumecheng-2877	12	47	to	to	PART
fumecheng-2877	12	48	teach	teach	VERB
fumecheng-2877	12	49	robots	robot	NOUN
fumecheng-2877	12	50	in	in	ADP
fumecheng-2877	12	51	a	a	DET
fumecheng-2877	12	52	“	"	PUNCT
fumecheng-2877	12	53	human	human	NOUN
fumecheng-2877	12	54	-	-	PUNCT
fumecheng-2877	12	55	like	like	ADJ
fumecheng-2877	12	56	”	"	PUNCT
fumecheng-2877	12	57	way	way	NOUN
fumecheng-2877	12	58	to	to	PART
fumecheng-2877	12	59	perform	perform	VERB
fumecheng-2877	12	60	particular	particular	ADJ
fumecheng-2877	12	61	tasks	task	NOUN
fumecheng-2877	12	62	[	[	X
fumecheng-2877	12	63	1	1	NUM
fumecheng-2877	12	64	-	-	SYM
fumecheng-2877	12	65	4	4	NUM
fumecheng-2877	12	66	]	]	PUNCT
fumecheng-2877	12	67	.	.	PUNCT
fumecheng-2877	13	1	these	these	DET
fumecheng-2877	13	2	methods	method	NOUN
fumecheng-2877	13	3	are	be	AUX
fumecheng-2877	13	4	generally	generally	ADV
fumecheng-2877	13	5	called	call	VERB
fumecheng-2877	13	6	“	"	PUNCT
fumecheng-2877	13	7	robot	robot	NOUN
fumecheng-2877	13	8	learning	learning	NOUN
fumecheng-2877	13	9	from	from	ADP
fumecheng-2877	13	10	demonstration	demonstration	NOUN
fumecheng-2877	13	11	”	"	PUNCT
fumecheng-2877	13	12	,	,	PUNCT
fumecheng-2877	13	13	“	"	PUNCT
fumecheng-2877	13	14	robot	robot	NOUN
fumecheng-2877	13	15	programming	programming	NOUN
fumecheng-2877	13	16	by	by	ADP
fumecheng-2877	13	17	demonstration	demonstration	NOUN
fumecheng-2877	13	18	”	"	PUNCT
fumecheng-2877	13	19	or	or	CCONJ
fumecheng-2877	13	20	“	"	PUNCT
fumecheng-2877	13	21	imitation	imitation	NOUN
fumecheng-2877	13	22	learning	learning	NOUN
fumecheng-2877	13	23	”	"	PUNCT
fumecheng-2877	13	24	.	.	PUNCT
fumecheng-2877	14	1	a	a	DET
fumecheng-2877	14	2	human	human	ADJ
fumecheng-2877	14	3	“	"	PUNCT
fumecheng-2877	14	4	teacher	teacher	NOUN
fumecheng-2877	14	5	”	"	PUNCT
fumecheng-2877	14	6	shows	show	NOUN
fumecheng-2877	14	7	(	(	PUNCT
fumecheng-2877	14	8	demonstrates	demonstrate	NOUN
fumecheng-2877	14	9	)	)	PUNCT
fumecheng-2877	14	10	his	his	PRON
fumecheng-2877	14	11	/	/	SYM
fumecheng-2877	14	12	her	her	PRON
fumecheng-2877	14	13	knowledge	knowledge	NOUN
fumecheng-2877	14	14	to	to	ADP
fumecheng-2877	14	15	the	the	DET
fumecheng-2877	14	16	robot	robot	NOUN
fumecheng-2877	14	17	learner	learner	NOUN
fumecheng-2877	14	18	and	and	CCONJ
fumecheng-2877	14	19	robot	robot	NOUN
fumecheng-2877	14	20	learner	learner	PROPN
fumecheng-2877	14	21	uses	use	VERB
fumecheng-2877	14	22	the	the	DET
fumecheng-2877	14	23	demonstrated	demonstrate	VERB
fumecheng-2877	14	24	knowledge	knowledge	NOUN
fumecheng-2877	14	25	to	to	PART
fumecheng-2877	14	26	execute	execute	VERB
fumecheng-2877	14	27	particular	particular	ADJ
fumecheng-2877	14	28	robotic	robotic	ADJ
fumecheng-2877	14	29	tasks	task	NOUN
fumecheng-2877	14	30	.	.	PUNCT
fumecheng-2877	15	1	received	receive	VERB
fumecheng-2877	15	2	may	may	PROPN
fumecheng-2877	15	3	15	15	NUM
fumecheng-2877	15	4	,	,	PUNCT
fumecheng-2877	15	5	2017	2017	NUM
fumecheng-2877	15	6	/	/	SYM
fumecheng-2877	15	7	accepted	accept	VERB
fumecheng-2877	15	8	june	june	PROPN
fumecheng-2877	15	9	29	29	NUM
fumecheng-2877	15	10	,	,	PUNCT
fumecheng-2877	15	11	2017	2017	NUM
fumecheng-2877	15	12	corresponding	correspond	VERB
fumecheng-2877	15	13	author	author	NOUN
fumecheng-2877	15	14	:	:	PUNCT
fumecheng-2877	15	15	maria	maria	PROPN
fumecheng-2877	15	16	kyrarini	kyrarini	PROPN
fumecheng-2877	15	17	institute	institute	PROPN
fumecheng-2877	15	18	of	of	ADP
fumecheng-2877	15	19	automation	automation	PROPN
fumecheng-2877	15	20	,	,	PUNCT
fumecheng-2877	15	21	university	university	PROPN
fumecheng-2877	15	22	of	of	ADP
fumecheng-2877	15	23	bremen	bremen	PROPN
fumecheng-2877	15	24	,	,	PUNCT
fumecheng-2877	15	25	otto	otto	PROPN
fumecheng-2877	15	26	-	-	PUNCT
fumecheng-2877	15	27	hahn	hahn	NOUN
fumecheng-2877	15	28	-	-	PUNCT
fumecheng-2877	15	29	allee	allee	NOUN
fumecheng-2877	15	30	1	1	NUM
fumecheng-2877	15	31	,	,	PUNCT
fumecheng-2877	15	32	28359	28359	NUM
fumecheng-2877	15	33	bremen	breman	NOUN
fumecheng-2877	15	34	,	,	PUNCT
fumecheng-2877	15	35	germany	germany	PROPN
fumecheng-2877	15	36	e	e	PROPN
fumecheng-2877	15	37	-	-	NOUN
fumecheng-2877	15	38	mail	mail	NOUN
fumecheng-2877	15	39	:	:	PUNCT
fumecheng-2877	15	40	mkyrar@iat.uni-bremen.de	mkyrar@iat.uni-bremen.de	NUM
fumecheng-2877	15	41	218	218	NUM
fumecheng-2877	15	42	m.	m.	NOUN
fumecheng-2877	15	43	kyrarini	kyrarini	PROPN
fumecheng-2877	15	44	,	,	PUNCT
fumecheng-2877	15	45	m.	m.	NOUN
fumecheng-2877	15	46	a.	a.	PROPN
fumecheng-2877	15	47	haseeb	haseeb	PROPN
fumecheng-2877	15	48	,	,	PUNCT
fumecheng-2877	15	49	d.	d.	PROPN
fumecheng-2877	15	50	ristic	ristic	PROPN
fumecheng-2877	15	51	-	-	PUNCT
fumecheng-2877	15	52	durrant	durrant	PROPN
fumecheng-2877	15	53	,	,	PUNCT
fumecheng-2877	15	54	a.	a.	NOUN
fumecheng-2877	15	55	gräser	gräser	PROPN
fumecheng-2877	15	56	kinesthetic	kinesthetic	PROPN
fumecheng-2877	15	57	teaching	teaching	NOUN
fumecheng-2877	16	1	[	[	X
fumecheng-2877	16	2	5	5	NUM
fumecheng-2877	16	3	-	-	SYM
fumecheng-2877	16	4	7	7	NUM
fumecheng-2877	16	5	]	]	PUNCT
fumecheng-2877	16	6	is	be	AUX
fumecheng-2877	16	7	a	a	DET
fumecheng-2877	16	8	popular	popular	ADJ
fumecheng-2877	16	9	method	method	NOUN
fumecheng-2877	16	10	for	for	ADP
fumecheng-2877	16	11	“	"	PUNCT
fumecheng-2877	16	12	learning	learn	VERB
fumecheng-2877	16	13	from	from	ADP
fumecheng-2877	16	14	demonstration	demonstration	NOUN
fumecheng-2877	16	15	”	"	PUNCT
fumecheng-2877	16	16	,	,	PUNCT
fumecheng-2877	16	17	where	where	SCONJ
fumecheng-2877	16	18	the	the	DET
fumecheng-2877	16	19	teacher	teacher	NOUN
fumecheng-2877	16	20	manually	manually	ADV
fumecheng-2877	16	21	guides	guide	VERB
fumecheng-2877	16	22	the	the	DET
fumecheng-2877	16	23	robot	robot	NOUN
fumecheng-2877	16	24	’s	’s	PART
fumecheng-2877	16	25	end	end	NOUN
fumecheng-2877	16	26	effector	effector	NOUN
fumecheng-2877	16	27	throughout	throughout	ADP
fumecheng-2877	16	28	the	the	DET
fumecheng-2877	16	29	task	task	NOUN
fumecheng-2877	16	30	while	while	SCONJ
fumecheng-2877	16	31	the	the	DET
fumecheng-2877	16	32	robot	robot	NOUN
fumecheng-2877	16	33	movements	movement	NOUN
fumecheng-2877	16	34	are	be	AUX
fumecheng-2877	16	35	recorded	record	VERB
fumecheng-2877	16	36	by	by	ADP
fumecheng-2877	16	37	the	the	DET
fumecheng-2877	16	38	robot	robot	NOUN
fumecheng-2877	16	39	’s	’s	PART
fumecheng-2877	16	40	sensors	sensor	NOUN
fumecheng-2877	16	41	(	(	PUNCT
fumecheng-2877	16	42	joints	joint	NOUN
fumecheng-2877	16	43	motors	motor	NOUN
fumecheng-2877	16	44	’	'	PUNCT
fumecheng-2877	16	45	encoders	encoder	NOUN
fumecheng-2877	16	46	)	)	PUNCT
fumecheng-2877	16	47	thus	thus	ADV
fumecheng-2877	16	48	enabling	enable	VERB
fumecheng-2877	16	49	the	the	DET
fumecheng-2877	16	50	robot	robot	NOUN
fumecheng-2877	16	51	’s	’s	PART
fumecheng-2877	16	52	learning	learning	NOUN
fumecheng-2877	16	53	of	of	ADP
fumecheng-2877	16	54	the	the	DET
fumecheng-2877	16	55	skills	skill	NOUN
fumecheng-2877	16	56	needed	need	VERB
fumecheng-2877	16	57	for	for	ADP
fumecheng-2877	16	58	performing	perform	VERB
fumecheng-2877	16	59	the	the	DET
fumecheng-2877	16	60	demonstrated	demonstrate	VERB
fumecheng-2877	16	61	task	task	NOUN
fumecheng-2877	16	62	.	.	PUNCT
fumecheng-2877	17	1	this	this	DET
fumecheng-2877	17	2	method	method	NOUN
fumecheng-2877	17	3	works	work	VERB
fumecheng-2877	17	4	for	for	ADP
fumecheng-2877	17	5	light	light	ADJ
fumecheng-2877	17	6	-	-	PUNCT
fumecheng-2877	17	7	weighted	weight	VERB
fumecheng-2877	17	8	robots	robot	NOUN
fumecheng-2877	17	9	or	or	CCONJ
fumecheng-2877	17	10	robots	robot	NOUN
fumecheng-2877	17	11	driven	drive	VERB
fumecheng-2877	17	12	by	by	ADP
fumecheng-2877	17	13	gravity	gravity	NOUN
fumecheng-2877	17	14	-	-	PUNCT
fumecheng-2877	17	15	compensation	compensation	NOUN
fumecheng-2877	17	16	controllers	controller	NOUN
fumecheng-2877	17	17	.	.	PUNCT
fumecheng-2877	18	1	however	however	ADV
fumecheng-2877	18	2	,	,	PUNCT
fumecheng-2877	18	3	learning	learn	VERB
fumecheng-2877	18	4	from	from	ADP
fumecheng-2877	18	5	one	one	NUM
fumecheng-2877	18	6	human	human	ADJ
fumecheng-2877	18	7	teacher	teacher	NOUN
fumecheng-2877	18	8	has	have	VERB
fumecheng-2877	18	9	limitations	limitation	NOUN
fumecheng-2877	18	10	for	for	ADP
fumecheng-2877	18	11	,	,	PUNCT
fumecheng-2877	18	12	if	if	SCONJ
fumecheng-2877	18	13	the	the	DET
fumecheng-2877	18	14	teacher	teacher	NOUN
fumecheng-2877	18	15	makes	make	VERB
fumecheng-2877	18	16	mistakes	mistake	NOUN
fumecheng-2877	18	17	during	during	ADP
fumecheng-2877	18	18	the	the	DET
fumecheng-2877	18	19	demonstration	demonstration	NOUN
fumecheng-2877	18	20	,	,	PUNCT
fumecheng-2877	18	21	the	the	DET
fumecheng-2877	18	22	robot	robot	NOUN
fumecheng-2877	18	23	will	will	AUX
fumecheng-2877	18	24	be	be	AUX
fumecheng-2877	18	25	vulnerable	vulnerable	ADJ
fumecheng-2877	18	26	to	to	ADP
fumecheng-2877	18	27	those	those	DET
fumecheng-2877	18	28	mistakes	mistake	NOUN
fumecheng-2877	18	29	.	.	PUNCT
fumecheng-2877	19	1	a	a	DET
fumecheng-2877	19	2	way	way	NOUN
fumecheng-2877	19	3	of	of	ADP
fumecheng-2877	19	4	overcoming	overcome	VERB
fumecheng-2877	19	5	this	this	DET
fumecheng-2877	19	6	problem	problem	NOUN
fumecheng-2877	19	7	is	be	AUX
fumecheng-2877	19	8	to	to	PART
fumecheng-2877	19	9	enable	enable	VERB
fumecheng-2877	19	10	robot	robot	NOUN
fumecheng-2877	19	11	learning	learning	NOUN
fumecheng-2877	19	12	from	from	ADP
fumecheng-2877	19	13	multiple	multiple	ADJ
fumecheng-2877	19	14	human	human	ADJ
fumecheng-2877	19	15	demonstrations	demonstration	NOUN
fumecheng-2877	19	16	.	.	PUNCT
fumecheng-2877	20	1	as	as	SCONJ
fumecheng-2877	20	2	the	the	DET
fumecheng-2877	20	3	different	different	ADJ
fumecheng-2877	20	4	human	human	ADJ
fumecheng-2877	20	5	demonstrations	demonstration	NOUN
fumecheng-2877	20	6	possibly	possibly	ADV
fumecheng-2877	20	7	lead	lead	VERB
fumecheng-2877	20	8	to	to	ADP
fumecheng-2877	20	9	differently	differently	ADV
fumecheng-2877	20	10	demonstrated	demonstrate	VERB
fumecheng-2877	20	11	tasks	task	NOUN
fumecheng-2877	20	12	,	,	PUNCT
fumecheng-2877	20	13	an	an	DET
fumecheng-2877	20	14	optimally	optimally	ADV
fumecheng-2877	20	15	learned	learn	VERB
fumecheng-2877	20	16	task	task	NOUN
fumecheng-2877	20	17	could	could	AUX
fumecheng-2877	20	18	be	be	AUX
fumecheng-2877	20	19	an	an	DET
fumecheng-2877	20	20	outcome	outcome	NOUN
fumecheng-2877	20	21	of	of	ADP
fumecheng-2877	20	22	a	a	DET
fumecheng-2877	20	23	combination	combination	NOUN
fumecheng-2877	20	24	of	of	ADP
fumecheng-2877	20	25	different	different	ADJ
fumecheng-2877	20	26	demonstrations	demonstration	NOUN
fumecheng-2877	20	27	[	[	X
fumecheng-2877	20	28	5	5	NUM
fumecheng-2877	20	29	]	]	PUNCT
fumecheng-2877	20	30	.	.	PUNCT
fumecheng-2877	21	1	given	give	VERB
fumecheng-2877	21	2	a	a	DET
fumecheng-2877	21	3	dataset	dataset	NOUN
fumecheng-2877	21	4	of	of	ADP
fumecheng-2877	21	5	the	the	DET
fumecheng-2877	21	6	task	task	NOUN
fumecheng-2877	21	7	demonstrations	demonstration	NOUN
fumecheng-2877	21	8	that	that	PRON
fumecheng-2877	21	9	have	have	AUX
fumecheng-2877	21	10	been	be	AUX
fumecheng-2877	21	11	acquired	acquire	VERB
fumecheng-2877	21	12	using	use	VERB
fumecheng-2877	21	13	kinesthetic	kinesthetic	ADJ
fumecheng-2877	21	14	teaching	teaching	NOUN
fumecheng-2877	21	15	,	,	PUNCT
fumecheng-2877	21	16	the	the	DET
fumecheng-2877	21	17	robot	robot	NOUN
fumecheng-2877	21	18	learner	learner	NOUN
fumecheng-2877	21	19	must	must	AUX
fumecheng-2877	21	20	be	be	AUX
fumecheng-2877	21	21	able	able	ADJ
fumecheng-2877	21	22	to	to	PART
fumecheng-2877	21	23	learn	learn	VERB
fumecheng-2877	21	24	a	a	DET
fumecheng-2877	21	25	skill	skill	NOUN
fumecheng-2877	21	26	from	from	ADP
fumecheng-2877	21	27	the	the	DET
fumecheng-2877	21	28	acquired	acquire	VERB
fumecheng-2877	21	29	data	datum	NOUN
fumecheng-2877	21	30	.	.	PUNCT
fumecheng-2877	22	1	there	there	PRON
fumecheng-2877	22	2	are	be	VERB
fumecheng-2877	22	3	different	different	ADJ
fumecheng-2877	22	4	approaches	approach	NOUN
fumecheng-2877	22	5	to	to	ADP
fumecheng-2877	22	6	abstracting	abstract	VERB
fumecheng-2877	22	7	(	(	PUNCT
fumecheng-2877	22	8	representing	represent	VERB
fumecheng-2877	22	9	)	)	PUNCT
fumecheng-2877	22	10	and	and	CCONJ
fumecheng-2877	22	11	reproducing	reproduce	VERB
fumecheng-2877	22	12	a	a	DET
fumecheng-2877	22	13	skill	skill	NOUN
fumecheng-2877	22	14	from	from	ADP
fumecheng-2877	22	15	the	the	DET
fumecheng-2877	22	16	datasets	dataset	NOUN
fumecheng-2877	22	17	of	of	ADP
fumecheng-2877	22	18	demonstrations	demonstration	NOUN
fumecheng-2877	22	19	.	.	PUNCT
fumecheng-2877	23	1	these	these	DET
fumecheng-2877	23	2	approaches	approach	NOUN
fumecheng-2877	23	3	are	be	AUX
fumecheng-2877	23	4	grouped	group	VERB
fumecheng-2877	23	5	,	,	PUNCT
fumecheng-2877	23	6	according	accord	VERB
fumecheng-2877	23	7	to	to	ADP
fumecheng-2877	23	8	[	[	X
fumecheng-2877	23	9	8	8	NUM
fumecheng-2877	23	10	]	]	PUNCT
fumecheng-2877	23	11	and	and	CCONJ
fumecheng-2877	24	1	[	[	X
fumecheng-2877	24	2	9	9	NUM
fumecheng-2877	24	3	]	]	PUNCT
fumecheng-2877	24	4	,	,	PUNCT
fumecheng-2877	24	5	in	in	ADP
fumecheng-2877	24	6	the	the	DET
fumecheng-2877	24	7	following	follow	VERB
fumecheng-2877	24	8	categories	category	NOUN
fumecheng-2877	24	9	:	:	PUNCT
fumecheng-2877	24	10	learning	learn	VERB
fumecheng-2877	24	11	a	a	DET
fumecheng-2877	24	12	skill	skill	NOUN
fumecheng-2877	24	13	at	at	ADP
fumecheng-2877	24	14	the	the	DET
fumecheng-2877	24	15	trajectory	trajectory	NOUN
fumecheng-2877	24	16	level	level	NOUN
fumecheng-2877	24	17	(	(	PUNCT
fumecheng-2877	24	18	low	low	ADJ
fumecheng-2877	24	19	-	-	PUNCT
fumecheng-2877	24	20	level	level	NOUN
fumecheng-2877	24	21	learning	learning	NOUN
fumecheng-2877	24	22	)	)	PUNCT
fumecheng-2877	24	23	in	in	ADP
fumecheng-2877	24	24	this	this	DET
fumecheng-2877	24	25	approach	approach	NOUN
fumecheng-2877	24	26	,	,	PUNCT
fumecheng-2877	24	27	the	the	DET
fumecheng-2877	24	28	robot	robot	NOUN
fumecheng-2877	24	29	learns	learn	VERB
fumecheng-2877	24	30	particular	particular	ADJ
fumecheng-2877	24	31	movements	movement	NOUN
fumecheng-2877	24	32	.	.	PUNCT
fumecheng-2877	25	1	this	this	DET
fumecheng-2877	25	2	approach	approach	NOUN
fumecheng-2877	25	3	allows	allow	VERB
fumecheng-2877	25	4	encoding	encoding	NOUN
fumecheng-2877	25	5	of	of	ADP
fumecheng-2877	25	6	different	different	ADJ
fumecheng-2877	25	7	types	type	NOUN
fumecheng-2877	25	8	of	of	ADP
fumecheng-2877	25	9	trajectories	trajectory	NOUN
fumecheng-2877	25	10	that	that	PRON
fumecheng-2877	25	11	represent	represent	VERB
fumecheng-2877	25	12	different	different	ADJ
fumecheng-2877	25	13	types	type	NOUN
fumecheng-2877	25	14	of	of	ADP
fumecheng-2877	25	15	gestures	gesture	NOUN
fumecheng-2877	25	16	but	but	CCONJ
fumecheng-2877	25	17	does	do	AUX
fumecheng-2877	25	18	not	not	PART
fumecheng-2877	25	19	allow	allow	VERB
fumecheng-2877	25	20	reproducing	reproducing	NOUN
fumecheng-2877	25	21	of	of	ADP
fumecheng-2877	25	22	complicated	complicated	ADJ
fumecheng-2877	25	23	high	high	ADJ
fumecheng-2877	25	24	-	-	PUNCT
fumecheng-2877	25	25	level	level	NOUN
fumecheng-2877	25	26	skills	skill	NOUN
fumecheng-2877	25	27	such	such	ADJ
fumecheng-2877	25	28	as	as	ADP
fumecheng-2877	25	29	an	an	DET
fumecheng-2877	25	30	assembly	assembly	NOUN
fumecheng-2877	25	31	task	task	NOUN
fumecheng-2877	25	32	.	.	PUNCT
fumecheng-2877	26	1	in	in	ADP
fumecheng-2877	26	2	[	[	X
fumecheng-2877	26	3	10	10	NUM
fumecheng-2877	26	4	]	]	PUNCT
fumecheng-2877	26	5	,	,	PUNCT
fumecheng-2877	26	6	the	the	DET
fumecheng-2877	26	7	gaussian	gaussian	ADJ
fumecheng-2877	26	8	mixture	mixture	NOUN
fumecheng-2877	26	9	regression	regression	NOUN
fumecheng-2877	26	10	(	(	PUNCT
fumecheng-2877	26	11	gmr	gmr	PROPN
fumecheng-2877	26	12	)	)	PUNCT
fumecheng-2877	26	13	is	be	AUX
fumecheng-2877	26	14	used	use	VERB
fumecheng-2877	26	15	in	in	ADP
fumecheng-2877	26	16	order	order	NOUN
fumecheng-2877	26	17	to	to	PART
fumecheng-2877	26	18	map	map	VERB
fumecheng-2877	26	19	the	the	DET
fumecheng-2877	26	20	3d	3d	PROPN
fumecheng-2877	26	21	human	human	NOUN
fumecheng-2877	26	22	pose	pose	PROPN
fumecheng-2877	26	23	,	,	PUNCT
fumecheng-2877	26	24	recorded	record	VERB
fumecheng-2877	26	25	with	with	ADP
fumecheng-2877	26	26	a	a	DET
fumecheng-2877	26	27	vision	vision	NOUN
fumecheng-2877	26	28	system	system	NOUN
fumecheng-2877	26	29	,	,	PUNCT
fumecheng-2877	26	30	to	to	ADP
fumecheng-2877	26	31	the	the	DET
fumecheng-2877	26	32	pose	pose	NOUN
fumecheng-2877	26	33	of	of	ADP
fumecheng-2877	26	34	a	a	DET
fumecheng-2877	26	35	humanoid	humanoid	NOUN
fumecheng-2877	26	36	robot	robot	NOUN
fumecheng-2877	26	37	.	.	PUNCT
fumecheng-2877	27	1	multiple	multiple	ADJ
fumecheng-2877	27	2	humans	human	NOUN
fumecheng-2877	27	3	demonstrate	demonstrate	VERB
fumecheng-2877	27	4	a	a	DET
fumecheng-2877	27	5	pose	pose	NOUN
fumecheng-2877	27	6	and	and	CCONJ
fumecheng-2877	27	7	the	the	DET
fumecheng-2877	27	8	different	different	ADJ
fumecheng-2877	27	9	recorded	record	VERB
fumecheng-2877	27	10	datasets	dataset	NOUN
fumecheng-2877	27	11	are	be	AUX
fumecheng-2877	27	12	at	at	ADP
fumecheng-2877	27	13	first	first	ADV
fumecheng-2877	27	14	projected	project	VERB
fumecheng-2877	27	15	in	in	ADP
fumecheng-2877	27	16	latent	latent	ADJ
fumecheng-2877	27	17	spaces	space	NOUN
fumecheng-2877	27	18	of	of	ADP
fumecheng-2877	27	19	motion	motion	NOUN
fumecheng-2877	27	20	by	by	ADP
fumecheng-2877	27	21	using	use	VERB
fumecheng-2877	27	22	the	the	DET
fumecheng-2877	27	23	principal	principal	ADJ
fumecheng-2877	27	24	component	component	NOUN
fumecheng-2877	27	25	analysis	analysis	NOUN
fumecheng-2877	27	26	(	(	PUNCT
fumecheng-2877	27	27	pca	pca	NOUN
fumecheng-2877	27	28	)	)	PUNCT
fumecheng-2877	27	29	and	and	CCONJ
fumecheng-2877	27	30	then	then	ADV
fumecheng-2877	27	31	aligned	align	VERB
fumecheng-2877	27	32	temporally	temporally	ADV
fumecheng-2877	27	33	using	use	VERB
fumecheng-2877	27	34	the	the	DET
fumecheng-2877	27	35	dynamic	dynamic	ADJ
fumecheng-2877	27	36	time	time	NOUN
fumecheng-2877	27	37	warping	warp	VERB
fumecheng-2877	27	38	(	(	PUNCT
fumecheng-2877	27	39	dtw	dtw	PROPN
fumecheng-2877	27	40	)	)	PUNCT
fumecheng-2877	27	41	.	.	PUNCT
fumecheng-2877	28	1	the	the	DET
fumecheng-2877	28	2	aligned	aligned	ADJ
fumecheng-2877	28	3	signals	signal	NOUN
fumecheng-2877	28	4	are	be	AUX
fumecheng-2877	28	5	encoded	encode	VERB
fumecheng-2877	28	6	in	in	ADP
fumecheng-2877	28	7	the	the	DET
fumecheng-2877	28	8	gaussian	gaussian	ADJ
fumecheng-2877	28	9	mixture	mixture	NOUN
fumecheng-2877	28	10	model	model	NOUN
fumecheng-2877	28	11	(	(	PUNCT
fumecheng-2877	28	12	gmm	gmm	PROPN
fumecheng-2877	28	13	)	)	PUNCT
fumecheng-2877	28	14	,	,	PUNCT
fumecheng-2877	28	15	which	which	PRON
fumecheng-2877	28	16	allows	allow	VERB
fumecheng-2877	28	17	an	an	DET
fumecheng-2877	28	18	autonomous	autonomous	ADJ
fumecheng-2877	28	19	representation	representation	NOUN
fumecheng-2877	28	20	of	of	ADP
fumecheng-2877	28	21	the	the	DET
fumecheng-2877	28	22	gesture	gesture	NOUN
fumecheng-2877	28	23	.	.	PUNCT
fumecheng-2877	29	1	the	the	DET
fumecheng-2877	29	2	gmr	gmr	PROPN
fumecheng-2877	29	3	is	be	AUX
fumecheng-2877	29	4	used	use	VERB
fumecheng-2877	29	5	to	to	PART
fumecheng-2877	29	6	extract	extract	VERB
fumecheng-2877	29	7	constrains	constrain	NOUN
fumecheng-2877	29	8	of	of	ADP
fumecheng-2877	29	9	the	the	DET
fumecheng-2877	29	10	gesture	gesture	NOUN
fumecheng-2877	29	11	and	and	CCONJ
fumecheng-2877	29	12	to	to	PART
fumecheng-2877	29	13	retrieve	retrieve	VERB
fumecheng-2877	29	14	such	such	DET
fumecheng-2877	29	15	a	a	DET
fumecheng-2877	29	16	generalized	generalized	ADJ
fumecheng-2877	29	17	version	version	NOUN
fumecheng-2877	29	18	of	of	ADP
fumecheng-2877	29	19	the	the	DET
fumecheng-2877	29	20	gesture	gesture	NOUN
fumecheng-2877	29	21	that	that	SCONJ
fumecheng-2877	29	22	the	the	DET
fumecheng-2877	29	23	robot	robot	NOUN
fumecheng-2877	29	24	can	can	AUX
fumecheng-2877	29	25	reproduce	reproduce	VERB
fumecheng-2877	29	26	.	.	PUNCT
fumecheng-2877	30	1	symbolic	symbolic	ADJ
fumecheng-2877	30	2	or	or	CCONJ
fumecheng-2877	30	3	task	task	NOUN
fumecheng-2877	30	4	learning	learning	NOUN
fumecheng-2877	30	5	(	(	PUNCT
fumecheng-2877	30	6	high	high	ADJ
fumecheng-2877	30	7	-	-	PUNCT
fumecheng-2877	30	8	level	level	NOUN
fumecheng-2877	30	9	learning	learning	NOUN
fumecheng-2877	30	10	)	)	PUNCT
fumecheng-2877	30	11	in	in	ADP
fumecheng-2877	30	12	this	this	DET
fumecheng-2877	30	13	approach	approach	NOUN
fumecheng-2877	30	14	,	,	PUNCT
fumecheng-2877	30	15	the	the	DET
fumecheng-2877	30	16	task	task	NOUN
fumecheng-2877	30	17	is	be	AUX
fumecheng-2877	30	18	encoded	encode	VERB
fumecheng-2877	30	19	according	accord	VERB
fumecheng-2877	30	20	to	to	ADP
fumecheng-2877	30	21	sequences	sequence	NOUN
fumecheng-2877	30	22	of	of	ADP
fumecheng-2877	30	23	predefined	predefine	VERB
fumecheng-2877	30	24	motion	motion	NOUN
fumecheng-2877	30	25	elements	element	NOUN
fumecheng-2877	30	26	which	which	PRON
fumecheng-2877	30	27	are	be	AUX
fumecheng-2877	30	28	described	describe	VERB
fumecheng-2877	30	29	symbolically	symbolically	ADV
fumecheng-2877	30	30	.	.	PUNCT
fumecheng-2877	31	1	this	this	DET
fumecheng-2877	31	2	approach	approach	NOUN
fumecheng-2877	31	3	allows	allow	VERB
fumecheng-2877	31	4	the	the	DET
fumecheng-2877	31	5	robot	robot	NOUN
fumecheng-2877	31	6	to	to	PART
fumecheng-2877	31	7	learn	learn	VERB
fumecheng-2877	31	8	hierarchy	hierarchy	NOUN
fumecheng-2877	31	9	,	,	PUNCT
fumecheng-2877	31	10	rules	rule	NOUN
fumecheng-2877	31	11	and	and	CCONJ
fumecheng-2877	31	12	loops	loop	NOUN
fumecheng-2877	31	13	,	,	PUNCT
fumecheng-2877	31	14	so	so	SCONJ
fumecheng-2877	31	15	as	as	SCONJ
fumecheng-2877	31	16	to	to	PART
fumecheng-2877	31	17	learn	learn	VERB
fumecheng-2877	31	18	high	high	ADJ
fumecheng-2877	31	19	-	-	PUNCT
fumecheng-2877	31	20	level	level	NOUN
fumecheng-2877	31	21	tasks	task	NOUN
fumecheng-2877	31	22	[	[	X
fumecheng-2877	31	23	11	11	NUM
fumecheng-2877	31	24	]	]	PUNCT
fumecheng-2877	31	25	.	.	PUNCT
fumecheng-2877	32	1	a	a	DET
fumecheng-2877	32	2	disadvantage	disadvantage	NOUN
fumecheng-2877	32	3	of	of	ADP
fumecheng-2877	32	4	the	the	DET
fumecheng-2877	32	5	symbolic	symbolic	ADJ
fumecheng-2877	32	6	learning	learning	NOUN
fumecheng-2877	32	7	is	be	AUX
fumecheng-2877	32	8	its	its	PRON
fumecheng-2877	32	9	reliance	reliance	NOUN
fumecheng-2877	32	10	on	on	ADP
fumecheng-2877	32	11	a	a	DET
fumecheng-2877	32	12	large	large	ADJ
fumecheng-2877	32	13	amount	amount	NOUN
fumecheng-2877	32	14	of	of	ADP
fumecheng-2877	32	15	prior	prior	ADJ
fumecheng-2877	32	16	knowledge	knowledge	NOUN
fumecheng-2877	32	17	needed	need	VERB
fumecheng-2877	32	18	for	for	ADP
fumecheng-2877	32	19	abstraction	abstraction	NOUN
fumecheng-2877	32	20	of	of	ADP
fumecheng-2877	32	21	important	important	ADJ
fumecheng-2877	32	22	cues	cue	NOUN
fumecheng-2877	32	23	.	.	PUNCT
fumecheng-2877	33	1	for	for	ADP
fumecheng-2877	33	2	abstraction	abstraction	NOUN
fumecheng-2877	33	3	and	and	CCONJ
fumecheng-2877	33	4	recognition	recognition	NOUN
fumecheng-2877	33	5	of	of	ADP
fumecheng-2877	33	6	highlevel	highlevel	ADJ
fumecheng-2877	33	7	tasks	task	NOUN
fumecheng-2877	33	8	,	,	PUNCT
fumecheng-2877	33	9	hidden	hide	VERB
fumecheng-2877	33	10	markov	markov	NOUN
fumecheng-2877	33	11	models	model	NOUN
fumecheng-2877	33	12	(	(	PUNCT
fumecheng-2877	33	13	hmms	hmms	NOUN
fumecheng-2877	33	14	)	)	PUNCT
fumecheng-2877	33	15	have	have	AUX
fumecheng-2877	33	16	been	be	AUX
fumecheng-2877	33	17	widely	widely	ADV
fumecheng-2877	33	18	used	use	VERB
fumecheng-2877	33	19	.	.	PUNCT
fumecheng-2877	34	1	the	the	DET
fumecheng-2877	34	2	hmm	hmm	ADV
fumecheng-2877	34	3	-	-	PUNCT
fumecheng-2877	34	4	based	base	VERB
fumecheng-2877	34	5	frameworks	framework	NOUN
fumecheng-2877	34	6	are	be	AUX
fumecheng-2877	34	7	used	use	VERB
fumecheng-2877	34	8	to	to	PART
fumecheng-2877	34	9	generalize	generalize	VERB
fumecheng-2877	34	10	movements	movement	NOUN
fumecheng-2877	34	11	demonstrated	demonstrate	VERB
fumecheng-2877	34	12	to	to	ADP
fumecheng-2877	34	13	a	a	DET
fumecheng-2877	34	14	robot	robot	NOUN
fumecheng-2877	34	15	multiple	multiple	ADJ
fumecheng-2877	34	16	times	time	NOUN
fumecheng-2877	34	17	,	,	PUNCT
fumecheng-2877	34	18	as	as	SCONJ
fumecheng-2877	34	19	can	can	AUX
fumecheng-2877	34	20	be	be	AUX
fumecheng-2877	34	21	seen	see	VERB
fumecheng-2877	34	22	in	in	ADP
fumecheng-2877	34	23	[	[	PUNCT
fumecheng-2877	34	24	12	12	NUM
fumecheng-2877	34	25	-	-	SYM
fumecheng-2877	34	26	14	14	NUM
fumecheng-2877	34	27	]	]	PUNCT
fumecheng-2877	34	28	.	.	PUNCT
fumecheng-2877	35	1	the	the	DET
fumecheng-2877	35	2	redundancies	redundancy	NOUN
fumecheng-2877	35	3	across	across	ADP
fumecheng-2877	35	4	all	all	DET
fumecheng-2877	35	5	the	the	DET
fumecheng-2877	35	6	demonstrations	demonstration	NOUN
fumecheng-2877	35	7	are	be	AUX
fumecheng-2877	35	8	identified	identify	VERB
fumecheng-2877	35	9	and	and	CCONJ
fumecheng-2877	35	10	used	use	VERB
fumecheng-2877	35	11	for	for	ADP
fumecheng-2877	35	12	the	the	DET
fumecheng-2877	35	13	reproduction	reproduction	NOUN
fumecheng-2877	35	14	of	of	ADP
fumecheng-2877	35	15	the	the	DET
fumecheng-2877	35	16	robot	robot	NOUN
fumecheng-2877	35	17	movements	movement	NOUN
fumecheng-2877	35	18	.	.	PUNCT
fumecheng-2877	36	1	contrary	contrary	ADJ
fumecheng-2877	36	2	to	to	ADP
fumecheng-2877	36	3	the	the	DET
fumecheng-2877	36	4	above	above	ADJ
fumecheng-2877	36	5	mentioned	mention	VERB
fumecheng-2877	36	6	methods	method	NOUN
fumecheng-2877	36	7	,	,	PUNCT
fumecheng-2877	36	8	which	which	PRON
fumecheng-2877	36	9	are	be	AUX
fumecheng-2877	36	10	based	base	VERB
fumecheng-2877	36	11	either	either	CCONJ
fumecheng-2877	36	12	on	on	ADP
fumecheng-2877	36	13	lowor	lowor	NOUN
fumecheng-2877	36	14	on	on	ADP
fumecheng-2877	36	15	highlevel	highlevel	ADJ
fumecheng-2877	36	16	learning	learning	NOUN
fumecheng-2877	36	17	,	,	PUNCT
fumecheng-2877	36	18	in	in	ADP
fumecheng-2877	36	19	this	this	DET
fumecheng-2877	36	20	paper	paper	NOUN
fumecheng-2877	36	21	,	,	PUNCT
fumecheng-2877	36	22	a	a	DET
fumecheng-2877	36	23	framework	framework	NOUN
fumecheng-2877	36	24	for	for	ADP
fumecheng-2877	36	25	robot	robot	NOUN
fumecheng-2877	36	26	learning	learning	NOUN
fumecheng-2877	36	27	which	which	PRON
fumecheng-2877	36	28	combines	combine	VERB
fumecheng-2877	36	29	the	the	DET
fumecheng-2877	36	30	highlevel	highlevel	ADJ
fumecheng-2877	36	31	learning	learning	NOUN
fumecheng-2877	36	32	and	and	CCONJ
fumecheng-2877	36	33	low	low	ADJ
fumecheng-2877	36	34	-	-	PUNCT
fumecheng-2877	36	35	level	level	NOUN
fumecheng-2877	36	36	learning	learning	NOUN
fumecheng-2877	36	37	at	at	ADP
fumecheng-2877	36	38	the	the	DET
fumecheng-2877	36	39	trajectory	trajectory	NOUN
fumecheng-2877	36	40	level	level	NOUN
fumecheng-2877	36	41	is	be	AUX
fumecheng-2877	36	42	presented	present	VERB
fumecheng-2877	36	43	.	.	PUNCT
fumecheng-2877	37	1	it	it	PRON
fumecheng-2877	37	2	is	be	AUX
fumecheng-2877	37	3	based	base	VERB
fumecheng-2877	37	4	on	on	ADP
fumecheng-2877	37	5	learning	learn	VERB
fumecheng-2877	37	6	from	from	ADP
fumecheng-2877	37	7	multiple	multiple	ADJ
fumecheng-2877	37	8	human	human	ADJ
fumecheng-2877	37	9	demonstrations	demonstration	NOUN
fumecheng-2877	37	10	via	via	ADP
fumecheng-2877	37	11	kinesthetic	kinesthetic	ADJ
fumecheng-2877	37	12	teaching	teaching	NOUN
fumecheng-2877	37	13	.	.	PUNCT
fumecheng-2877	38	1	the	the	DET
fumecheng-2877	38	2	paper	paper	NOUN
fumecheng-2877	38	3	is	be	AUX
fumecheng-2877	38	4	organized	organize	VERB
fumecheng-2877	38	5	as	as	ADP
fumecheng-2877	38	6	following	follow	VERB
fumecheng-2877	38	7	:	:	PUNCT
fumecheng-2877	38	8	section	section	NOUN
fumecheng-2877	38	9	ii	ii	PROPN
fumecheng-2877	38	10	gives	give	VERB
fumecheng-2877	38	11	an	an	DET
fumecheng-2877	38	12	overview	overview	NOUN
fumecheng-2877	38	13	of	of	ADP
fumecheng-2877	38	14	the	the	DET
fumecheng-2877	38	15	proposed	propose	VERB
fumecheng-2877	38	16	robot	robot	NOUN
fumecheng-2877	38	17	learning	learning	NOUN
fumecheng-2877	38	18	framework	framework	NOUN
fumecheng-2877	38	19	,	,	PUNCT
fumecheng-2877	38	20	section	section	NOUN
fumecheng-2877	38	21	iii	iii	PROPN
fumecheng-2877	38	22	presents	present	VERB
fumecheng-2877	38	23	a	a	DET
fumecheng-2877	38	24	detailed	detailed	ADJ
fumecheng-2877	38	25	analysis	analysis	NOUN
fumecheng-2877	38	26	of	of	ADP
fumecheng-2877	38	27	the	the	DET
fumecheng-2877	38	28	offline	offline	ADJ
fumecheng-2877	38	29	learning	learning	NOUN
fumecheng-2877	38	30	phase	phase	NOUN
fumecheng-2877	38	31	,	,	PUNCT
fumecheng-2877	38	32	section	section	NOUN
fumecheng-2877	38	33	iv	iv	NUM
fumecheng-2877	38	34	explains	explain	VERB
fumecheng-2877	38	35	the	the	DET
fumecheng-2877	38	36	online	online	ADJ
fumecheng-2877	38	37	working	working	NOUN
fumecheng-2877	38	38	phase	phase	NOUN
fumecheng-2877	38	39	,	,	PUNCT
fumecheng-2877	38	40	section	section	NOUN
fumecheng-2877	38	41	v	v	NOUN
fumecheng-2877	38	42	presents	present	VERB
fumecheng-2877	38	43	the	the	DET
fumecheng-2877	38	44	experimental	experimental	ADJ
fumecheng-2877	38	45	results	result	NOUN
fumecheng-2877	38	46	and	and	CCONJ
fumecheng-2877	38	47	section	section	NOUN
fumecheng-2877	38	48	vi	vi	PROPN
fumecheng-2877	38	49	concludes	conclude	VERB
fumecheng-2877	38	50	the	the	DET
fumecheng-2877	38	51	presented	present	VERB
fumecheng-2877	38	52	work	work	NOUN
fumecheng-2877	38	53	.	.	PUNCT
fumecheng-2877	39	1	robot	robot	NOUN
fumecheng-2877	39	2	learning	learning	NOUN
fumecheng-2877	39	3	of	of	ADP
fumecheng-2877	39	4	object	object	NOUN
fumecheng-2877	39	5	manipulation	manipulation	NOUN
fumecheng-2877	39	6	task	task	NOUN
fumecheng-2877	39	7	actions	action	NOUN
fumecheng-2877	39	8	from	from	ADP
fumecheng-2877	39	9	human	human	ADJ
fumecheng-2877	39	10	demonstrations	demonstration	NOUN
fumecheng-2877	39	11	219	219	NUM
fumecheng-2877	39	12	2	2	NUM
fumecheng-2877	39	13	.	.	PUNCT
fumecheng-2877	40	1	overview	overview	NOUN
fumecheng-2877	40	2	of	of	ADP
fumecheng-2877	40	3	the	the	DET
fumecheng-2877	40	4	robot	robot	NOUN
fumecheng-2877	40	5	learning	learn	VERB
fumecheng-2877	40	6	framework	framework	NOUN
fumecheng-2877	40	7	the	the	DET
fumecheng-2877	40	8	robot	robot	NOUN
fumecheng-2877	40	9	learning	learn	VERB
fumecheng-2877	40	10	framework	framework	NOUN
fumecheng-2877	40	11	is	be	AUX
fumecheng-2877	40	12	separated	separate	VERB
fumecheng-2877	40	13	into	into	ADP
fumecheng-2877	40	14	two	two	NUM
fumecheng-2877	40	15	main	main	ADJ
fumecheng-2877	40	16	modules	module	NOUN
fumecheng-2877	40	17	:	:	PUNCT
fumecheng-2877	40	18	the	the	DET
fumecheng-2877	40	19	offline	offline	ADJ
fumecheng-2877	40	20	learning	learning	NOUN
fumecheng-2877	40	21	phase	phase	NOUN
fumecheng-2877	40	22	and	and	CCONJ
fumecheng-2877	40	23	the	the	DET
fumecheng-2877	40	24	online	online	ADJ
fumecheng-2877	40	25	working	working	NOUN
fumecheng-2877	40	26	phase	phase	NOUN
fumecheng-2877	40	27	,	,	PUNCT
fumecheng-2877	40	28	as	as	SCONJ
fumecheng-2877	40	29	illustrated	illustrate	VERB
fumecheng-2877	40	30	in	in	ADP
fumecheng-2877	40	31	fig	fig	NOUN
fumecheng-2877	40	32	.	.	PUNCT
fumecheng-2877	41	1	1	1	X
fumecheng-2877	41	2	.	.	X
fumecheng-2877	42	1	the	the	DET
fumecheng-2877	42	2	presented	present	VERB
fumecheng-2877	42	3	robot	robot	NOUN
fumecheng-2877	42	4	learning	learn	VERB
fumecheng-2877	42	5	framework	framework	NOUN
fumecheng-2877	42	6	has	have	AUX
fumecheng-2877	42	7	been	be	AUX
fumecheng-2877	42	8	developed	develop	VERB
fumecheng-2877	42	9	and	and	CCONJ
fumecheng-2877	42	10	implemented	implement	VERB
fumecheng-2877	42	11	onto	onto	ADP
fumecheng-2877	42	12	a	a	DET
fumecheng-2877	42	13	two	two	NUM
fumecheng-2877	42	14	-	-	PUNCT
fumecheng-2877	42	15	arm	arm	NOUN
fumecheng-2877	42	16	robot	robot	NOUN
fumecheng-2877	42	17	manipulator	manipulator	NOUN
fumecheng-2877	42	18	aimed	aim	VERB
fumecheng-2877	42	19	for	for	ADP
fumecheng-2877	42	20	a	a	DET
fumecheng-2877	42	21	collaborative	collaborative	ADJ
fumecheng-2877	42	22	work	work	NOUN
fumecheng-2877	42	23	with	with	ADP
fumecheng-2877	42	24	human	human	NOUN
fumecheng-2877	42	25	in	in	ADP
fumecheng-2877	42	26	an	an	DET
fumecheng-2877	42	27	industrial	industrial	ADJ
fumecheng-2877	42	28	assembly	assembly	NOUN
fumecheng-2877	42	29	scenario	scenario	NOUN
fumecheng-2877	42	30	.	.	PUNCT
fumecheng-2877	43	1	pi4	pi4	PROPN
fumecheng-2877	43	2	workerbot	workerbot	PROPN
fumecheng-2877	43	3	3	3	NUM
fumecheng-2877	44	1	[	[	X
fumecheng-2877	44	2	15	15	NUM
fumecheng-2877	44	3	]	]	PUNCT
fumecheng-2877	44	4	is	be	AUX
fumecheng-2877	44	5	used	use	VERB
fumecheng-2877	44	6	as	as	ADP
fumecheng-2877	44	7	a	a	DET
fumecheng-2877	44	8	robotic	robotic	ADJ
fumecheng-2877	44	9	platform	platform	NOUN
fumecheng-2877	44	10	.	.	PUNCT
fumecheng-2877	45	1	it	it	PRON
fumecheng-2877	45	2	consists	consist	VERB
fumecheng-2877	45	3	of	of	ADP
fumecheng-2877	45	4	two	two	NUM
fumecheng-2877	45	5	ur10	ur10	PROPN
fumecheng-2877	45	6	robotic	robotic	ADJ
fumecheng-2877	45	7	arms	arm	NOUN
fumecheng-2877	46	1	[	[	X
fumecheng-2877	46	2	16	16	NUM
fumecheng-2877	46	3	]	]	PUNCT
fumecheng-2877	47	1	and	and	CCONJ
fumecheng-2877	47	2	has	have	VERB
fumecheng-2877	47	3	gravity	gravity	NOUN
fumecheng-2877	47	4	-	-	PUNCT
fumecheng-2877	47	5	compensation	compensation	NOUN
fumecheng-2877	47	6	controllers	controller	NOUN
fumecheng-2877	47	7	,	,	PUNCT
fumecheng-2877	47	8	which	which	PRON
fumecheng-2877	47	9	makes	make	VERB
fumecheng-2877	47	10	kinesthetic	kinesthetic	ADJ
fumecheng-2877	47	11	teaching	teaching	NOUN
fumecheng-2877	47	12	possible	possible	ADJ
fumecheng-2877	47	13	.	.	PUNCT
fumecheng-2877	48	1	a	a	DET
fumecheng-2877	48	2	vacuum	vacuum	NOUN
fumecheng-2877	48	3	gripper	gripper	NOUN
fumecheng-2877	48	4	is	be	AUX
fumecheng-2877	48	5	connected	connect	VERB
fumecheng-2877	48	6	as	as	ADP
fumecheng-2877	48	7	end	end	NOUN
fumecheng-2877	48	8	-	-	PUNCT
fumecheng-2877	48	9	effector	effector	NOUN
fumecheng-2877	48	10	to	to	ADP
fumecheng-2877	48	11	each	each	DET
fumecheng-2877	48	12	robotic	robotic	ADJ
fumecheng-2877	48	13	arm	arm	NOUN
fumecheng-2877	48	14	.	.	PUNCT
fumecheng-2877	49	1	fig	fig	NOUN
fumecheng-2877	49	2	.	.	PUNCT
fumecheng-2877	50	1	1	1	NUM
fumecheng-2877	50	2	block	block	NOUN
fumecheng-2877	50	3	-	-	PUNCT
fumecheng-2877	50	4	diagram	diagram	NOUN
fumecheng-2877	50	5	of	of	ADP
fumecheng-2877	50	6	the	the	DET
fumecheng-2877	50	7	robot	robot	NOUN
fumecheng-2877	50	8	learning	learning	NOUN
fumecheng-2877	50	9	and	and	CCONJ
fumecheng-2877	50	10	reproduction	reproduction	NOUN
fumecheng-2877	50	11	framework	framework	NOUN
fumecheng-2877	50	12	the	the	DET
fumecheng-2877	50	13	offline	offline	ADJ
fumecheng-2877	50	14	learning	learning	NOUN
fumecheng-2877	50	15	phase	phase	NOUN
fumecheng-2877	50	16	consists	consist	VERB
fumecheng-2877	50	17	of	of	ADP
fumecheng-2877	50	18	data	datum	NOUN
fumecheng-2877	50	19	acquisition	acquisition	NOUN
fumecheng-2877	50	20	and	and	CCONJ
fumecheng-2877	50	21	learning	learn	VERB
fumecheng-2877	50	22	modules	module	NOUN
fumecheng-2877	50	23	.	.	PUNCT
fumecheng-2877	51	1	the	the	DET
fumecheng-2877	51	2	data	data	NOUN
fumecheng-2877	51	3	acquisition	acquisition	NOUN
fumecheng-2877	51	4	module	module	NOUN
fumecheng-2877	51	5	records	record	NOUN
fumecheng-2877	51	6	and	and	CCONJ
fumecheng-2877	51	7	stores	store	NOUN
fumecheng-2877	51	8	into	into	ADP
fumecheng-2877	51	9	the	the	DET
fumecheng-2877	51	10	database	database	NOUN
fumecheng-2877	51	11	the	the	DET
fumecheng-2877	51	12	angles	angle	NOUN
fumecheng-2877	51	13	and	and	CCONJ
fumecheng-2877	51	14	the	the	DET
fumecheng-2877	51	15	pose	pose	NOUN
fumecheng-2877	51	16	of	of	ADP
fumecheng-2877	51	17	,	,	PUNCT
fumecheng-2877	51	18	respectively	respectively	ADV
fumecheng-2877	51	19	,	,	PUNCT
fumecheng-2877	51	20	joints	joint	NOUN
fumecheng-2877	51	21	and	and	CCONJ
fumecheng-2877	51	22	the	the	DET
fumecheng-2877	51	23	end	end	NOUN
fumecheng-2877	51	24	-	-	PUNCT
fumecheng-2877	51	25	effectors	effector	NOUN
fumecheng-2877	51	26	of	of	ADP
fumecheng-2877	51	27	the	the	DET
fumecheng-2877	51	28	robotic	robotic	ADJ
fumecheng-2877	51	29	arms	arm	NOUN
fumecheng-2877	51	30	.	.	PUNCT
fumecheng-2877	52	1	also	also	ADV
fumecheng-2877	52	2	,	,	PUNCT
fumecheng-2877	52	3	the	the	DET
fumecheng-2877	52	4	gripper	gripper	NOUN
fumecheng-2877	52	5	actuation	actuation	NOUN
fumecheng-2877	52	6	status	status	NOUN
fumecheng-2877	52	7	(	(	PUNCT
fumecheng-2877	52	8	“	"	PUNCT
fumecheng-2877	52	9	on	on	ADP
fumecheng-2877	52	10	”	"	PUNCT
fumecheng-2877	52	11	denoting	denote	VERB
fumecheng-2877	52	12	the	the	DET
fumecheng-2877	52	13	activated	activate	VERB
fumecheng-2877	52	14	gripping	grip	VERB
fumecheng-2877	52	15	status	status	NOUN
fumecheng-2877	52	16	and	and	CCONJ
fumecheng-2877	52	17	“	"	PUNCT
fumecheng-2877	52	18	off	off	ADV
fumecheng-2877	52	19	”	"	PUNCT
fumecheng-2877	52	20	denoting	denote	VERB
fumecheng-2877	52	21	not	not	PART
fumecheng-2877	52	22	-	-	PUNCT
fumecheng-2877	52	23	activated	activate	VERB
fumecheng-2877	52	24	gripping	grip	VERB
fumecheng-2877	52	25	status	status	NOUN
fumecheng-2877	52	26	)	)	PUNCT
fumecheng-2877	52	27	during	during	ADP
fumecheng-2877	52	28	the	the	DET
fumecheng-2877	52	29	human	human	ADJ
fumecheng-2877	52	30	demonstrations	demonstration	NOUN
fumecheng-2877	52	31	of	of	ADP
fumecheng-2877	52	32	the	the	DET
fumecheng-2877	52	33	task	task	NOUN
fumecheng-2877	52	34	via	via	ADP
fumecheng-2877	52	35	kinesthetic	kinesthetic	ADJ
fumecheng-2877	52	36	teaching	teaching	NOUN
fumecheng-2877	52	37	is	be	AUX
fumecheng-2877	52	38	recorded	record	VERB
fumecheng-2877	52	39	and	and	CCONJ
fumecheng-2877	52	40	stored	store	VERB
fumecheng-2877	52	41	.	.	PUNCT
fumecheng-2877	53	1	220	220	NUM
fumecheng-2877	53	2	m.	m.	NOUN
fumecheng-2877	53	3	kyrarini	kyrarini	NOUN
fumecheng-2877	53	4	,	,	PUNCT
fumecheng-2877	53	5	m.	m.	NOUN
fumecheng-2877	53	6	a.	a.	PROPN
fumecheng-2877	53	7	haseeb	haseeb	PROPN
fumecheng-2877	53	8	,	,	PUNCT
fumecheng-2877	53	9	d.	d.	PROPN
fumecheng-2877	53	10	ristic	ristic	PROPN
fumecheng-2877	53	11	-	-	PUNCT
fumecheng-2877	53	12	durrant	durrant	PROPN
fumecheng-2877	53	13	,	,	PUNCT
fumecheng-2877	53	14	a.	a.	NOUN
fumecheng-2877	53	15	gräser	gräser	PROPN
fumecheng-2877	53	16	additionally	additionally	ADV
fumecheng-2877	53	17	,	,	PUNCT
fumecheng-2877	53	18	the	the	DET
fumecheng-2877	53	19	data	data	NOUN
fumecheng-2877	53	20	acquisition	acquisition	NOUN
fumecheng-2877	53	21	module	module	NOUN
fumecheng-2877	53	22	receives	receive	VERB
fumecheng-2877	53	23	and	and	CCONJ
fumecheng-2877	53	24	stores	store	NOUN
fumecheng-2877	53	25	the	the	DET
fumecheng-2877	53	26	data	datum	NOUN
fumecheng-2877	53	27	obtained	obtain	VERB
fumecheng-2877	53	28	from	from	ADP
fumecheng-2877	53	29	the	the	DET
fumecheng-2877	53	30	environmental	environmental	ADJ
fumecheng-2877	53	31	perception	perception	NOUN
fumecheng-2877	53	32	module	module	NOUN
fumecheng-2877	53	33	:	:	PUNCT
fumecheng-2877	53	34	the	the	DET
fumecheng-2877	53	35	pose	pose	NOUN
fumecheng-2877	53	36	(	(	PUNCT
fumecheng-2877	53	37	position	position	NOUN
fumecheng-2877	53	38	and	and	CCONJ
fumecheng-2877	53	39	orientation	orientation	NOUN
fumecheng-2877	53	40	with	with	ADP
fumecheng-2877	53	41	respect	respect	NOUN
fumecheng-2877	53	42	to	to	ADP
fumecheng-2877	53	43	world	world	NOUN
fumecheng-2877	53	44	coordinate	coordinate	NOUN
fumecheng-2877	53	45	system	system	NOUN
fumecheng-2877	53	46	)	)	PUNCT
fumecheng-2877	53	47	and	and	CCONJ
fumecheng-2877	53	48	dimensions	dimension	NOUN
fumecheng-2877	53	49	of	of	ADP
fumecheng-2877	53	50	every	every	DET
fumecheng-2877	53	51	object	object	NOUN
fumecheng-2877	53	52	in	in	ADP
fumecheng-2877	53	53	the	the	DET
fumecheng-2877	53	54	field	field	NOUN
fumecheng-2877	53	55	of	of	ADP
fumecheng-2877	53	56	view	view	NOUN
fumecheng-2877	53	57	of	of	ADP
fumecheng-2877	53	58	the	the	DET
fumecheng-2877	53	59	robot	robot	NOUN
fumecheng-2877	53	60	vision	vision	NOUN
fumecheng-2877	53	61	-	-	PUNCT
fumecheng-2877	53	62	based	base	VERB
fumecheng-2877	53	63	system	system	NOUN
fumecheng-2877	53	64	.	.	PUNCT
fumecheng-2877	54	1	in	in	ADP
fumecheng-2877	54	2	the	the	DET
fumecheng-2877	54	3	presented	present	VERB
fumecheng-2877	54	4	work	work	NOUN
fumecheng-2877	54	5	,	,	PUNCT
fumecheng-2877	54	6	a	a	DET
fumecheng-2877	54	7	working	work	VERB
fumecheng-2877	54	8	table	table	NOUN
fumecheng-2877	54	9	with	with	ADP
fumecheng-2877	54	10	the	the	DET
fumecheng-2877	54	11	objects	object	NOUN
fumecheng-2877	54	12	placed	place	VERB
fumecheng-2877	54	13	on	on	ADP
fumecheng-2877	54	14	it	it	PRON
fumecheng-2877	54	15	is	be	AUX
fumecheng-2877	54	16	in	in	ADP
fumecheng-2877	54	17	the	the	DET
fumecheng-2877	54	18	field	field	NOUN
fumecheng-2877	54	19	of	of	ADP
fumecheng-2877	54	20	view	view	NOUN
fumecheng-2877	54	21	of	of	ADP
fumecheng-2877	54	22	the	the	DET
fumecheng-2877	54	23	robot	robot	NOUN
fumecheng-2877	54	24	vision	vision	NOUN
fumecheng-2877	54	25	-	-	PUNCT
fumecheng-2877	54	26	based	base	VERB
fumecheng-2877	54	27	system	system	NOUN
fumecheng-2877	54	28	using	use	VERB
fumecheng-2877	54	29	the	the	DET
fumecheng-2877	54	30	kinect	kinect	NOUN
fumecheng-2877	54	31	[	[	X
fumecheng-2877	54	32	17	17	NUM
fumecheng-2877	54	33	]	]	PUNCT
fumecheng-2877	54	34	camera	camera	NOUN
fumecheng-2877	54	35	.	.	PUNCT
fumecheng-2877	55	1	the	the	DET
fumecheng-2877	55	2	learning	learning	NOUN
fumecheng-2877	55	3	module	module	NOUN
fumecheng-2877	55	4	consists	consist	VERB
fumecheng-2877	55	5	of	of	ADP
fumecheng-2877	55	6	the	the	DET
fumecheng-2877	55	7	following	follow	VERB
fumecheng-2877	55	8	two	two	NUM
fumecheng-2877	55	9	sub	sub	NOUN
fumecheng-2877	55	10	-	-	NOUN
fumecheng-2877	55	11	modules	module	NOUN
fumecheng-2877	55	12	:	:	PUNCT
fumecheng-2877	55	13	task	task	NOUN
fumecheng-2877	55	14	or	or	CCONJ
fumecheng-2877	55	15	symbolic	symbolic	ADJ
fumecheng-2877	55	16	learning	learning	NOUN
fumecheng-2877	55	17	(	(	PUNCT
fumecheng-2877	55	18	high	high	ADJ
fumecheng-2877	55	19	-	-	PUNCT
fumecheng-2877	55	20	level	level	NOUN
fumecheng-2877	55	21	learning	learning	NOUN
fumecheng-2877	55	22	)	)	PUNCT
fumecheng-2877	55	23	and	and	CCONJ
fumecheng-2877	55	24	learning	learn	VERB
fumecheng-2877	55	25	at	at	ADP
fumecheng-2877	55	26	the	the	DET
fumecheng-2877	55	27	trajectory	trajectory	NOUN
fumecheng-2877	55	28	level	level	NOUN
fumecheng-2877	55	29	(	(	PUNCT
fumecheng-2877	55	30	low	low	ADJ
fumecheng-2877	55	31	-	-	PUNCT
fumecheng-2877	55	32	level	level	NOUN
fumecheng-2877	55	33	learning	learning	NOUN
fumecheng-2877	55	34	)	)	PUNCT
fumecheng-2877	55	35	.	.	PUNCT
fumecheng-2877	56	1	section	section	NOUN
fumecheng-2877	56	2	iii	iii	PROPN
fumecheng-2877	56	3	gives	give	VERB
fumecheng-2877	56	4	details	detail	NOUN
fumecheng-2877	56	5	on	on	ADP
fumecheng-2877	56	6	both	both	DET
fumecheng-2877	56	7	sub	sub	NOUN
fumecheng-2877	56	8	-	-	NOUN
fumecheng-2877	56	9	modules	module	NOUN
fumecheng-2877	56	10	of	of	ADP
fumecheng-2877	56	11	the	the	DET
fumecheng-2877	56	12	learning	learning	NOUN
fumecheng-2877	56	13	module	module	NOUN
fumecheng-2877	56	14	.	.	PUNCT
fumecheng-2877	57	1	in	in	ADP
fumecheng-2877	57	2	the	the	DET
fumecheng-2877	57	3	online	online	ADJ
fumecheng-2877	57	4	working	working	NOUN
fumecheng-2877	57	5	phase	phase	NOUN
fumecheng-2877	57	6	,	,	PUNCT
fumecheng-2877	57	7	the	the	DET
fumecheng-2877	57	8	robot	robot	NOUN
fumecheng-2877	57	9	has	have	VERB
fumecheng-2877	57	10	to	to	PART
fumecheng-2877	57	11	reproduce	reproduce	VERB
fumecheng-2877	57	12	the	the	DET
fumecheng-2877	57	13	learned	learn	VERB
fumecheng-2877	57	14	task	task	NOUN
fumecheng-2877	57	15	by	by	ADP
fumecheng-2877	57	16	identifying	identify	VERB
fumecheng-2877	57	17	the	the	DET
fumecheng-2877	57	18	objects	object	NOUN
fumecheng-2877	57	19	.	.	PUNCT
fumecheng-2877	58	1	a	a	DET
fumecheng-2877	58	2	virtual	virtual	ADJ
fumecheng-2877	58	3	environment	environment	NOUN
fumecheng-2877	58	4	for	for	ADP
fumecheng-2877	58	5	providing	provide	VERB
fumecheng-2877	58	6	situation	situation	NOUN
fumecheng-2877	58	7	awareness	awareness	NOUN
fumecheng-2877	58	8	to	to	ADP
fumecheng-2877	58	9	the	the	DET
fumecheng-2877	58	10	robot	robot	NOUN
fumecheng-2877	58	11	has	have	AUX
fumecheng-2877	58	12	been	be	AUX
fumecheng-2877	58	13	deployed	deploy	VERB
fumecheng-2877	58	14	for	for	ADP
fumecheng-2877	58	15	visualization	visualization	NOUN
fumecheng-2877	58	16	of	of	ADP
fumecheng-2877	58	17	the	the	DET
fumecheng-2877	58	18	task	task	NOUN
fumecheng-2877	58	19	actions	action	NOUN
fumecheng-2877	58	20	before	before	SCONJ
fumecheng-2877	58	21	they	they	PRON
fumecheng-2877	58	22	are	be	AUX
fumecheng-2877	58	23	executed	execute	VERB
fumecheng-2877	58	24	by	by	ADP
fumecheng-2877	58	25	the	the	DET
fumecheng-2877	58	26	robot	robot	NOUN
fumecheng-2877	58	27	.	.	PUNCT
fumecheng-2877	59	1	section	section	NOUN
fumecheng-2877	59	2	iv	iv	PRON
fumecheng-2877	59	3	provides	provide	VERB
fumecheng-2877	59	4	more	more	ADJ
fumecheng-2877	59	5	details	detail	NOUN
fumecheng-2877	59	6	about	about	ADP
fumecheng-2877	59	7	the	the	DET
fumecheng-2877	59	8	online	online	ADJ
fumecheng-2877	59	9	working	working	NOUN
fumecheng-2877	59	10	phase	phase	NOUN
fumecheng-2877	59	11	.	.	PUNCT
fumecheng-2877	60	1	3	3	X
fumecheng-2877	60	2	.	.	X
fumecheng-2877	60	3	offline	offline	ADJ
fumecheng-2877	60	4	learning	learning	NOUN
fumecheng-2877	60	5	phase	phase	NOUN
fumecheng-2877	60	6	in	in	ADP
fumecheng-2877	60	7	the	the	DET
fumecheng-2877	60	8	presented	present	VERB
fumecheng-2877	60	9	work	work	NOUN
fumecheng-2877	60	10	,	,	PUNCT
fumecheng-2877	60	11	the	the	DET
fumecheng-2877	60	12	robot	robot	NOUN
fumecheng-2877	60	13	has	have	VERB
fumecheng-2877	60	14	to	to	PART
fumecheng-2877	60	15	learn	learn	VERB
fumecheng-2877	60	16	the	the	DET
fumecheng-2877	60	17	sequence	sequence	NOUN
fumecheng-2877	60	18	of	of	ADP
fumecheng-2877	60	19	basic	basic	ADJ
fumecheng-2877	60	20	actions	action	NOUN
fumecheng-2877	60	21	needed	need	VERB
fumecheng-2877	60	22	to	to	PART
fumecheng-2877	60	23	perform	perform	VERB
fumecheng-2877	60	24	an	an	DET
fumecheng-2877	60	25	object	object	NOUN
fumecheng-2877	60	26	manipulation	manipulation	NOUN
fumecheng-2877	60	27	task	task	NOUN
fumecheng-2877	60	28	.	.	PUNCT
fumecheng-2877	61	1	these	these	DET
fumecheng-2877	61	2	basic	basic	ADJ
fumecheng-2877	61	3	actions	action	NOUN
fumecheng-2877	61	4	are	be	AUX
fumecheng-2877	61	5	:	:	PUNCT
fumecheng-2877	61	6	“	"	PUNCT
fumecheng-2877	61	7	grasping	grasp	VERB
fumecheng-2877	61	8	of	of	ADP
fumecheng-2877	61	9	an	an	DET
fumecheng-2877	61	10	object	object	NOUN
fumecheng-2877	61	11	”	"	PUNCT
fumecheng-2877	61	12	,	,	PUNCT
fumecheng-2877	61	13	“	"	PUNCT
fumecheng-2877	61	14	moving	move	VERB
fumecheng-2877	61	15	along	along	ADP
fumecheng-2877	61	16	an	an	DET
fumecheng-2877	61	17	optimal	optimal	ADJ
fumecheng-2877	61	18	trajectory	trajectory	NOUN
fumecheng-2877	61	19	from	from	ADP
fumecheng-2877	61	20	grasping	grasp	VERB
fumecheng-2877	61	21	to	to	ADP
fumecheng-2877	61	22	releasing	release	VERB
fumecheng-2877	61	23	position	position	NOUN
fumecheng-2877	61	24	while	while	SCONJ
fumecheng-2877	61	25	carrying	carry	VERB
fumecheng-2877	61	26	the	the	DET
fumecheng-2877	61	27	object	object	NOUN
fumecheng-2877	61	28	”	"	PUNCT
fumecheng-2877	61	29	,	,	PUNCT
fumecheng-2877	61	30	“	"	PUNCT
fumecheng-2877	61	31	releasing	release	VERB
fumecheng-2877	61	32	the	the	DET
fumecheng-2877	61	33	object	object	NOUN
fumecheng-2877	61	34	”	"	PUNCT
fumecheng-2877	61	35	and	and	CCONJ
fumecheng-2877	61	36	“	"	PUNCT
fumecheng-2877	61	37	moving	move	VERB
fumecheng-2877	61	38	away	away	ADV
fumecheng-2877	61	39	from	from	ADP
fumecheng-2877	61	40	the	the	DET
fumecheng-2877	61	41	working	work	VERB
fumecheng-2877	61	42	table	table	NOUN
fumecheng-2877	61	43	”	"	PUNCT
fumecheng-2877	61	44	.	.	PUNCT
fumecheng-2877	62	1	several	several	ADJ
fumecheng-2877	62	2	human	human	ADJ
fumecheng-2877	62	3	teachers	teacher	NOUN
fumecheng-2877	62	4	are	be	AUX
fumecheng-2877	62	5	asked	ask	VERB
fumecheng-2877	62	6	to	to	PART
fumecheng-2877	62	7	teach	teach	VERB
fumecheng-2877	62	8	the	the	DET
fumecheng-2877	62	9	robot	robot	NOUN
fumecheng-2877	62	10	the	the	DET
fumecheng-2877	62	11	task	task	NOUN
fumecheng-2877	62	12	of	of	ADP
fumecheng-2877	62	13	assembly	assembly	NOUN
fumecheng-2877	62	14	of	of	ADP
fumecheng-2877	62	15	3	3	NUM
fumecheng-2877	62	16	parts	part	NOUN
fumecheng-2877	62	17	(	(	PUNCT
fumecheng-2877	62	18	objects	object	NOUN
fumecheng-2877	62	19	)	)	PUNCT
fumecheng-2877	62	20	.	.	PUNCT
fumecheng-2877	63	1	during	during	ADP
fumecheng-2877	63	2	the	the	DET
fumecheng-2877	63	3	task	task	NOUN
fumecheng-2877	63	4	demonstrations	demonstration	NOUN
fumecheng-2877	63	5	,	,	PUNCT
fumecheng-2877	63	6	the	the	DET
fumecheng-2877	63	7	human	human	ADJ
fumecheng-2877	63	8	teachers	teacher	NOUN
fumecheng-2877	63	9	had	have	VERB
fumecheng-2877	63	10	to	to	PART
fumecheng-2877	63	11	guide	guide	VERB
fumecheng-2877	63	12	the	the	DET
fumecheng-2877	63	13	robotic	robotic	ADJ
fumecheng-2877	63	14	arm	arm	NOUN
fumecheng-2877	63	15	by	by	ADP
fumecheng-2877	63	16	holding	hold	VERB
fumecheng-2877	63	17	its	its	PRON
fumecheng-2877	63	18	endeffector	endeffector	NOUN
fumecheng-2877	63	19	(	(	PUNCT
fumecheng-2877	63	20	gripper	gripper	NOUN
fumecheng-2877	63	21	)	)	PUNCT
fumecheng-2877	63	22	,	,	PUNCT
fumecheng-2877	63	23	while	while	SCONJ
fumecheng-2877	63	24	the	the	DET
fumecheng-2877	63	25	robot	robot	NOUN
fumecheng-2877	63	26	arm	arm	NOUN
fumecheng-2877	63	27	was	be	AUX
fumecheng-2877	63	28	in	in	ADP
fumecheng-2877	63	29	zero	zero	NUM
fumecheng-2877	63	30	-	-	PUNCT
fumecheng-2877	63	31	force	force	NOUN
fumecheng-2877	63	32	control	control	NOUN
fumecheng-2877	63	33	mode	mode	NOUN
fumecheng-2877	63	34	.	.	PUNCT
fumecheng-2877	64	1	there	there	PRON
fumecheng-2877	64	2	were	be	VERB
fumecheng-2877	64	3	no	no	DET
fumecheng-2877	64	4	other	other	ADJ
fumecheng-2877	64	5	constraints	constraint	NOUN
fumecheng-2877	64	6	in	in	ADP
fumecheng-2877	64	7	the	the	DET
fumecheng-2877	64	8	teaching	teaching	NOUN
fumecheng-2877	64	9	of	of	ADP
fumecheng-2877	64	10	the	the	DET
fumecheng-2877	64	11	task	task	NOUN
fumecheng-2877	64	12	.	.	PUNCT
fumecheng-2877	65	1	during	during	ADP
fumecheng-2877	65	2	the	the	DET
fumecheng-2877	65	3	demonstrations	demonstration	NOUN
fumecheng-2877	65	4	,	,	PUNCT
fumecheng-2877	65	5	the	the	DET
fumecheng-2877	65	6	data	data	NOUN
fumecheng-2877	65	7	acquisition	acquisition	NOUN
fumecheng-2877	65	8	module	module	NOUN
fumecheng-2877	65	9	recorded	record	VERB
fumecheng-2877	65	10	the	the	DET
fumecheng-2877	65	11	end	end	NOUN
fumecheng-2877	65	12	-	-	PUNCT
fumecheng-2877	65	13	effector	effector	NOUN
fumecheng-2877	65	14	’s	’s	PART
fumecheng-2877	65	15	pose	pose	NOUN
fumecheng-2877	65	16	,	,	PUNCT
fumecheng-2877	65	17	the	the	DET
fumecheng-2877	65	18	gripper	gripper	NOUN
fumecheng-2877	65	19	status	status	NOUN
fumecheng-2877	65	20	,	,	PUNCT
fumecheng-2877	65	21	as	as	ADV
fumecheng-2877	65	22	well	well	ADV
fumecheng-2877	65	23	as	as	ADP
fumecheng-2877	65	24	the	the	DET
fumecheng-2877	65	25	pose	pose	NOUN
fumecheng-2877	65	26	and	and	CCONJ
fumecheng-2877	65	27	dimensions	dimension	NOUN
fumecheng-2877	65	28	of	of	ADP
fumecheng-2877	65	29	the	the	DET
fumecheng-2877	65	30	objects	object	NOUN
fumecheng-2877	65	31	to	to	PART
fumecheng-2877	65	32	be	be	AUX
fumecheng-2877	65	33	manipulated	manipulate	VERB
fumecheng-2877	65	34	.	.	PUNCT
fumecheng-2877	66	1	the	the	DET
fumecheng-2877	66	2	learning	learning	NOUN
fumecheng-2877	66	3	module	module	NOUN
fumecheng-2877	66	4	performed	perform	VERB
fumecheng-2877	66	5	learning	learning	NOUN
fumecheng-2877	66	6	at	at	ADP
fumecheng-2877	66	7	two	two	NUM
fumecheng-2877	66	8	levels	level	NOUN
fumecheng-2877	66	9	:	:	PUNCT
fumecheng-2877	66	10	learning	learn	VERB
fumecheng-2877	66	11	at	at	ADP
fumecheng-2877	66	12	the	the	DET
fumecheng-2877	66	13	trajectory	trajectory	NOUN
fumecheng-2877	66	14	level	level	NOUN
fumecheng-2877	66	15	(	(	PUNCT
fumecheng-2877	66	16	low	low	ADJ
fumecheng-2877	66	17	-	-	PUNCT
fumecheng-2877	66	18	level	level	NOUN
fumecheng-2877	66	19	)	)	PUNCT
fumecheng-2877	66	20	and	and	CCONJ
fumecheng-2877	66	21	task	task	NOUN
fumecheng-2877	66	22	or	or	CCONJ
fumecheng-2877	66	23	symbolic	symbolic	ADJ
fumecheng-2877	66	24	learning	learning	NOUN
fumecheng-2877	66	25	(	(	PUNCT
fumecheng-2877	66	26	high	high	ADJ
fumecheng-2877	66	27	-	-	PUNCT
fumecheng-2877	66	28	level	level	NOUN
fumecheng-2877	66	29	)	)	PUNCT
fumecheng-2877	66	30	.	.	PUNCT
fumecheng-2877	67	1	3.1	3.1	NUM
fumecheng-2877	67	2	.	.	PUNCT
fumecheng-2877	68	1	learning	learn	VERB
fumecheng-2877	68	2	at	at	ADP
fumecheng-2877	68	3	the	the	DET
fumecheng-2877	68	4	trajectory	trajectory	NOUN
fumecheng-2877	68	5	level	level	NOUN
fumecheng-2877	68	6	(	(	PUNCT
fumecheng-2877	68	7	low	low	ADJ
fumecheng-2877	68	8	-	-	PUNCT
fumecheng-2877	68	9	level	level	NOUN
fumecheng-2877	68	10	learning	learning	NOUN
fumecheng-2877	68	11	)	)	PUNCT
fumecheng-2877	68	12	during	during	ADP
fumecheng-2877	68	13	the	the	DET
fumecheng-2877	68	14	considered	consider	VERB
fumecheng-2877	68	15	multi	multi	ADJ
fumecheng-2877	68	16	-	-	ADJ
fumecheng-2877	68	17	human	human	ADJ
fumecheng-2877	68	18	demonstrations	demonstration	NOUN
fumecheng-2877	68	19	of	of	ADP
fumecheng-2877	68	20	moving	move	VERB
fumecheng-2877	68	21	the	the	DET
fumecheng-2877	68	22	robot	robot	NOUN
fumecheng-2877	68	23	’s	’s	PART
fumecheng-2877	68	24	gripper	gripper	NOUN
fumecheng-2877	68	25	(	(	PUNCT
fumecheng-2877	68	26	end	end	NOUN
fumecheng-2877	68	27	-	-	PUNCT
fumecheng-2877	68	28	effector	effector	NOUN
fumecheng-2877	68	29	)	)	PUNCT
fumecheng-2877	68	30	from	from	ADP
fumecheng-2877	68	31	one	one	NUM
fumecheng-2877	68	32	point	point	NOUN
fumecheng-2877	68	33	to	to	ADP
fumecheng-2877	68	34	another	another	PRON
fumecheng-2877	68	35	on	on	ADP
fumecheng-2877	68	36	the	the	DET
fumecheng-2877	68	37	working	working	NOUN
fumecheng-2877	68	38	table	table	NOUN
fumecheng-2877	68	39	,	,	PUNCT
fumecheng-2877	68	40	the	the	DET
fumecheng-2877	68	41	cartesian	cartesian	ADJ
fumecheng-2877	68	42	coordinates	coordinate	NOUN
fumecheng-2877	68	43	(	(	PUNCT
fumecheng-2877	68	44	x	x	X
fumecheng-2877	68	45	,	,	PUNCT
fumecheng-2877	68	46	y	y	PROPN
fumecheng-2877	68	47	,	,	PUNCT
fumecheng-2877	68	48	z	z	NOUN
fumecheng-2877	68	49	)	)	PUNCT
fumecheng-2877	68	50	and	and	CCONJ
fumecheng-2877	68	51	the	the	DET
fumecheng-2877	68	52	orientation	orientation	NOUN
fumecheng-2877	68	53	(	(	PUNCT
fumecheng-2877	68	54	in	in	ADP
fumecheng-2877	68	55	quaternions	quaternion	NOUN
fumecheng-2877	68	56	)	)	PUNCT
fumecheng-2877	68	57	of	of	ADP
fumecheng-2877	68	58	the	the	DET
fumecheng-2877	68	59	gripper	gripper	NOUN
fumecheng-2877	68	60	’s	’s	PART
fumecheng-2877	68	61	tip	tip	NOUN
fumecheng-2877	68	62	were	be	AUX
fumecheng-2877	68	63	recorded	record	VERB
fumecheng-2877	68	64	.	.	PUNCT
fumecheng-2877	69	1	an	an	DET
fumecheng-2877	69	2	automatic	automatic	ADJ
fumecheng-2877	69	3	dynamic	dynamic	ADJ
fumecheng-2877	69	4	time	time	NOUN
fumecheng-2877	69	5	warping	warp	VERB
fumecheng-2877	69	6	(	(	PUNCT
fumecheng-2877	69	7	dtw)-based	dtw)-base	VERB
fumecheng-2877	69	8	algorithm	algorithm	NOUN
fumecheng-2877	69	9	[	[	X
fumecheng-2877	69	10	18	18	NUM
fumecheng-2877	69	11	]	]	PUNCT
fumecheng-2877	69	12	was	be	AUX
fumecheng-2877	69	13	used	use	VERB
fumecheng-2877	69	14	to	to	PART
fumecheng-2877	69	15	select	select	VERB
fumecheng-2877	69	16	the	the	DET
fumecheng-2877	69	17	most	most	ADV
fumecheng-2877	69	18	similar	similar	ADJ
fumecheng-2877	69	19	demonstrations	demonstration	NOUN
fumecheng-2877	69	20	.	.	PUNCT
fumecheng-2877	70	1	further	far	ADV
fumecheng-2877	70	2	,	,	PUNCT
fumecheng-2877	70	3	the	the	DET
fumecheng-2877	70	4	dtw	dtw	PROPN
fumecheng-2877	70	5	was	be	AUX
fumecheng-2877	70	6	used	use	VERB
fumecheng-2877	70	7	to	to	PART
fumecheng-2877	70	8	align	align	VERB
fumecheng-2877	70	9	the	the	DET
fumecheng-2877	70	10	demonstrations	demonstration	NOUN
fumecheng-2877	70	11	from	from	ADP
fumecheng-2877	70	12	the	the	DET
fumecheng-2877	70	13	selected	select	VERB
fumecheng-2877	70	14	similar	similar	ADJ
fumecheng-2877	70	15	demonstrated	demonstrate	VERB
fumecheng-2877	70	16	trajectories	trajectory	NOUN
fumecheng-2877	70	17	,	,	PUNCT
fumecheng-2877	70	18	and	and	CCONJ
fumecheng-2877	70	19	the	the	DET
fumecheng-2877	70	20	gaussian	gaussian	ADJ
fumecheng-2877	70	21	mixture	mixture	NOUN
fumecheng-2877	70	22	model	model	NOUN
fumecheng-2877	70	23	(	(	PUNCT
fumecheng-2877	70	24	gmm	gmm	NOUN
fumecheng-2877	70	25	)	)	PUNCT
fumecheng-2877	70	26	and	and	CCONJ
fumecheng-2877	70	27	the	the	DET
fumecheng-2877	70	28	gaussian	gaussian	ADJ
fumecheng-2877	70	29	mixture	mixture	NOUN
fumecheng-2877	70	30	regression	regression	NOUN
fumecheng-2877	70	31	(	(	PUNCT
fumecheng-2877	70	32	gmr	gmr	NOUN
fumecheng-2877	70	33	)	)	PUNCT
fumecheng-2877	70	34	methods	method	NOUN
fumecheng-2877	70	35	were	be	AUX
fumecheng-2877	70	36	used	use	VERB
fumecheng-2877	70	37	to	to	PART
fumecheng-2877	70	38	enable	enable	VERB
fumecheng-2877	70	39	learning	learning	NOUN
fumecheng-2877	70	40	of	of	ADP
fumecheng-2877	70	41	the	the	DET
fumecheng-2877	70	42	executed	execute	VERB
fumecheng-2877	70	43	gripper	gripper	NOUN
fumecheng-2877	70	44	’s	’s	PART
fumecheng-2877	70	45	trajectory	trajectory	NOUN
fumecheng-2877	70	46	with	with	ADP
fumecheng-2877	70	47	its	its	PRON
fumecheng-2877	70	48	constrains	constrain	NOUN
fumecheng-2877	70	49	[	[	X
fumecheng-2877	70	50	19	19	NUM
fumecheng-2877	70	51	]	]	PUNCT
fumecheng-2877	70	52	.	.	PUNCT
fumecheng-2877	71	1			PROPN
fumecheng-2877	72	1	automatic	automatic	ADJ
fumecheng-2877	72	2	selection	selection	NOUN
fumecheng-2877	72	3	of	of	ADP
fumecheng-2877	72	4	similar	similar	ADJ
fumecheng-2877	72	5	demonstrations	demonstration	NOUN
fumecheng-2877	72	6	and	and	CCONJ
fumecheng-2877	72	7	alignment	alignment	NOUN
fumecheng-2877	72	8	of	of	ADP
fumecheng-2877	72	9	the	the	DET
fumecheng-2877	72	10	selected	select	VERB
fumecheng-2877	72	11	demonstrations	demonstration	NOUN
fumecheng-2877	72	12	the	the	DET
fumecheng-2877	72	13	recorded	record	VERB
fumecheng-2877	72	14	datasets	dataset	NOUN
fumecheng-2877	72	15	had	have	VERB
fumecheng-2877	72	16	different	different	ADJ
fumecheng-2877	72	17	number	number	NOUN
fumecheng-2877	72	18	of	of	ADP
fumecheng-2877	72	19	samples	sample	NOUN
fumecheng-2877	72	20	,	,	PUNCT
fumecheng-2877	72	21	because	because	SCONJ
fumecheng-2877	72	22	every	every	DET
fumecheng-2877	72	23	human	human	ADJ
fumecheng-2877	72	24	demonstrator	demonstrator	NOUN
fumecheng-2877	72	25	performed	perform	VERB
fumecheng-2877	72	26	the	the	DET
fumecheng-2877	72	27	task	task	NOUN
fumecheng-2877	72	28	of	of	ADP
fumecheng-2877	72	29	guiding	guide	VERB
fumecheng-2877	72	30	the	the	DET
fumecheng-2877	72	31	robot	robot	NOUN
fumecheng-2877	72	32	arm	arm	NOUN
fumecheng-2877	72	33	’s	’s	PART
fumecheng-2877	72	34	gripper	gripper	NOUN
fumecheng-2877	72	35	with	with	ADP
fumecheng-2877	72	36	different	different	ADJ
fumecheng-2877	72	37	speed	speed	NOUN
fumecheng-2877	72	38	which	which	PRON
fumecheng-2877	72	39	caused	cause	VERB
fumecheng-2877	72	40	different	different	ADJ
fumecheng-2877	72	41	lengths	length	NOUN
fumecheng-2877	72	42	of	of	ADP
fumecheng-2877	72	43	the	the	DET
fumecheng-2877	72	44	recorded	record	VERB
fumecheng-2877	72	45	demonstrations	demonstration	NOUN
fumecheng-2877	72	46	.	.	PUNCT
fumecheng-2877	73	1	the	the	DET
fumecheng-2877	73	2	dynamic	dynamic	ADJ
fumecheng-2877	73	3	time	time	NOUN
fumecheng-2877	73	4	warping	warp	VERB
fumecheng-2877	73	5	(	(	PUNCT
fumecheng-2877	73	6	dtw	dtw	PROPN
fumecheng-2877	73	7	)	)	PUNCT
fumecheng-2877	74	1	[	[	X
fumecheng-2877	74	2	20	20	NUM
fumecheng-2877	74	3	]	]	PUNCT
fumecheng-2877	74	4	is	be	AUX
fumecheng-2877	74	5	a	a	DET
fumecheng-2877	74	6	method	method	NOUN
fumecheng-2877	74	7	for	for	ADP
fumecheng-2877	74	8	finding	find	VERB
fumecheng-2877	74	9	an	an	DET
fumecheng-2877	74	10	optimal	optimal	ADJ
fumecheng-2877	74	11	alignment	alignment	NOUN
fumecheng-2877	74	12	between	between	ADP
fumecheng-2877	74	13	two	two	NUM
fumecheng-2877	74	14	given	give	VERB
fumecheng-2877	74	15	time	time	NOUN
fumecheng-2877	74	16	-	-	PUNCT
fumecheng-2877	74	17	series	series	NOUN
fumecheng-2877	74	18	which	which	PRON
fumecheng-2877	74	19	may	may	AUX
fumecheng-2877	74	20	vary	vary	VERB
fumecheng-2877	74	21	in	in	ADP
fumecheng-2877	74	22	speed	speed	NOUN
fumecheng-2877	74	23	and	and	CCONJ
fumecheng-2877	74	24	time	time	NOUN
fumecheng-2877	74	25	.	.	PUNCT
fumecheng-2877	75	1	dtw	dtw	NOUN
fumecheng-2877	75	2	-	-	PUNCT
fumecheng-2877	75	3	based	base	VERB
fumecheng-2877	75	4	algorithms	algorithm	NOUN
fumecheng-2877	75	5	are	be	AUX
fumecheng-2877	75	6	currently	currently	ADV
fumecheng-2877	75	7	used	use	VERB
fumecheng-2877	75	8	for	for	ADP
fumecheng-2877	75	9	speech	speech	NOUN
fumecheng-2877	75	10	recognition	recognition	NOUN
fumecheng-2877	75	11	[	[	X
fumecheng-2877	75	12	21	21	NUM
fumecheng-2877	75	13	]	]	PUNCT
fumecheng-2877	75	14	,	,	PUNCT
fumecheng-2877	75	15	gesture	gesture	NOUN
fumecheng-2877	75	16	recognition	recognition	NOUN
fumecheng-2877	76	1	[	[	X
fumecheng-2877	76	2	22	22	NUM
fumecheng-2877	76	3	]	]	PUNCT
fumecheng-2877	76	4	,	,	PUNCT
fumecheng-2877	76	5	robot	robot	NOUN
fumecheng-2877	76	6	learning	learn	VERB
fumecheng-2877	76	7	[	[	X
fumecheng-2877	76	8	23	23	NUM
fumecheng-2877	76	9	]	]	PUNCT
fumecheng-2877	76	10	,	,	PUNCT
fumecheng-2877	76	11	gait	gait	VERB
fumecheng-2877	76	12	analysis	analysis	NOUN
fumecheng-2877	76	13	[	[	X
fumecheng-2877	76	14	24	24	NUM
fumecheng-2877	76	15	]	]	PUNCT
fumecheng-2877	76	16	and	and	CCONJ
fumecheng-2877	76	17	for	for	ADP
fumecheng-2877	76	18	other	other	ADJ
fumecheng-2877	76	19	sensorbased	sensorbase	VERB
fumecheng-2877	76	20	applications	application	NOUN
fumecheng-2877	76	21	.	.	PUNCT
fumecheng-2877	77	1	the	the	DET
fumecheng-2877	77	2	fundamental	fundamental	ADJ
fumecheng-2877	77	3	functionality	functionality	NOUN
fumecheng-2877	77	4	of	of	ADP
fumecheng-2877	77	5	dtw	dtw	PROPN
fumecheng-2877	77	6	is	be	AUX
fumecheng-2877	77	7	to	to	PART
fumecheng-2877	77	8	define	define	VERB
fumecheng-2877	77	9	an	an	DET
fumecheng-2877	77	10	optimal	optimal	ADJ
fumecheng-2877	77	11	robot	robot	NOUN
fumecheng-2877	77	12	learning	learning	NOUN
fumecheng-2877	77	13	of	of	ADP
fumecheng-2877	77	14	object	object	NOUN
fumecheng-2877	77	15	manipulation	manipulation	NOUN
fumecheng-2877	77	16	task	task	NOUN
fumecheng-2877	77	17	actions	action	NOUN
fumecheng-2877	77	18	from	from	ADP
fumecheng-2877	77	19	human	human	ADJ
fumecheng-2877	77	20	demonstrations	demonstration	NOUN
fumecheng-2877	77	21	221	221	NUM
fumecheng-2877	77	22	warping	warp	VERB
fumecheng-2877	77	23	path	path	NOUN
fumecheng-2877	77	24	(	(	PUNCT
fumecheng-2877	77	25	alignment	alignment	NOUN
fumecheng-2877	77	26	)	)	PUNCT
fumecheng-2877	77	27	and	and	CCONJ
fumecheng-2877	77	28	to	to	PART
fumecheng-2877	77	29	calculate	calculate	VERB
fumecheng-2877	77	30	the	the	DET
fumecheng-2877	77	31	dtw	dtw	PROPN
fumecheng-2877	77	32	distance	distance	NOUN
fumecheng-2877	77	33	(	(	PUNCT
fumecheng-2877	77	34	similarity	similarity	NOUN
fumecheng-2877	77	35	)	)	PUNCT
fumecheng-2877	77	36	between	between	ADP
fumecheng-2877	77	37	two	two	NUM
fumecheng-2877	77	38	given	give	VERB
fumecheng-2877	77	39	time	time	NOUN
fumecheng-2877	77	40	-	-	PUNCT
fumecheng-2877	77	41	series	series	NOUN
fumecheng-2877	77	42	.	.	PUNCT
fumecheng-2877	78	1	the	the	DET
fumecheng-2877	78	2	optimal	optimal	ADJ
fumecheng-2877	78	3	warping	warping	NOUN
fumecheng-2877	78	4	path	path	NOUN
fumecheng-2877	78	5	is	be	AUX
fumecheng-2877	78	6	that	that	SCONJ
fumecheng-2877	78	7	with	with	ADP
fumecheng-2877	78	8	the	the	DET
fumecheng-2877	78	9	minimal	minimal	ADJ
fumecheng-2877	78	10	total	total	ADJ
fumecheng-2877	78	11	cost	cost	NOUN
fumecheng-2877	78	12	among	among	ADP
fumecheng-2877	78	13	all	all	DET
fumecheng-2877	78	14	possible	possible	ADJ
fumecheng-2877	78	15	ones	one	NOUN
fumecheng-2877	78	16	.	.	PUNCT
fumecheng-2877	79	1	the	the	DET
fumecheng-2877	79	2	dtw	dtw	PROPN
fumecheng-2877	79	3	distance	distance	NOUN
fumecheng-2877	79	4	is	be	AUX
fumecheng-2877	79	5	defined	define	VERB
fumecheng-2877	79	6	as	as	ADP
fumecheng-2877	79	7	the	the	DET
fumecheng-2877	79	8	total	total	ADJ
fumecheng-2877	79	9	cost	cost	NOUN
fumecheng-2877	79	10	of	of	ADP
fumecheng-2877	79	11	the	the	DET
fumecheng-2877	79	12	optimal	optimal	ADJ
fumecheng-2877	79	13	warping	warping	NOUN
fumecheng-2877	79	14	path	path	NOUN
fumecheng-2877	79	15	.	.	PUNCT
fumecheng-2877	80	1	the	the	DET
fumecheng-2877	80	2	algorithm	algorithm	NOUN
fumecheng-2877	80	3	for	for	ADP
fumecheng-2877	80	4	automatic	automatic	ADJ
fumecheng-2877	80	5	selection	selection	NOUN
fumecheng-2877	80	6	of	of	ADP
fumecheng-2877	80	7	similar	similar	ADJ
fumecheng-2877	80	8	demonstrations	demonstration	NOUN
fumecheng-2877	80	9	[	[	X
fumecheng-2877	80	10	18	18	NUM
fumecheng-2877	80	11	]	]	PUNCT
fumecheng-2877	80	12	is	be	AUX
fumecheng-2877	80	13	used	use	VERB
fumecheng-2877	80	14	to	to	PART
fumecheng-2877	80	15	select	select	VERB
fumecheng-2877	80	16	similar	similar	ADJ
fumecheng-2877	80	17	demonstrations	demonstration	NOUN
fumecheng-2877	80	18	based	base	VERB
fumecheng-2877	80	19	on	on	ADP
fumecheng-2877	80	20	the	the	DET
fumecheng-2877	80	21	similarity	similarity	NOUN
fumecheng-2877	80	22	measurement	measurement	NOUN
fumecheng-2877	80	23	between	between	ADP
fumecheng-2877	80	24	the	the	DET
fumecheng-2877	80	25	cartesian	cartesian	ADJ
fumecheng-2877	80	26	coordinates	coordinate	NOUN
fumecheng-2877	80	27	(	(	PUNCT
fumecheng-2877	80	28	x	x	X
fumecheng-2877	80	29	,	,	PUNCT
fumecheng-2877	80	30	y	y	PROPN
fumecheng-2877	80	31	,	,	PUNCT
fumecheng-2877	80	32	z	z	NOUN
fumecheng-2877	80	33	)	)	PUNCT
fumecheng-2877	80	34	of	of	ADP
fumecheng-2877	80	35	the	the	DET
fumecheng-2877	80	36	end	end	NOUN
fumecheng-2877	80	37	-	-	PUNCT
fumecheng-2877	80	38	effector	effector	NOUN
fumecheng-2877	80	39	recorded	record	VERB
fumecheng-2877	80	40	in	in	ADP
fumecheng-2877	80	41	different	different	ADJ
fumecheng-2877	80	42	demonstrations	demonstration	NOUN
fumecheng-2877	80	43	.	.	PUNCT
fumecheng-2877	81	1	however	however	ADV
fumecheng-2877	81	2	,	,	PUNCT
fumecheng-2877	81	3	the	the	DET
fumecheng-2877	81	4	method	method	NOUN
fumecheng-2877	81	5	presented	present	VERB
fumecheng-2877	81	6	in	in	ADP
fumecheng-2877	81	7	[	[	X
fumecheng-2877	81	8	18	18	NUM
fumecheng-2877	81	9	]	]	PUNCT
fumecheng-2877	81	10	does	do	AUX
fumecheng-2877	81	11	not	not	PART
fumecheng-2877	81	12	take	take	VERB
fumecheng-2877	81	13	into	into	ADP
fumecheng-2877	81	14	account	account	NOUN
fumecheng-2877	81	15	the	the	DET
fumecheng-2877	81	16	orientation	orientation	NOUN
fumecheng-2877	81	17	of	of	ADP
fumecheng-2877	81	18	the	the	DET
fumecheng-2877	81	19	end	end	NOUN
fumecheng-2877	81	20	-	-	PUNCT
fumecheng-2877	81	21	effector	effector	NOUN
fumecheng-2877	81	22	,	,	PUNCT
fumecheng-2877	81	23	which	which	PRON
fumecheng-2877	81	24	is	be	AUX
fumecheng-2877	81	25	an	an	DET
fumecheng-2877	81	26	important	important	ADJ
fumecheng-2877	81	27	parameter	parameter	NOUN
fumecheng-2877	81	28	for	for	ADP
fumecheng-2877	81	29	reliable	reliable	ADJ
fumecheng-2877	81	30	object	object	NOUN
fumecheng-2877	81	31	manipulation	manipulation	NOUN
fumecheng-2877	81	32	.	.	PUNCT
fumecheng-2877	82	1	in	in	ADP
fumecheng-2877	82	2	the	the	DET
fumecheng-2877	82	3	approach	approach	NOUN
fumecheng-2877	82	4	presented	present	VERB
fumecheng-2877	82	5	in	in	ADP
fumecheng-2877	82	6	this	this	DET
fumecheng-2877	82	7	paper	paper	NOUN
fumecheng-2877	82	8	,	,	PUNCT
fumecheng-2877	82	9	the	the	DET
fumecheng-2877	82	10	original	original	ADJ
fumecheng-2877	82	11	method	method	NOUN
fumecheng-2877	82	12	[	[	X
fumecheng-2877	82	13	18	18	NUM
fumecheng-2877	82	14	]	]	PUNCT
fumecheng-2877	82	15	is	be	AUX
fumecheng-2877	82	16	extended	extend	VERB
fumecheng-2877	82	17	to	to	PART
fumecheng-2877	82	18	include	include	VERB
fumecheng-2877	82	19	the	the	DET
fumecheng-2877	82	20	recorded	record	VERB
fumecheng-2877	82	21	orientations	orientation	NOUN
fumecheng-2877	82	22	of	of	ADP
fumecheng-2877	82	23	the	the	DET
fumecheng-2877	82	24	end	end	NOUN
fumecheng-2877	82	25	-	-	PUNCT
fumecheng-2877	82	26	effector	effector	NOUN
fumecheng-2877	82	27	in	in	ADP
fumecheng-2877	82	28	quaternions	quaternion	NOUN
fumecheng-2877	82	29	(	(	PUNCT
fumecheng-2877	82	30	qx	qx	PROPN
fumecheng-2877	82	31	,	,	PUNCT
fumecheng-2877	82	32	qy	qy	PROPN
fumecheng-2877	82	33	,	,	PUNCT
fumecheng-2877	82	34	qz	qz	PROPN
fumecheng-2877	82	35	,	,	PUNCT
fumecheng-2877	82	36	qw	qw	NOUN
fumecheng-2877	82	37	)	)	PUNCT
fumecheng-2877	82	38	.	.	PUNCT
fumecheng-2877	83	1	the	the	DET
fumecheng-2877	83	2	similarity	similarity	NOUN
fumecheng-2877	83	3	vector	vector	NOUN
fumecheng-2877	83	4	is	be	AUX
fumecheng-2877	83	5	calculated	calculate	VERB
fumecheng-2877	83	6	as	as	SCONJ
fumecheng-2877	83	7	follows	follow	VERB
fumecheng-2877	83	8	:	:	PUNCT
fumecheng-2877	83	9	7	7	NUM
fumecheng-2877	83	10	1	1	NUM
fumecheng-2877	83	11	(	(	PUNCT
fumecheng-2877	83	12	)	)	PUNCT
fumecheng-2877	83	13	(	(	PUNCT
fumecheng-2877	83	14	,	,	PUNCT
fumecheng-2877	83	15	)	)	PUNCT
fumecheng-2877	83	16	,	,	PUNCT
fumecheng-2877	83	17	{	{	PUNCT
fumecheng-2877	83	18	1,2	1,2	NUM
fumecheng-2877	83	19	,	,	PUNCT
fumecheng-2877	83	20	,	,	PUNCT
fumecheng-2877	83	21	}	}	PUNCT
fumecheng-2877	83	22	n	n	PROPN
fumecheng-2877	83	23	d	d	NOUN
fumecheng-2877	83	24	j	j	PROPN
fumecheng-2877	83	25	similarity	similarity	NOUN
fumecheng-2877	84	1	i	i	PRON
fumecheng-2877	84	2	dtw	dtw	VERB
fumecheng-2877	85	1	i	i	PRON
fumecheng-2877	85	2	j	j	PROPN
fumecheng-2877	86	1	i	i	PRON
fumecheng-2877	86	2	n	n	VERB
fumecheng-2877	86	3			NUM
fumecheng-2877	86	4			ADV
fumecheng-2877	86	5			ADJ
fumecheng-2877	86	6			NOUN
fumecheng-2877	86	7	(	(	PUNCT
fumecheng-2877	86	8	1	1	X
fumecheng-2877	86	9	)	)	PUNCT
fumecheng-2877	86	10	where	where	SCONJ
fumecheng-2877	86	11	n	n	PRON
fumecheng-2877	86	12	is	be	AUX
fumecheng-2877	86	13	the	the	DET
fumecheng-2877	86	14	total	total	ADJ
fumecheng-2877	86	15	number	number	NOUN
fumecheng-2877	86	16	of	of	ADP
fumecheng-2877	86	17	the	the	DET
fumecheng-2877	86	18	demonstrations	demonstration	NOUN
fumecheng-2877	86	19	and	and	CCONJ
fumecheng-2877	86	20	dtw7d(i	dtw7d(i	PROPN
fumecheng-2877	86	21	,	,	PUNCT
fumecheng-2877	86	22	j	j	NOUN
fumecheng-2877	86	23	)	)	PUNCT
fumecheng-2877	86	24	is	be	AUX
fumecheng-2877	86	25	the	the	DET
fumecheng-2877	86	26	distance	distance	NOUN
fumecheng-2877	86	27	matrix	matrix	NOUN
fumecheng-2877	86	28	in	in	ADP
fumecheng-2877	86	29	7	7	NUM
fumecheng-2877	86	30	dimensions	dimension	NOUN
fumecheng-2877	86	31	which	which	PRON
fumecheng-2877	86	32	is	be	AUX
fumecheng-2877	86	33	calculated	calculate	VERB
fumecheng-2877	86	34	as	as	ADP
fumecheng-2877	86	35	:	:	PUNCT
fumecheng-2877	86	36	)	)	PUNCT
fumecheng-2877	86	37	,	,	PUNCT
fumecheng-2877	86	38	(	(	PUNCT
fumecheng-2877	86	39	)	)	PUNCT
fumecheng-2877	86	40	,	,	PUNCT
fumecheng-2877	86	41	(	(	PUNCT
fumecheng-2877	86	42	)	)	PUNCT
fumecheng-2877	86	43	,	,	PUNCT
fumecheng-2877	86	44	(	(	PUNCT
fumecheng-2877	86	45	)	)	PUNCT
fumecheng-2877	86	46	,	,	PUNCT
fumecheng-2877	86	47	(	(	PUNCT
fumecheng-2877	86	48	)	)	PUNCT
fumecheng-2877	86	49	,	,	PUNCT
fumecheng-2877	86	50	(	(	PUNCT
fumecheng-2877	86	51	)	)	PUNCT
fumecheng-2877	86	52	,	,	PUNCT
fumecheng-2877	86	53	(	(	PUNCT
fumecheng-2877	86	54	)	)	PUNCT
fumecheng-2877	86	55	,	,	PUNCT
fumecheng-2877	86	56	(	(	PUNCT
fumecheng-2877	86	57	)	)	PUNCT
fumecheng-2877	86	58	,	,	PUNCT
fumecheng-2877	86	59	(	(	PUNCT
fumecheng-2877	86	60	7	7	NUM
fumecheng-2877	86	61	jidtwjidtwjidtwjidtw	jidtwjidtwjidtwjidtw	NOUN
fumecheng-2877	86	62	jidtwjidtwjidtwjidtw	jidtwjidtwjidtwjidtw	NOUN
fumecheng-2877	86	63	qwqzqyqx	qwqzqyqx	PROPN
fumecheng-2877	86	64	zyxd	zyxd	PROPN
fumecheng-2877	86	65			PROPN
fumecheng-2877	86	66			PROPN
fumecheng-2877	86	67	.	.	PUNCT
fumecheng-2877	87	1	(	(	PUNCT
fumecheng-2877	87	2	2	2	X
fumecheng-2877	87	3	)	)	PUNCT
fumecheng-2877	87	4	matrices	matrix	NOUN
fumecheng-2877	87	5	dtwx(i	dtwx(i	PROPN
fumecheng-2877	87	6	,	,	PUNCT
fumecheng-2877	87	7	j	j	PROPN
fumecheng-2877	87	8	)	)	PUNCT
fumecheng-2877	87	9	,	,	PUNCT
fumecheng-2877	87	10	dtwy(i	dtwy(i	PROPN
fumecheng-2877	87	11	,	,	PUNCT
fumecheng-2877	87	12	j	j	PROPN
fumecheng-2877	87	13	)	)	PUNCT
fumecheng-2877	87	14	,	,	PUNCT
fumecheng-2877	87	15	dtwz(i	dtwz(i	PROPN
fumecheng-2877	87	16	,	,	PUNCT
fumecheng-2877	87	17	j	j	PROPN
fumecheng-2877	87	18	)	)	PUNCT
fumecheng-2877	87	19	,	,	PUNCT
fumecheng-2877	87	20	dtwqx(i	dtwqx(i	PROPN
fumecheng-2877	87	21	,	,	PUNCT
fumecheng-2877	87	22	j	j	PROPN
fumecheng-2877	87	23	)	)	PUNCT
fumecheng-2877	87	24	,	,	PUNCT
fumecheng-2877	87	25	dtwqy(i	dtwqy(i	PROPN
fumecheng-2877	87	26	,	,	PUNCT
fumecheng-2877	87	27	j	j	PROPN
fumecheng-2877	87	28	)	)	PUNCT
fumecheng-2877	87	29	,	,	PUNCT
fumecheng-2877	87	30	dtwqz(i	dtwqz(i	PROPN
fumecheng-2877	87	31	,	,	PUNCT
fumecheng-2877	87	32	j	j	PROPN
fumecheng-2877	87	33	)	)	PUNCT
fumecheng-2877	87	34	,	,	PUNCT
fumecheng-2877	87	35	dtwqw(i	dtwqw(i	PROPN
fumecheng-2877	87	36	,	,	PUNCT
fumecheng-2877	87	37	j	j	NOUN
fumecheng-2877	87	38	)	)	PUNCT
fumecheng-2877	87	39	are	be	AUX
fumecheng-2877	87	40	dtw	dtw	PROPN
fumecheng-2877	87	41	distances	distance	NOUN
fumecheng-2877	87	42	between	between	ADP
fumecheng-2877	87	43	demonstrations	demonstration	NOUN
fumecheng-2877	87	44	i	i	PRON
fumecheng-2877	87	45	and	and	CCONJ
fumecheng-2877	87	46	j	j	PROPN
fumecheng-2877	87	47	in	in	ADP
fumecheng-2877	87	48	dimensions	dimension	NOUN
fumecheng-2877	87	49	x	x	SYM
fumecheng-2877	87	50	,	,	PUNCT
fumecheng-2877	87	51	y	y	PROPN
fumecheng-2877	87	52	,	,	PUNCT
fumecheng-2877	87	53	z	z	NOUN
fumecheng-2877	87	54	and	and	CCONJ
fumecheng-2877	87	55	quaternions	quaternion	NOUN
fumecheng-2877	87	56	(	(	PUNCT
fumecheng-2877	87	57	qx	qx	PROPN
fumecheng-2877	87	58	,	,	PUNCT
fumecheng-2877	87	59	qy	qy	PROPN
fumecheng-2877	87	60	,	,	PUNCT
fumecheng-2877	87	61	qz	qz	PROPN
fumecheng-2877	87	62	,	,	PUNCT
fumecheng-2877	87	63	qw	qw	NOUN
fumecheng-2877	87	64	)	)	PUNCT
fumecheng-2877	87	65	where	where	SCONJ
fumecheng-2877	87	66	i	i	PRON
fumecheng-2877	87	67	,	,	PUNCT
fumecheng-2877	87	68	j{1	j{1	NOUN
fumecheng-2877	87	69	,	,	PUNCT
fumecheng-2877	87	70	2	2	NUM
fumecheng-2877	87	71	,	,	PUNCT
fumecheng-2877	87	72	…	…	PUNCT
fumecheng-2877	87	73	,	,	PUNCT
fumecheng-2877	87	74	n	n	CCONJ
fumecheng-2877	87	75	}	}	PUNCT
fumecheng-2877	87	76	.	.	PUNCT
fumecheng-2877	88	1	the	the	DET
fumecheng-2877	88	2	smaller	small	ADJ
fumecheng-2877	88	3	the	the	DET
fumecheng-2877	88	4	dtw	dtw	PROPN
fumecheng-2877	88	5	distance	distance	NOUN
fumecheng-2877	88	6	is	be	AUX
fumecheng-2877	88	7	,	,	PUNCT
fumecheng-2877	88	8	the	the	PRON
fumecheng-2877	88	9	more	more	ADV
fumecheng-2877	88	10	similar	similar	ADJ
fumecheng-2877	88	11	the	the	DET
fumecheng-2877	88	12	two	two	NUM
fumecheng-2877	88	13	demonstrations	demonstration	NOUN
fumecheng-2877	88	14	are	be	AUX
fumecheng-2877	88	15	.	.	PUNCT
fumecheng-2877	89	1	for	for	ADP
fumecheng-2877	89	2	example	example	NOUN
fumecheng-2877	89	3	,	,	PUNCT
fumecheng-2877	89	4	if	if	SCONJ
fumecheng-2877	89	5	demonstration	demonstration	NOUN
fumecheng-2877	89	6	i	i	PRON
fumecheng-2877	89	7	is	be	AUX
fumecheng-2877	89	8	compared	compare	VERB
fumecheng-2877	89	9	with	with	ADP
fumecheng-2877	89	10	itself	itself	PRON
fumecheng-2877	89	11	,	,	PUNCT
fumecheng-2877	89	12	the	the	DET
fumecheng-2877	89	13	dtw	dtw	PROPN
fumecheng-2877	89	14	distance	distance	NOUN
fumecheng-2877	89	15	is	be	AUX
fumecheng-2877	89	16	equal	equal	ADJ
fumecheng-2877	89	17	to	to	ADP
fumecheng-2877	89	18	zero	zero	NUM
fumecheng-2877	89	19	,	,	PUNCT
fumecheng-2877	89	20	that	that	PRON
fumecheng-2877	89	21	is	be	AUX
fumecheng-2877	89	22	the	the	DET
fumecheng-2877	89	23	element	element	NOUN
fumecheng-2877	89	24	(	(	PUNCT
fumecheng-2877	89	25	i	i	PROPN
fumecheng-2877	89	26	,	,	PUNCT
fumecheng-2877	89	27	i	i	PROPN
fumecheng-2877	89	28	)	)	PUNCT
fumecheng-2877	89	29	of	of	ADP
fumecheng-2877	89	30	the	the	DET
fumecheng-2877	89	31	distance	distance	NOUN
fumecheng-2877	89	32	matrices	matrix	NOUN
fumecheng-2877	89	33	is	be	AUX
fumecheng-2877	89	34	equal	equal	ADJ
fumecheng-2877	89	35	to	to	ADP
fumecheng-2877	89	36	zero	zero	NUM
fumecheng-2877	89	37	.	.	PUNCT
fumecheng-2877	90	1	the	the	DET
fumecheng-2877	90	2	demonstration	demonstration	NOUN
fumecheng-2877	90	3	that	that	PRON
fumecheng-2877	90	4	has	have	VERB
fumecheng-2877	90	5	the	the	DET
fumecheng-2877	90	6	smallest	small	ADJ
fumecheng-2877	90	7	value	value	NOUN
fumecheng-2877	90	8	in	in	ADP
fumecheng-2877	90	9	the	the	DET
fumecheng-2877	90	10	vector	vector	NOUN
fumecheng-2877	90	11	similarity	similarity	NOUN
fumecheng-2877	90	12	is	be	AUX
fumecheng-2877	90	13	the	the	DET
fumecheng-2877	90	14	“	"	PUNCT
fumecheng-2877	90	15	reference	reference	NOUN
fumecheng-2877	90	16	”	"	PUNCT
fumecheng-2877	90	17	demonstration	demonstration	NOUN
fumecheng-2877	90	18	and	and	CCONJ
fumecheng-2877	90	19	is	be	AUX
fumecheng-2877	90	20	denoted	denote	VERB
fumecheng-2877	90	21	with	with	ADP
fumecheng-2877	90	22	r.	r.	PROPN
fumecheng-2877	90	23	after	after	ADP
fumecheng-2877	90	24	deciding	decide	VERB
fumecheng-2877	90	25	on	on	ADP
fumecheng-2877	90	26	the	the	DET
fumecheng-2877	90	27	“	"	PUNCT
fumecheng-2877	90	28	reference	reference	NOUN
fumecheng-2877	90	29	”	"	PUNCT
fumecheng-2877	90	30	demonstration	demonstration	NOUN
fumecheng-2877	90	31	it	it	PRON
fumecheng-2877	90	32	is	be	AUX
fumecheng-2877	90	33	needed	need	VERB
fumecheng-2877	90	34	to	to	PART
fumecheng-2877	90	35	find	find	VERB
fumecheng-2877	90	36	the	the	DET
fumecheng-2877	90	37	demonstration	demonstration	NOUN
fumecheng-2877	90	38	which	which	PRON
fumecheng-2877	90	39	is	be	AUX
fumecheng-2877	90	40	most	most	ADV
fumecheng-2877	90	41	similar	similar	ADJ
fumecheng-2877	90	42	to	to	ADP
fumecheng-2877	90	43	the	the	DET
fumecheng-2877	90	44	“	"	PUNCT
fumecheng-2877	90	45	reference	reference	NOUN
fumecheng-2877	90	46	”	"	PUNCT
fumecheng-2877	90	47	demonstration	demonstration	NOUN
fumecheng-2877	90	48	.	.	PUNCT
fumecheng-2877	91	1	the	the	DET
fumecheng-2877	91	2	demonstration	demonstration	NOUN
fumecheng-2877	91	3	which	which	PRON
fumecheng-2877	91	4	has	have	VERB
fumecheng-2877	91	5	the	the	DET
fumecheng-2877	91	6	minimum	minimum	ADJ
fumecheng-2877	91	7	7	7	NUM
fumecheng-2877	91	8	(	(	PUNCT
fumecheng-2877	91	9	,	,	PUNCT
fumecheng-2877	91	10	)	)	PUNCT
fumecheng-2877	91	11	,	,	PUNCT
fumecheng-2877	91	12	{	{	PUNCT
fumecheng-2877	91	13	1,2	1,2	NUM
fumecheng-2877	91	14	,	,	PUNCT
fumecheng-2877	91	15	,	,	PUNCT
fumecheng-2877	91	16	}	}	PUNCT
fumecheng-2877	91	17	,	,	PUNCT
fumecheng-2877	91	18	ddtw	ddtw	PROPN
fumecheng-2877	91	19	r	r	PROPN
fumecheng-2877	91	20	j	j	PROPN
fumecheng-2877	91	21	j	j	PROPN
fumecheng-2877	91	22	n	n	CCONJ
fumecheng-2877	91	23	j	j	PROPN
fumecheng-2877	91	24	r	r	PROPN
fumecheng-2877	91	25			NOUN
fumecheng-2877	91	26			NOUN
fumecheng-2877	91	27	is	be	AUX
fumecheng-2877	91	28	selected	select	VERB
fumecheng-2877	91	29	as	as	ADP
fumecheng-2877	91	30	the	the	DET
fumecheng-2877	91	31	most	most	ADV
fumecheng-2877	91	32	similar	similar	ADJ
fumecheng-2877	91	33	one	one	NUM
fumecheng-2877	91	34	.	.	PUNCT
fumecheng-2877	92	1	the	the	DET
fumecheng-2877	92	2	reason	reason	NOUN
fumecheng-2877	92	3	that	that	PRON
fumecheng-2877	92	4	only	only	ADV
fumecheng-2877	92	5	two	two	NUM
fumecheng-2877	92	6	demonstrations	demonstration	NOUN
fumecheng-2877	92	7	are	be	AUX
fumecheng-2877	92	8	selected	select	VERB
fumecheng-2877	92	9	is	be	AUX
fumecheng-2877	92	10	because	because	SCONJ
fumecheng-2877	92	11	the	the	DET
fumecheng-2877	92	12	dtw	dtw	PROPN
fumecheng-2877	92	13	method	method	NOUN
fumecheng-2877	92	14	is	be	AUX
fumecheng-2877	92	15	able	able	ADJ
fumecheng-2877	92	16	to	to	PART
fumecheng-2877	92	17	align	align	VERB
fumecheng-2877	92	18	only	only	ADV
fumecheng-2877	92	19	two	two	NUM
fumecheng-2877	92	20	time	time	NOUN
fumecheng-2877	92	21	-	-	PUNCT
fumecheng-2877	92	22	series	series	NOUN
fumecheng-2877	92	23	at	at	ADP
fumecheng-2877	92	24	the	the	DET
fumecheng-2877	92	25	time	time	NOUN
fumecheng-2877	92	26	.	.	PUNCT
fumecheng-2877	93	1	the	the	DET
fumecheng-2877	93	2	two	two	NUM
fumecheng-2877	93	3	selected	select	VERB
fumecheng-2877	93	4	demonstrations	demonstration	NOUN
fumecheng-2877	93	5	are	be	AUX
fumecheng-2877	93	6	aligned	align	VERB
fumecheng-2877	93	7	in	in	ADP
fumecheng-2877	93	8	time	time	NOUN
fumecheng-2877	93	9	(	(	PUNCT
fumecheng-2877	93	10	temporal	temporal	ADJ
fumecheng-2877	93	11	dimension	dimension	NOUN
fumecheng-2877	93	12	)	)	PUNCT
fumecheng-2877	93	13	by	by	ADP
fumecheng-2877	93	14	using	use	VERB
fumecheng-2877	93	15	the	the	DET
fumecheng-2877	93	16	dtw	dtw	NOUN
fumecheng-2877	93	17	for	for	ADP
fumecheng-2877	93	18	7	7	NUM
fumecheng-2877	93	19	dimensions	dimension	NOUN
fumecheng-2877	93	20	(	(	PUNCT
fumecheng-2877	93	21	x	x	X
fumecheng-2877	93	22	,	,	PUNCT
fumecheng-2877	93	23	y	y	PROPN
fumecheng-2877	93	24	,	,	PUNCT
fumecheng-2877	93	25	z	z	PROPN
fumecheng-2877	93	26	,	,	PUNCT
fumecheng-2877	93	27	qx	qx	PROPN
fumecheng-2877	93	28	,	,	PUNCT
fumecheng-2877	93	29	qy	qy	PROPN
fumecheng-2877	93	30	,	,	PUNCT
fumecheng-2877	93	31	qz	qz	PROPN
fumecheng-2877	93	32	,	,	PUNCT
fumecheng-2877	93	33	qw	qw	NOUN
fumecheng-2877	93	34	)	)	PUNCT
fumecheng-2877	93	35	.	.	PUNCT
fumecheng-2877	94	1			PROPN
fumecheng-2877	95	1	gaussian	gaussian	ADJ
fumecheng-2877	95	2	mixture	mixture	NOUN
fumecheng-2877	95	3	model	model	NOUN
fumecheng-2877	95	4	and	and	CCONJ
fumecheng-2877	95	5	gaussian	gaussian	ADJ
fumecheng-2877	95	6	mixture	mixture	NOUN
fumecheng-2877	95	7	regression	regression	NOUN
fumecheng-2877	95	8	the	the	DET
fumecheng-2877	95	9	selected	select	VERB
fumecheng-2877	95	10	and	and	CCONJ
fumecheng-2877	95	11	aligned	aligned	ADJ
fumecheng-2877	95	12	demonstrations	demonstration	NOUN
fumecheng-2877	95	13	are	be	AUX
fumecheng-2877	95	14	the	the	DET
fumecheng-2877	95	15	input	input	NOUN
fumecheng-2877	95	16	to	to	ADP
fumecheng-2877	95	17	the	the	DET
fumecheng-2877	95	18	learning	learning	NOUN
fumecheng-2877	95	19	of	of	ADP
fumecheng-2877	95	20	trajectories	trajectory	NOUN
fumecheng-2877	95	21	needed	need	VERB
fumecheng-2877	95	22	to	to	PART
fumecheng-2877	95	23	perform	perform	VERB
fumecheng-2877	95	24	the	the	DET
fumecheng-2877	95	25	task	task	NOUN
fumecheng-2877	95	26	accurately	accurately	ADV
fumecheng-2877	95	27	.	.	PUNCT
fumecheng-2877	96	1	the	the	DET
fumecheng-2877	96	2	gaussian	gaussian	ADJ
fumecheng-2877	96	3	mixture	mixture	NOUN
fumecheng-2877	96	4	model	model	NOUN
fumecheng-2877	96	5	(	(	PUNCT
fumecheng-2877	96	6	gmm	gmm	NOUN
fumecheng-2877	96	7	)	)	PUNCT
fumecheng-2877	96	8	is	be	AUX
fumecheng-2877	96	9	used	use	VERB
fumecheng-2877	96	10	to	to	PART
fumecheng-2877	96	11	extract	extract	VERB
fumecheng-2877	96	12	constrains	constrain	NOUN
fumecheng-2877	96	13	of	of	ADP
fumecheng-2877	96	14	the	the	DET
fumecheng-2877	96	15	aligned	aligned	ADJ
fumecheng-2877	96	16	trajectories	trajectory	NOUN
fumecheng-2877	96	17	[	[	X
fumecheng-2877	96	18	25	25	NUM
fumecheng-2877	96	19	]	]	PUNCT
fumecheng-2877	96	20	and	and	CCONJ
fumecheng-2877	96	21	the	the	DET
fumecheng-2877	96	22	gaussian	gaussian	ADJ
fumecheng-2877	96	23	mixture	mixture	NOUN
fumecheng-2877	96	24	regression	regression	NOUN
fumecheng-2877	96	25	(	(	PUNCT
fumecheng-2877	96	26	gmr	gmr	PROPN
fumecheng-2877	96	27	)	)	PUNCT
fumecheng-2877	96	28	is	be	AUX
fumecheng-2877	96	29	used	use	VERB
fumecheng-2877	96	30	to	to	PART
fumecheng-2877	96	31	produce	produce	VERB
fumecheng-2877	96	32	the	the	DET
fumecheng-2877	96	33	learned	learn	VERB
fumecheng-2877	96	34	path	path	NOUN
fumecheng-2877	96	35	which	which	PRON
fumecheng-2877	96	36	can	can	AUX
fumecheng-2877	96	37	be	be	AUX
fumecheng-2877	96	38	used	use	VERB
fumecheng-2877	96	39	to	to	PART
fumecheng-2877	96	40	efficiently	efficiently	ADV
fumecheng-2877	96	41	control	control	VERB
fumecheng-2877	96	42	robot	robot	NOUN
fumecheng-2877	96	43	movement	movement	NOUN
fumecheng-2877	97	1	[	[	X
fumecheng-2877	97	2	25	25	NUM
fumecheng-2877	97	3	]	]	PUNCT
fumecheng-2877	97	4	.	.	PUNCT
fumecheng-2877	98	1	the	the	DET
fumecheng-2877	98	2	pair	pair	NOUN
fumecheng-2877	98	3	of	of	ADP
fumecheng-2877	98	4	selected	select	VERB
fumecheng-2877	98	5	and	and	CCONJ
fumecheng-2877	98	6	previously	previously	ADV
fumecheng-2877	98	7	aligned	align	VERB
fumecheng-2877	98	8	demonstrations	demonstration	NOUN
fumecheng-2877	98	9	is	be	AUX
fumecheng-2877	98	10	fed	feed	VERB
fumecheng-2877	98	11	into	into	ADP
fumecheng-2877	98	12	the	the	DET
fumecheng-2877	98	13	learning	learning	NOUN
fumecheng-2877	98	14	system	system	NOUN
fumecheng-2877	98	15	that	that	PRON
fumecheng-2877	98	16	trains	train	VERB
fumecheng-2877	98	17	the	the	DET
fumecheng-2877	98	18	gmm	gmm	NOUN
fumecheng-2877	98	19	in	in	ADP
fumecheng-2877	98	20	order	order	NOUN
fumecheng-2877	98	21	to	to	PART
fumecheng-2877	98	22	build	build	VERB
fumecheng-2877	98	23	the	the	DET
fumecheng-2877	98	24	probabilistic	probabilistic	ADJ
fumecheng-2877	98	25	model	model	NOUN
fumecheng-2877	98	26	of	of	ADP
fumecheng-2877	98	27	the	the	DET
fumecheng-2877	98	28	data	datum	NOUN
fumecheng-2877	98	29	[	[	X
fumecheng-2877	98	30	26	26	NUM
fumecheng-2877	98	31	]	]	PUNCT
fumecheng-2877	98	32	.	.	PUNCT
fumecheng-2877	99	1	each	each	DET
fumecheng-2877	99	2	demonstration	demonstration	NOUN
fumecheng-2877	99	3	consists	consist	VERB
fumecheng-2877	99	4	of	of	ADP
fumecheng-2877	99	5	data	datum	NOUN
fumecheng-2877	99	6	-	-	PUNCT
fumecheng-2877	99	7	points	point	NOUN
fumecheng-2877	99	8	l={s	l={s	PROPN
fumecheng-2877	99	9	,	,	PUNCT
fumecheng-2877	99	10	t	t	VERB
fumecheng-2877	99	11	}	}	PUNCT
fumecheng-2877	99	12	,	,	PUNCT
fumecheng-2877	99	13	where	where	SCONJ
fumecheng-2877	99	14	s	s	VERB
fumecheng-2877	99	15			NOUN
fumecheng-2877	99	16	r	r	NOUN
fumecheng-2877	99	17	d–1	d–1	NOUN
fumecheng-2877	99	18	,	,	PUNCT
fumecheng-2877	99	19	s	s	VERB
fumecheng-2877	99	20	is	be	AUX
fumecheng-2877	99	21	spatial	spatial	ADJ
fumecheng-2877	99	22	variable	variable	NOUN
fumecheng-2877	99	23	,	,	PUNCT
fumecheng-2877	99	24	t	t	VERB
fumecheng-2877	99	25			PROPN
fumecheng-2877	99	26	r	r	NOUN
fumecheng-2877	99	27	,	,	PUNCT
fumecheng-2877	99	28	t	t	PROPN
fumecheng-2877	99	29	is	be	AUX
fumecheng-2877	99	30	temporal	temporal	ADJ
fumecheng-2877	99	31	variable	variable	NOUN
fumecheng-2877	99	32	and	and	CCONJ
fumecheng-2877	99	33	d	d	NOUN
fumecheng-2877	99	34	is	be	AUX
fumecheng-2877	99	35	dimensionality	dimensionality	NOUN
fumecheng-2877	99	36	.	.	PUNCT
fumecheng-2877	100	1	in	in	ADP
fumecheng-2877	100	2	the	the	DET
fumecheng-2877	100	3	presented	present	VERB
fumecheng-2877	100	4	work	work	NOUN
fumecheng-2877	100	5	dimensionality	dimensionality	NOUN
fumecheng-2877	100	6	d	d	NOUN
fumecheng-2877	100	7	is	be	AUX
fumecheng-2877	100	8	equal	equal	ADJ
fumecheng-2877	100	9	to	to	ADP
fumecheng-2877	100	10	8	8	NUM
fumecheng-2877	100	11	because	because	SCONJ
fumecheng-2877	100	12	each	each	DET
fumecheng-2877	100	13	data	data	NOUN
fumecheng-2877	100	14	-	-	PUNCT
fumecheng-2877	100	15	point	point	NOUN
fumecheng-2877	100	16	consists	consist	VERB
fumecheng-2877	100	17	of	of	ADP
fumecheng-2877	100	18	a	a	DET
fumecheng-2877	100	19	vector	vector	NOUN
fumecheng-2877	100	20	of	of	ADP
fumecheng-2877	100	21	variables	variable	NOUN
fumecheng-2877	100	22	x	x	NOUN
fumecheng-2877	100	23	,	,	PUNCT
fumecheng-2877	100	24	y	y	PROPN
fumecheng-2877	100	25	,	,	PUNCT
fumecheng-2877	100	26	z	z	PROPN
fumecheng-2877	100	27	,	,	PUNCT
fumecheng-2877	100	28	qx	qx	PROPN
fumecheng-2877	100	29	,	,	PUNCT
fumecheng-2877	100	30	qy	qy	PROPN
fumecheng-2877	100	31	,	,	PUNCT
fumecheng-2877	100	32	qz	qz	PROPN
fumecheng-2877	100	33	,	,	PUNCT
fumecheng-2877	100	34	qw	qw	X
fumecheng-2877	100	35	and	and	CCONJ
fumecheng-2877	100	36	temporal	temporal	ADJ
fumecheng-2877	100	37	.	.	PUNCT
fumecheng-2877	101	1	in	in	ADP
fumecheng-2877	101	2	the	the	DET
fumecheng-2877	101	3	learning	learning	NOUN
fumecheng-2877	101	4	phase	phase	NOUN
fumecheng-2877	101	5	,	,	PUNCT
fumecheng-2877	101	6	the	the	DET
fumecheng-2877	101	7	model	model	NOUN
fumecheng-2877	101	8	is	be	AUX
fumecheng-2877	101	9	created	create	VERB
fumecheng-2877	101	10	with	with	ADP
fumecheng-2877	101	11	a	a	DET
fumecheng-2877	101	12	predefined	predefine	VERB
fumecheng-2877	101	13	number	number	NOUN
fumecheng-2877	101	14	k	k	PROPN
fumecheng-2877	101	15	of	of	ADP
fumecheng-2877	101	16	gaussians	gaussians	PROPN
fumecheng-2877	101	17	.	.	PUNCT
fumecheng-2877	102	1	each	each	DET
fumecheng-2877	102	2	gaussian	gaussian	NOUN
fumecheng-2877	102	3	consists	consist	VERB
fumecheng-2877	102	4	of	of	ADP
fumecheng-2877	102	5	the	the	DET
fumecheng-2877	102	6	following	follow	VERB
fumecheng-2877	102	7	parameters	parameter	NOUN
fumecheng-2877	102	8	:	:	PUNCT
fumecheng-2877	102	9	mean	mean	PROPN
fumecheng-2877	102	10	vector	vector	NOUN
fumecheng-2877	102	11	,	,	PUNCT
fumecheng-2877	102	12	covariance	covariance	NOUN
fumecheng-2877	102	13	matrix	matrix	NOUN
fumecheng-2877	102	14	and	and	CCONJ
fumecheng-2877	102	15	the	the	DET
fumecheng-2877	102	16	prior	prior	ADJ
fumecheng-2877	102	17	222	222	NUM
fumecheng-2877	102	18	m.	m.	NOUN
fumecheng-2877	102	19	kyrarini	kyrarini	NOUN
fumecheng-2877	102	20	,	,	PUNCT
fumecheng-2877	102	21	m.	m.	NOUN
fumecheng-2877	102	22	a.	a.	PROPN
fumecheng-2877	102	23	haseeb	haseeb	PROPN
fumecheng-2877	102	24	,	,	PUNCT
fumecheng-2877	102	25	d.	d.	PROPN
fumecheng-2877	102	26	ristic	ristic	PROPN
fumecheng-2877	102	27	-	-	PUNCT
fumecheng-2877	102	28	durrant	durrant	PROPN
fumecheng-2877	102	29	,	,	PUNCT
fumecheng-2877	102	30	a.	a.	NOUN
fumecheng-2877	102	31	gräser	gräser	PROPN
fumecheng-2877	102	32	probability	probability	NOUN
fumecheng-2877	102	33	.	.	PUNCT
fumecheng-2877	103	1	each	each	DET
fumecheng-2877	103	2	gaussian	gaussian	NOUN
fumecheng-2877	103	3	has	have	VERB
fumecheng-2877	103	4	a	a	DET
fumecheng-2877	103	5	dimensionality	dimensionality	NOUN
fumecheng-2877	103	6	8	8	NUM
fumecheng-2877	103	7	equal	equal	ADJ
fumecheng-2877	103	8	to	to	ADP
fumecheng-2877	103	9	the	the	DET
fumecheng-2877	103	10	dimensionality	dimensionality	NOUN
fumecheng-2877	103	11	of	of	ADP
fumecheng-2877	103	12	data	datum	NOUN
fumecheng-2877	103	13	-	-	PUNCT
fumecheng-2877	103	14	points	point	NOUN
fumecheng-2877	103	15	.	.	PUNCT
fumecheng-2877	104	1	the	the	DET
fumecheng-2877	104	2	probability	probability	NOUN
fumecheng-2877	104	3	density	density	NOUN
fumecheng-2877	104	4	function	function	NOUN
fumecheng-2877	104	5	p(l	p(l	NOUN
fumecheng-2877	104	6	)	)	PUNCT
fumecheng-2877	104	7	for	for	ADP
fumecheng-2877	104	8	a	a	DET
fumecheng-2877	104	9	mixture	mixture	NOUN
fumecheng-2877	104	10	of	of	ADP
fumecheng-2877	104	11	k	k	PROPN
fumecheng-2877	104	12	gaussians	gaussians	PROPN
fumecheng-2877	104	13	is	be	AUX
fumecheng-2877	104	14	calculated	calculate	VERB
fumecheng-2877	104	15	according	accord	VERB
fumecheng-2877	104	16	to	to	ADP
fumecheng-2877	104	17	the	the	DET
fumecheng-2877	104	18	following	follow	VERB
fumecheng-2877	104	19	equation	equation	NOUN
fumecheng-2877	104	20	[	[	X
fumecheng-2877	104	21	19	19	NUM
fumecheng-2877	104	22	]	]	X
fumecheng-2877	104	23	:	:	PUNCT
fumecheng-2877	104	24	11	11	NUM
fumecheng-2877	104	25	[	[	X
fumecheng-2877	104	26	(	(	PUNCT
fumecheng-2877	104	27	)	)	PUNCT
fumecheng-2877	104	28	(	(	PUNCT
fumecheng-2877	104	29	)	)	PUNCT
fumecheng-2877	104	30	]	]	PUNCT
fumecheng-2877	104	31	2	2	NUM
fumecheng-2877	104	32	1	1	NUM
fumecheng-2877	104	33	1	1	NUM
fumecheng-2877	104	34	(	(	PUNCT
fumecheng-2877	104	35	)	)	PUNCT
fumecheng-2877	104	36	.	.	PUNCT
fumecheng-2877	105	1	(	(	PUNCT
fumecheng-2877	105	2	2	2	NUM
fumecheng-2877	105	3	)	)	PUNCT
fumecheng-2877	105	4	.	.	PUNCT
fumecheng-2877	106	1	t	t	NOUN
fumecheng-2877	107	1	l	l	PROPN
fumecheng-2877	108	1	k	k	PROPN
fumecheng-2877	109	1	k	k	X
fumecheng-2877	109	2	l	l	PUNCT
fumecheng-2877	110	1	k	k	PROPN
fumecheng-2877	111	1	k	k	X
fumecheng-2877	111	2	l	l	PUNCT
fumecheng-2877	112	1	k	k	PUNCT
fumecheng-2877	113	1	d	d	X
fumecheng-2877	113	2	k	k	PROPN
fumecheng-2877	114	1	k	k	PROPN
fumecheng-2877	114	2	p	p	X
fumecheng-2877	114	3	e	e	PROPN
fumecheng-2877	114	4			NOUN
fumecheng-2877	114	5			NOUN
fumecheng-2877	114	6			NOUN
fumecheng-2877	114	7			NOUN
fumecheng-2877	114	8			NOUN
fumecheng-2877	114	9			PROPN
fumecheng-2877	114	10			ADJ
fumecheng-2877	114	11			PROPN
fumecheng-2877	114	12			PROPN
fumecheng-2877	114	13			NOUN
fumecheng-2877	114	14			VERB
fumecheng-2877	114	15			PROPN
fumecheng-2877	115	1			PROPN
fumecheng-2877	115	2			PRON
fumecheng-2877	115	3			NOUN
fumecheng-2877	115	4			X
fumecheng-2877	115	5	(	(	PUNCT
fumecheng-2877	115	6	3	3	X
fumecheng-2877	115	7	)	)	PUNCT
fumecheng-2877	116	1	where	where	SCONJ
fumecheng-2877	116	2	:	:	PUNCT
fumecheng-2877	116	3			PROPN
fumecheng-2877	117	1	k	k	PROPN
fumecheng-2877	117	2	are	be	AUX
fumecheng-2877	117	3	prior	prior	ADJ
fumecheng-2877	117	4	probabilities	probability	NOUN
fumecheng-2877	117	5	,	,	PUNCT
fumecheng-2877	117	6			X
fumecheng-2877	117	7	}	}	PUNCT
fumecheng-2877	117	8	,	,	PUNCT
fumecheng-2877	117	9	{	{	PUNCT
fumecheng-2877	117	10	,	,	PUNCT
fumecheng-2877	117	11	,	,	PUNCT
fumecheng-2877	117	12	sktkk	sktkk	NOUN
fumecheng-2877	117	13			PART
fumecheng-2877	117	14			NOUN
fumecheng-2877	117	15	are	be	AUX
fumecheng-2877	117	16	mean	mean	ADJ
fumecheng-2877	117	17	vectors	vector	NOUN
fumecheng-2877	117	18	,	,	PUNCT
fumecheng-2877	117	19	and	and	CCONJ
fumecheng-2877	117	20	,	,	PUNCT
fumecheng-2877	117	21			PROPN
fumecheng-2877	118	1			PROPN
fumecheng-2877	118	2			PROPN
fumecheng-2877	118	3			NOUN
fumecheng-2877	119	1			PROPN
fumecheng-2877	119	2			PROPN
fumecheng-2877	119	3			PROPN
fumecheng-2877	119	4			PROPN
fumecheng-2877	119	5			NOUN
fumecheng-2877	120	1			PROPN
fumecheng-2877	120	2			PROPN
fumecheng-2877	120	3			ADV
fumecheng-2877	120	4	skstk	skstk	PROPN
fumecheng-2877	120	5	tsktk	tsktk	PROPN
fumecheng-2877	120	6	k	k	PROPN
fumecheng-2877	120	7	,	,	PUNCT
fumecheng-2877	120	8	,	,	PUNCT
fumecheng-2877	120	9	,	,	PUNCT
fumecheng-2877	120	10	,	,	PUNCT
fumecheng-2877	120	11	are	be	AUX
fumecheng-2877	120	12	covariance	covariance	NOUN
fumecheng-2877	120	13	matrices	matrix	NOUN
fumecheng-2877	120	14	of	of	ADP
fumecheng-2877	120	15	the	the	DET
fumecheng-2877	120	16	gmm	gmm	NOUN
fumecheng-2877	120	17	.	.	PUNCT
fumecheng-2877	121	1	the	the	DET
fumecheng-2877	121	2	parameters	parameter	NOUN
fumecheng-2877	121	3	(	(	PUNCT
fumecheng-2877	121	4	prior	prior	ADV
fumecheng-2877	121	5	,	,	PUNCT
fumecheng-2877	121	6	mean	mean	VERB
fumecheng-2877	121	7	and	and	CCONJ
fumecheng-2877	121	8	covariance	covariance	NOUN
fumecheng-2877	121	9	)	)	PUNCT
fumecheng-2877	121	10	of	of	ADP
fumecheng-2877	121	11	the	the	DET
fumecheng-2877	121	12	gmm	gmm	NOUN
fumecheng-2877	121	13	are	be	AUX
fumecheng-2877	121	14	estimated	estimate	VERB
fumecheng-2877	121	15	by	by	ADP
fumecheng-2877	121	16	the	the	DET
fumecheng-2877	121	17	expectation	expectation	NOUN
fumecheng-2877	121	18	-	-	PUNCT
fumecheng-2877	121	19	maximization	maximization	NOUN
fumecheng-2877	121	20	(	(	PUNCT
fumecheng-2877	121	21	em	em	NOUN
fumecheng-2877	121	22	)	)	PUNCT
fumecheng-2877	121	23	algorithm	algorithm	NOUN
fumecheng-2877	121	24	[	[	X
fumecheng-2877	121	25	27	27	NUM
fumecheng-2877	121	26	]	]	PUNCT
fumecheng-2877	121	27	.	.	PUNCT
fumecheng-2877	122	1	after	after	SCONJ
fumecheng-2877	122	2	the	the	DET
fumecheng-2877	122	3	gmm	gmm	PROPN
fumecheng-2877	122	4	parameters	parameter	NOUN
fumecheng-2877	122	5	are	be	AUX
fumecheng-2877	122	6	learned	learn	VERB
fumecheng-2877	122	7	for	for	ADP
fumecheng-2877	122	8	the	the	DET
fumecheng-2877	122	9	task	task	NOUN
fumecheng-2877	122	10	,	,	PUNCT
fumecheng-2877	122	11	the	the	DET
fumecheng-2877	122	12	next	next	ADJ
fumecheng-2877	122	13	step	step	NOUN
fumecheng-2877	122	14	is	be	AUX
fumecheng-2877	122	15	to	to	PART
fumecheng-2877	122	16	generalize	generalize	VERB
fumecheng-2877	122	17	the	the	DET
fumecheng-2877	122	18	trajectory	trajectory	NOUN
fumecheng-2877	122	19	using	use	VERB
fumecheng-2877	122	20	gmr	gmr	PROPN
fumecheng-2877	122	21	algorithm	algorithm	NOUN
fumecheng-2877	122	22	.	.	PUNCT
fumecheng-2877	123	1	the	the	DET
fumecheng-2877	123	2	gmr	gmr	PROPN
fumecheng-2877	123	3	retrieves	retrieve	VERB
fumecheng-2877	123	4	the	the	DET
fumecheng-2877	123	5	smooth	smooth	ADJ
fumecheng-2877	123	6	trajectory	trajectory	NOUN
fumecheng-2877	123	7	through	through	ADP
fumecheng-2877	123	8	regression	regression	NOUN
fumecheng-2877	123	9	and	and	CCONJ
fumecheng-2877	123	10	has	have	VERB
fumecheng-2877	123	11	the	the	DET
fumecheng-2877	123	12	advantage	advantage	NOUN
fumecheng-2877	123	13	that	that	PRON
fumecheng-2877	123	14	generates	generate	VERB
fumecheng-2877	123	15	a	a	DET
fumecheng-2877	123	16	fast	fast	ADJ
fumecheng-2877	123	17	and	and	CCONJ
fumecheng-2877	123	18	optimal	optimal	ADJ
fumecheng-2877	123	19	output	output	NOUN
fumecheng-2877	123	20	from	from	ADP
fumecheng-2877	123	21	the	the	DET
fumecheng-2877	123	22	mixture	mixture	NOUN
fumecheng-2877	123	23	model	model	NOUN
fumecheng-2877	123	24	of	of	ADP
fumecheng-2877	123	25	gaussians	gaussian	NOUN
fumecheng-2877	123	26	[	[	X
fumecheng-2877	123	27	18	18	NUM
fumecheng-2877	123	28	]	]	PUNCT
fumecheng-2877	123	29	.	.	PUNCT
fumecheng-2877	124	1	the	the	DET
fumecheng-2877	124	2	trajectory	trajectory	NOUN
fumecheng-2877	124	3	,	,	PUNCT
fumecheng-2877	124	4	produced	produce	VERB
fumecheng-2877	124	5	by	by	ADP
fumecheng-2877	124	6	the	the	DET
fumecheng-2877	124	7	gmr	gmr	PROPN
fumecheng-2877	124	8	,	,	PUNCT
fumecheng-2877	124	9	is	be	AUX
fumecheng-2877	124	10	used	use	VERB
fumecheng-2877	124	11	directly	directly	ADV
fumecheng-2877	124	12	for	for	ADP
fumecheng-2877	124	13	efficient	efficient	ADJ
fumecheng-2877	124	14	control	control	NOUN
fumecheng-2877	124	15	of	of	ADP
fumecheng-2877	124	16	the	the	DET
fumecheng-2877	124	17	robot	robot	NOUN
fumecheng-2877	124	18	’s	’s	PART
fumecheng-2877	124	19	movement	movement	NOUN
fumecheng-2877	124	20	.	.	PUNCT
fumecheng-2877	125	1	output	output	NOUN
fumecheng-2877	125	2	trajectory	trajectory	PROPN
fumecheng-2877	125	3	̂	̂	NOUN
fumecheng-2877	125	4	of	of	ADP
fumecheng-2877	125	5	the	the	DET
fumecheng-2877	125	6	gmr	gmr	PROPN
fumecheng-2877	125	7	,	,	PUNCT
fumecheng-2877	125	8	which	which	PRON
fumecheng-2877	125	9	is	be	AUX
fumecheng-2877	125	10	stored	store	VERB
fumecheng-2877	125	11	in	in	ADP
fumecheng-2877	125	12	the	the	DET
fumecheng-2877	125	13	robot	robot	NOUN
fumecheng-2877	125	14	task	task	NOUN
fumecheng-2877	125	15	library	library	PROPN
fumecheng-2877	125	16	,	,	PUNCT
fumecheng-2877	125	17	is	be	AUX
fumecheng-2877	125	18	calculated	calculate	VERB
fumecheng-2877	125	19	as	as	ADP
fumecheng-2877	125	20	:	:	PUNCT
fumecheng-2877	125	21			PROPN
fumecheng-2877	126	1			INTJ
fumecheng-2877	127	1			X
fumecheng-2877	128	1			INTJ
fumecheng-2877	129	1			NUM
fumecheng-2877	129	2			ADV
fumecheng-2877	130	1			PRON
fumecheng-2877	130	2			X
fumecheng-2877	131	1			NUM
fumecheng-2877	131	2	k	k	PROPN
fumecheng-2877	131	3	k	k	PROPN
fumecheng-2877	131	4	skkt	skkt	VERB
fumecheng-2877	131	5	a	a	DET
fumecheng-2877	131	6	1	1	NUM
fumecheng-2877	131	7	,	,	PUNCT
fumecheng-2877	131	8	ˆ,ˆ	ˆ,ˆ	PROPN
fumecheng-2877	131	9			NOUN
fumecheng-2877	131	10	(	(	PUNCT
fumecheng-2877	131	11	4	4	NUM
fumecheng-2877	131	12	)	)	PUNCT
fumecheng-2877	131	13	where	where	SCONJ
fumecheng-2877	131	14	:	:	PUNCT
fumecheng-2877	131	15			X
fumecheng-2877	132	1			NOUN
fumecheng-2877	133	1			VERB
fumecheng-2877	134	1	k	k	NOUN
fumecheng-2877	134	2	l	l	PROPN
fumecheng-2877	134	3	t	t	NOUN
fumecheng-2877	134	4	t	t	PROPN
fumecheng-2877	134	5	k	k	PROPN
fumecheng-2877	134	6	lp	lp	PROPN
fumecheng-2877	134	7	kp	kp	PROPN
fumecheng-2877	134	8	1	1	NUM
fumecheng-2877	134	9	´	´	NOUN
fumecheng-2877	134	10	)	)	PUNCT
fumecheng-2877	135	1	|	|	ADV
fumecheng-2877	135	2	(	(	PUNCT
fumecheng-2877	135	3	)	)	PUNCT
fumecheng-2877	135	4	|	|	ADV
fumecheng-2877	135	5	(	(	PUNCT
fumecheng-2877	135	6			NOUN
fumecheng-2877	135	7			PROPN
fumecheng-2877	135	8			X
fumecheng-2877	135	9	and	and	CCONJ
fumecheng-2877	135	10	)	)	PUNCT
fumecheng-2877	135	11	(	(	PUNCT
fumecheng-2877	135	12	)	)	PUNCT
fumecheng-2877	135	13	(	(	PUNCT
fumecheng-2877	135	14	ˆ	ˆ	NOUN
fumecheng-2877	135	15	,	,	PUNCT
fumecheng-2877	135	16	1	1	NUM
fumecheng-2877	135	17	,	,	PUNCT
fumecheng-2877	135	18	,	,	PUNCT
fumecheng-2877	135	19	,	,	PUNCT
fumecheng-2877	135	20	,	,	PUNCT
fumecheng-2877	135	21	tkttkstksksk	tkttkstksksk	DET
fumecheng-2877	135	22			VERB
fumecheng-2877	135	23			NOUN
fumecheng-2877	135	24			NOUN
fumecheng-2877	135	25	,	,	PUNCT
fumecheng-2877	135	26	kk	kk	INTJ
fumecheng-2877	135	27	,	,	PUNCT
fumecheng-2877	135	28	...	...	PUNCT
fumecheng-2877	135	29	,	,	PUNCT
fumecheng-2877	135	30	1	1	NUM
fumecheng-2877	135	31	.	.	PUNCT
fumecheng-2877	136	1	3.2	3.2	NUM
fumecheng-2877	136	2	.	.	PUNCT
fumecheng-2877	136	3	task	task	NOUN
fumecheng-2877	136	4	or	or	CCONJ
fumecheng-2877	136	5	symbolic	symbolic	ADJ
fumecheng-2877	136	6	learning	learning	NOUN
fumecheng-2877	136	7	(	(	PUNCT
fumecheng-2877	136	8	high	high	ADJ
fumecheng-2877	136	9	-	-	PUNCT
fumecheng-2877	136	10	level	level	NOUN
fumecheng-2877	136	11	learning	learning	NOUN
fumecheng-2877	136	12	)	)	PUNCT
fumecheng-2877	136	13	the	the	DET
fumecheng-2877	136	14	high	high	ADJ
fumecheng-2877	136	15	-	-	PUNCT
fumecheng-2877	136	16	level	level	NOUN
fumecheng-2877	136	17	learning	learning	NOUN
fumecheng-2877	136	18	module	module	NOUN
fumecheng-2877	136	19	is	be	AUX
fumecheng-2877	136	20	responsible	responsible	ADJ
fumecheng-2877	136	21	for	for	ADP
fumecheng-2877	136	22	the	the	DET
fumecheng-2877	136	23	task	task	NOUN
fumecheng-2877	136	24	segmentation	segmentation	NOUN
fumecheng-2877	136	25	into	into	ADP
fumecheng-2877	136	26	individual	individual	ADJ
fumecheng-2877	136	27	actions	action	NOUN
fumecheng-2877	136	28	and	and	CCONJ
fumecheng-2877	136	29	learning	learning	NOUN
fumecheng-2877	136	30	of	of	ADP
fumecheng-2877	136	31	sequences	sequence	NOUN
fumecheng-2877	136	32	of	of	ADP
fumecheng-2877	136	33	those	those	DET
fumecheng-2877	136	34	actions	action	NOUN
fumecheng-2877	136	35	.	.	PUNCT
fumecheng-2877	137	1	this	this	DET
fumecheng-2877	137	2	module	module	NOUN
fumecheng-2877	137	3	consists	consist	VERB
fumecheng-2877	137	4	of	of	ADP
fumecheng-2877	137	5	three	three	NUM
fumecheng-2877	137	6	steps	step	NOUN
fumecheng-2877	137	7	:	:	PUNCT
fumecheng-2877	137	8	labeling	labeling	NOUN
fumecheng-2877	137	9	of	of	ADP
fumecheng-2877	137	10	objects	object	NOUN
fumecheng-2877	137	11	to	to	PART
fumecheng-2877	137	12	be	be	AUX
fumecheng-2877	137	13	manipulated	manipulate	VERB
fumecheng-2877	137	14	,	,	PUNCT
fumecheng-2877	137	15	mapping	mapping	NOUN
fumecheng-2877	137	16	of	of	ADP
fumecheng-2877	137	17	the	the	DET
fumecheng-2877	137	18	gripper	gripper	NOUN
fumecheng-2877	137	19	status	status	NOUN
fumecheng-2877	137	20	onto	onto	ADP
fumecheng-2877	137	21	the	the	DET
fumecheng-2877	137	22	learned	learn	VERB
fumecheng-2877	137	23	path	path	NOUN
fumecheng-2877	137	24	and	and	CCONJ
fumecheng-2877	137	25	splitting	split	VERB
fumecheng-2877	137	26	the	the	DET
fumecheng-2877	137	27	overall	overall	ADJ
fumecheng-2877	137	28	task	task	NOUN
fumecheng-2877	137	29	into	into	ADP
fumecheng-2877	137	30	individual	individual	ADJ
fumecheng-2877	137	31	actions	action	NOUN
fumecheng-2877	137	32	.	.	PUNCT
fumecheng-2877	138	1			PART
fumecheng-2877	138	2	object	object	NOUN
fumecheng-2877	138	3	labeling	labeling	NOUN
fumecheng-2877	138	4	during	during	ADP
fumecheng-2877	138	5	the	the	DET
fumecheng-2877	138	6	demonstration	demonstration	NOUN
fumecheng-2877	138	7	phase	phase	NOUN
fumecheng-2877	138	8	,	,	PUNCT
fumecheng-2877	138	9	the	the	DET
fumecheng-2877	138	10	objects	object	NOUN
fumecheng-2877	138	11	involved	involve	VERB
fumecheng-2877	138	12	in	in	ADP
fumecheng-2877	138	13	the	the	DET
fumecheng-2877	138	14	task	task	NOUN
fumecheng-2877	138	15	are	be	AUX
fumecheng-2877	138	16	labeled	label	VERB
fumecheng-2877	138	17	with	with	ADP
fumecheng-2877	138	18	specific	specific	ADJ
fumecheng-2877	138	19	ids	id	NOUN
fumecheng-2877	138	20	which	which	PRON
fumecheng-2877	138	21	denote	denote	VERB
fumecheng-2877	138	22	the	the	DET
fumecheng-2877	138	23	position	position	NOUN
fumecheng-2877	138	24	of	of	ADP
fumecheng-2877	138	25	the	the	DET
fumecheng-2877	138	26	robot	robot	NOUN
fumecheng-2877	138	27	’s	’s	PART
fumecheng-2877	138	28	gripper	gripper	NOUN
fumecheng-2877	138	29	when	when	SCONJ
fumecheng-2877	138	30	the	the	DET
fumecheng-2877	138	31	gripper	gripper	NOUN
fumecheng-2877	138	32	actuation	actuation	NOUN
fumecheng-2877	138	33	status	status	NOUN
fumecheng-2877	138	34	is	be	AUX
fumecheng-2877	138	35	on	on	ADP
fumecheng-2877	138	36	or	or	CCONJ
fumecheng-2877	138	37	off	off	ADV
fumecheng-2877	138	38	and	and	CCONJ
fumecheng-2877	138	39	the	the	DET
fumecheng-2877	138	40	robotic	robotic	ADJ
fumecheng-2877	138	41	arm	arm	NOUN
fumecheng-2877	138	42	,	,	PUNCT
fumecheng-2877	138	43	left	leave	VERB
fumecheng-2877	138	44	or	or	CCONJ
fumecheng-2877	138	45	right	right	NOUN
fumecheng-2877	138	46	,	,	PUNCT
fumecheng-2877	138	47	which	which	PRON
fumecheng-2877	138	48	is	be	AUX
fumecheng-2877	138	49	used	use	VERB
fumecheng-2877	138	50	for	for	ADP
fumecheng-2877	138	51	object	object	NOUN
fumecheng-2877	138	52	grasping	grasp	VERB
fumecheng-2877	138	53	or	or	CCONJ
fumecheng-2877	138	54	releasing	releasing	NOUN
fumecheng-2877	138	55	.	.	PUNCT
fumecheng-2877	139	1	for	for	ADP
fumecheng-2877	139	2	example	example	NOUN
fumecheng-2877	139	3	,	,	PUNCT
fumecheng-2877	139	4	the	the	PRON
fumecheng-2877	139	5	i	i	PROPN
fumecheng-2877	139	6	d	d	PROPN
fumecheng-2877	139	7	“	"	PUNCT
fumecheng-2877	139	8	left_pick_1	left_pick_1	PROPN
fumecheng-2877	139	9	”	"	PUNCT
fumecheng-2877	139	10	means	mean	VERB
fumecheng-2877	139	11	that	that	SCONJ
fumecheng-2877	139	12	the	the	DET
fumecheng-2877	139	13	first	first	ADJ
fumecheng-2877	139	14	object	object	NOUN
fumecheng-2877	139	15	,	,	PUNCT
fumecheng-2877	139	16	which	which	PRON
fumecheng-2877	139	17	was	be	AUX
fumecheng-2877	139	18	picked	pick	VERB
fumecheng-2877	139	19	up	up	ADP
fumecheng-2877	139	20	among	among	ADP
fumecheng-2877	139	21	all	all	DET
fumecheng-2877	139	22	identified	identify	VERB
fumecheng-2877	139	23	objects	object	NOUN
fumecheng-2877	139	24	on	on	ADP
fumecheng-2877	139	25	the	the	DET
fumecheng-2877	139	26	working	working	NOUN
fumecheng-2877	139	27	table	table	NOUN
fumecheng-2877	139	28	,	,	PUNCT
fumecheng-2877	139	29	was	be	AUX
fumecheng-2877	139	30	picked	pick	VERB
fumecheng-2877	139	31	up	up	ADP
fumecheng-2877	139	32	by	by	ADP
fumecheng-2877	139	33	the	the	DET
fumecheng-2877	139	34	left	left	ADJ
fumecheng-2877	139	35	robot	robot	NOUN
fumecheng-2877	139	36	-	-	PUNCT
fumecheng-2877	139	37	arm	arm	NOUN
fumecheng-2877	139	38	and	and	CCONJ
fumecheng-2877	139	39	the	the	DET
fumecheng-2877	139	40	i	i	PROPN
fumecheng-2877	139	41	d	d	PROPN
fumecheng-2877	139	42	“	"	PUNCT
fumecheng-2877	139	43	left_place_1	left_place_1	PROPN
fumecheng-2877	139	44	”	"	PUNCT
fumecheng-2877	139	45	denotes	denote	NOUN
fumecheng-2877	139	46	the	the	DET
fumecheng-2877	139	47	identified	identify	VERB
fumecheng-2877	139	48	object	object	NOUN
fumecheng-2877	139	49	which	which	PRON
fumecheng-2877	139	50	was	be	AUX
fumecheng-2877	139	51	assembled	assemble	VERB
fumecheng-2877	139	52	with	with	ADP
fumecheng-2877	139	53	the	the	DET
fumecheng-2877	139	54	object	object	NOUN
fumecheng-2877	139	55	“	"	PUNCT
fumecheng-2877	139	56	left_pick_1	left_pick_1	PROPN
fumecheng-2877	139	57	”	"	PUNCT
fumecheng-2877	139	58	.	.	PUNCT
fumecheng-2877	140	1	this	this	DET
fumecheng-2877	140	2	labeling	labeling	NOUN
fumecheng-2877	140	3	method	method	NOUN
fumecheng-2877	140	4	also	also	ADV
fumecheng-2877	140	5	indicates	indicate	VERB
fumecheng-2877	140	6	the	the	DET
fumecheng-2877	140	7	necessary	necessary	ADJ
fumecheng-2877	140	8	sequence	sequence	NOUN
fumecheng-2877	140	9	of	of	ADP
fumecheng-2877	140	10	actions	action	NOUN
fumecheng-2877	140	11	for	for	ADP
fumecheng-2877	140	12	the	the	DET
fumecheng-2877	140	13	object	object	NOUN
fumecheng-2877	140	14	manipulation	manipulation	NOUN
fumecheng-2877	140	15	task	task	NOUN
fumecheng-2877	140	16	,	,	PUNCT
fumecheng-2877	140	17	as	as	SCONJ
fumecheng-2877	140	18	the	the	DET
fumecheng-2877	140	19	objects	object	NOUN
fumecheng-2877	140	20	to	to	PART
fumecheng-2877	140	21	be	be	AUX
fumecheng-2877	140	22	manipulated	manipulate	VERB
fumecheng-2877	140	23	are	be	AUX
fumecheng-2877	140	24	ordered	order	VERB
fumecheng-2877	140	25	as	as	SCONJ
fumecheng-2877	140	26	indicated	indicate	VERB
fumecheng-2877	140	27	by	by	ADP
fumecheng-2877	140	28	the	the	DET
fumecheng-2877	140	29	i	i	PROPN
fumecheng-2877	140	30	d.	d.	PROPN
fumecheng-2877	140	31			PROPN
fumecheng-2877	140	32	mapping	mapping	NOUN
fumecheng-2877	140	33	of	of	ADP
fumecheng-2877	140	34	the	the	DET
fumecheng-2877	140	35	gripper	gripper	NOUN
fumecheng-2877	140	36	status	status	NOUN
fumecheng-2877	140	37	onto	onto	ADP
fumecheng-2877	140	38	the	the	DET
fumecheng-2877	140	39	learned	learn	VERB
fumecheng-2877	140	40	trajectory	trajectory	NOUN
fumecheng-2877	140	41	the	the	DET
fumecheng-2877	140	42	cartesian	cartesian	ADJ
fumecheng-2877	140	43	pose	pose	NOUN
fumecheng-2877	140	44	of	of	ADP
fumecheng-2877	140	45	the	the	DET
fumecheng-2877	140	46	robot	robot	NOUN
fumecheng-2877	140	47	’s	’s	PART
fumecheng-2877	140	48	end	end	NOUN
fumecheng-2877	140	49	-	-	PUNCT
fumecheng-2877	140	50	effector	effector	NOUN
fumecheng-2877	140	51	(	(	PUNCT
fumecheng-2877	140	52	gripper	gripper	NOUN
fumecheng-2877	140	53	)	)	PUNCT
fumecheng-2877	140	54	for	for	ADP
fumecheng-2877	140	55	the	the	DET
fumecheng-2877	140	56	positions	position	NOUN
fumecheng-2877	140	57	when	when	SCONJ
fumecheng-2877	140	58	the	the	DET
fumecheng-2877	140	59	robot	robot	NOUN
fumecheng-2877	140	60	grasped	grasp	VERB
fumecheng-2877	140	61	or	or	CCONJ
fumecheng-2877	140	62	released	release	VERB
fumecheng-2877	140	63	an	an	DET
fumecheng-2877	140	64	object	object	NOUN
fumecheng-2877	140	65	is	be	AUX
fumecheng-2877	140	66	compared	compare	VERB
fumecheng-2877	140	67	with	with	ADP
fumecheng-2877	140	68	the	the	DET
fumecheng-2877	140	69	learned	learn	VERB
fumecheng-2877	140	70	trajectory	trajectory	NOUN
fumecheng-2877	140	71	(	(	PUNCT
fumecheng-2877	140	72	output	output	NOUN
fumecheng-2877	140	73	of	of	ADP
fumecheng-2877	140	74	gmr	gmr	PROPN
fumecheng-2877	140	75	)	)	PUNCT
fumecheng-2877	140	76	and	and	CCONJ
fumecheng-2877	140	77	the	the	DET
fumecheng-2877	140	78	closest	close	ADJ
fumecheng-2877	140	79	point	point	NOUN
fumecheng-2877	140	80	is	be	AUX
fumecheng-2877	140	81	labeled	label	VERB
fumecheng-2877	140	82	as	as	ADP
fumecheng-2877	140	83	an	an	DET
fumecheng-2877	140	84	action	action	NOUN
fumecheng-2877	140	85	point	point	NOUN
fumecheng-2877	140	86	which	which	PRON
fumecheng-2877	140	87	is	be	AUX
fumecheng-2877	140	88	“	"	PUNCT
fumecheng-2877	140	89	grasping	grasp	VERB
fumecheng-2877	140	90	”	"	PUNCT
fumecheng-2877	140	91	or	or	CCONJ
fumecheng-2877	140	92	“	"	PUNCT
fumecheng-2877	140	93	releasing	release	VERB
fumecheng-2877	140	94	”	"	PUNCT
fumecheng-2877	140	95	point	point	NOUN
fumecheng-2877	140	96	.	.	PUNCT
fumecheng-2877	141	1	robot	robot	NOUN
fumecheng-2877	141	2	learning	learning	NOUN
fumecheng-2877	141	3	of	of	ADP
fumecheng-2877	141	4	object	object	NOUN
fumecheng-2877	141	5	manipulation	manipulation	NOUN
fumecheng-2877	141	6	task	task	NOUN
fumecheng-2877	141	7	actions	action	NOUN
fumecheng-2877	141	8	from	from	ADP
fumecheng-2877	141	9	human	human	ADJ
fumecheng-2877	141	10	demonstrations	demonstration	NOUN
fumecheng-2877	141	11	223	223	NUM
fumecheng-2877	141	12			NOUN
fumecheng-2877	141	13	splitting	splitting	NOUN
fumecheng-2877	141	14	of	of	ADP
fumecheng-2877	141	15	the	the	DET
fumecheng-2877	141	16	task	task	NOUN
fumecheng-2877	141	17	into	into	ADP
fumecheng-2877	141	18	individual	individual	ADJ
fumecheng-2877	141	19	actions	action	NOUN
fumecheng-2877	141	20	after	after	ADP
fumecheng-2877	141	21	the	the	DET
fumecheng-2877	141	22	mapping	mapping	NOUN
fumecheng-2877	141	23	of	of	ADP
fumecheng-2877	141	24	the	the	DET
fumecheng-2877	141	25	gripper	gripper	NOUN
fumecheng-2877	141	26	actuation	actuation	NOUN
fumecheng-2877	141	27	status	status	NOUN
fumecheng-2877	141	28	onto	onto	ADP
fumecheng-2877	141	29	the	the	DET
fumecheng-2877	141	30	learned	learn	VERB
fumecheng-2877	141	31	trajectory	trajectory	NOUN
fumecheng-2877	141	32	,	,	PUNCT
fumecheng-2877	141	33	the	the	DET
fumecheng-2877	141	34	task	task	NOUN
fumecheng-2877	141	35	is	be	AUX
fumecheng-2877	141	36	split	split	VERB
fumecheng-2877	141	37	into	into	ADP
fumecheng-2877	141	38	actions	action	NOUN
fumecheng-2877	141	39	such	such	ADJ
fumecheng-2877	141	40	as	as	ADP
fumecheng-2877	141	41	grasping	grasp	VERB
fumecheng-2877	141	42	and	and	CCONJ
fumecheng-2877	141	43	releasing	releasing	NOUN
fumecheng-2877	141	44	of	of	ADP
fumecheng-2877	141	45	an	an	DET
fumecheng-2877	141	46	object	object	NOUN
fumecheng-2877	141	47	or	or	CCONJ
fumecheng-2877	141	48	moving	move	VERB
fumecheng-2877	141	49	actions	action	NOUN
fumecheng-2877	141	50	based	base	VERB
fumecheng-2877	141	51	on	on	ADP
fumecheng-2877	141	52	the	the	DET
fumecheng-2877	141	53	low	low	ADJ
fumecheng-2877	141	54	-	-	PUNCT
fumecheng-2877	141	55	level	level	NOUN
fumecheng-2877	141	56	learned	learn	VERB
fumecheng-2877	141	57	trajectories	trajectory	NOUN
fumecheng-2877	141	58	.	.	PUNCT
fumecheng-2877	142	1	therefore	therefore	ADV
fumecheng-2877	142	2	,	,	PUNCT
fumecheng-2877	142	3	in	in	ADP
fumecheng-2877	142	4	the	the	DET
fumecheng-2877	142	5	proposed	proposed	ADJ
fumecheng-2877	142	6	learning	learning	NOUN
fumecheng-2877	142	7	framework	framework	NOUN
fumecheng-2877	142	8	,	,	PUNCT
fumecheng-2877	142	9	the	the	DET
fumecheng-2877	142	10	robot	robot	NOUN
fumecheng-2877	142	11	learns	learn	VERB
fumecheng-2877	142	12	the	the	DET
fumecheng-2877	142	13	sequence	sequence	NOUN
fumecheng-2877	142	14	of	of	ADP
fumecheng-2877	142	15	actions	action	NOUN
fumecheng-2877	142	16	(	(	PUNCT
fumecheng-2877	142	17	high	high	ADJ
fumecheng-2877	142	18	-	-	PUNCT
fumecheng-2877	142	19	level	level	NOUN
fumecheng-2877	142	20	)	)	PUNCT
fumecheng-2877	142	21	to	to	PART
fumecheng-2877	142	22	perform	perform	VERB
fumecheng-2877	142	23	the	the	DET
fumecheng-2877	142	24	task	task	NOUN
fumecheng-2877	142	25	including	include	VERB
fumecheng-2877	142	26	the	the	DET
fumecheng-2877	142	27	trajectory	trajectory	NOUN
fumecheng-2877	142	28	that	that	PRON
fumecheng-2877	142	29	needs	need	VERB
fumecheng-2877	142	30	to	to	PART
fumecheng-2877	142	31	be	be	AUX
fumecheng-2877	142	32	followed	follow	VERB
fumecheng-2877	142	33	(	(	PUNCT
fumecheng-2877	142	34	low	low	ADJ
fumecheng-2877	142	35	-	-	PUNCT
fumecheng-2877	142	36	level	level	NOUN
fumecheng-2877	142	37	)	)	PUNCT
fumecheng-2877	142	38	.	.	PUNCT
fumecheng-2877	143	1	in	in	ADP
fumecheng-2877	143	2	the	the	DET
fumecheng-2877	143	3	considered	considered	ADJ
fumecheng-2877	143	4	example	example	NOUN
fumecheng-2877	143	5	task	task	NOUN
fumecheng-2877	143	6	,	,	PUNCT
fumecheng-2877	143	7	the	the	DET
fumecheng-2877	143	8	robot	robot	NOUN
fumecheng-2877	143	9	learns	learn	VERB
fumecheng-2877	143	10	the	the	DET
fumecheng-2877	143	11	following	follow	VERB
fumecheng-2877	143	12	sequence	sequence	NOUN
fumecheng-2877	143	13	of	of	ADP
fumecheng-2877	143	14	actions	action	NOUN
fumecheng-2877	143	15	:	:	PUNCT
fumecheng-2877	143	16	grasp	grasp	VERB
fumecheng-2877	143	17	the	the	DET
fumecheng-2877	143	18	object	object	NOUN
fumecheng-2877	143	19	with	with	ADP
fumecheng-2877	143	20	the	the	DET
fumecheng-2877	143	21	i	i	PROPN
fumecheng-2877	143	22	d	d	PROPN
fumecheng-2877	143	23	“	"	PUNCT
fumecheng-2877	143	24	left_pick_1	left_pick_1	PROPN
fumecheng-2877	143	25	”	"	PUNCT
fumecheng-2877	143	26	,	,	PUNCT
fumecheng-2877	143	27	“	"	PUNCT
fumecheng-2877	143	28	move	move	VERB
fumecheng-2877	143	29	the	the	DET
fumecheng-2877	143	30	grasped	grasp	VERB
fumecheng-2877	143	31	object	object	NOUN
fumecheng-2877	143	32	along	along	ADP
fumecheng-2877	143	33	the	the	DET
fumecheng-2877	143	34	learned	learn	VERB
fumecheng-2877	143	35	path	path	NOUN
fumecheng-2877	143	36	and	and	CCONJ
fumecheng-2877	143	37	release	release	VERB
fumecheng-2877	143	38	it	it	PRON
fumecheng-2877	143	39	so	so	ADV
fumecheng-2877	143	40	as	as	SCONJ
fumecheng-2877	143	41	to	to	PART
fumecheng-2877	143	42	assembly	assembly	VERB
fumecheng-2877	143	43	it	it	PRON
fumecheng-2877	143	44	with	with	ADP
fumecheng-2877	143	45	the	the	DET
fumecheng-2877	143	46	object	object	NOUN
fumecheng-2877	143	47	of	of	ADP
fumecheng-2877	143	48	the	the	DET
fumecheng-2877	143	49	i	i	PROPN
fumecheng-2877	143	50	d	d	PROPN
fumecheng-2877	143	51	“	"	PUNCT
fumecheng-2877	143	52	left_place_1	left_place_1	PROPN
fumecheng-2877	143	53	”	"	PUNCT
fumecheng-2877	143	54	.	.	PUNCT
fumecheng-2877	144	1	the	the	DET
fumecheng-2877	144	2	position	position	NOUN
fumecheng-2877	144	3	,	,	PUNCT
fumecheng-2877	144	4	orientation	orientation	NOUN
fumecheng-2877	144	5	,	,	PUNCT
fumecheng-2877	144	6	size	size	NOUN
fumecheng-2877	144	7	and	and	CCONJ
fumecheng-2877	144	8	i	i	NOUN
fumecheng-2877	144	9	d	d	ADJ
fumecheng-2877	144	10	number	number	NOUN
fumecheng-2877	144	11	of	of	ADP
fumecheng-2877	144	12	every	every	DET
fumecheng-2877	144	13	object	object	NOUN
fumecheng-2877	144	14	involved	involve	VERB
fumecheng-2877	144	15	in	in	ADP
fumecheng-2877	144	16	the	the	DET
fumecheng-2877	144	17	scene	scene	NOUN
fumecheng-2877	144	18	,	,	PUNCT
fumecheng-2877	144	19	with	with	ADP
fumecheng-2877	144	20	respect	respect	NOUN
fumecheng-2877	144	21	to	to	ADP
fumecheng-2877	144	22	the	the	DET
fumecheng-2877	144	23	world	world	NOUN
fumecheng-2877	144	24	coordinate	coordinate	NOUN
fumecheng-2877	144	25	system	system	NOUN
fumecheng-2877	144	26	,	,	PUNCT
fumecheng-2877	144	27	are	be	AUX
fumecheng-2877	144	28	stored	store	VERB
fumecheng-2877	144	29	in	in	ADP
fumecheng-2877	144	30	the	the	DET
fumecheng-2877	144	31	task	task	NOUN
fumecheng-2877	144	32	robot	robot	NOUN
fumecheng-2877	144	33	library	library	NOUN
fumecheng-2877	144	34	.	.	PUNCT
fumecheng-2877	145	1	4	4	X
fumecheng-2877	145	2	.	.	X
fumecheng-2877	145	3	online	online	ADJ
fumecheng-2877	145	4	working	working	NOUN
fumecheng-2877	145	5	phase	phase	NOUN
fumecheng-2877	145	6	after	after	ADP
fumecheng-2877	145	7	the	the	DET
fumecheng-2877	145	8	offline	offline	ADJ
fumecheng-2877	145	9	learning	learning	NOUN
fumecheng-2877	145	10	phase	phase	NOUN
fumecheng-2877	145	11	,	,	PUNCT
fumecheng-2877	145	12	the	the	DET
fumecheng-2877	145	13	learned	learn	VERB
fumecheng-2877	145	14	task	task	NOUN
fumecheng-2877	145	15	(	(	PUNCT
fumecheng-2877	145	16	learned	learn	VERB
fumecheng-2877	145	17	trajectory	trajectory	NOUN
fumecheng-2877	145	18	and	and	CCONJ
fumecheng-2877	145	19	learned	learn	VERB
fumecheng-2877	145	20	sequence	sequence	NOUN
fumecheng-2877	145	21	of	of	ADP
fumecheng-2877	145	22	actions	action	NOUN
fumecheng-2877	145	23	)	)	PUNCT
fumecheng-2877	145	24	is	be	AUX
fumecheng-2877	145	25	added	add	VERB
fumecheng-2877	145	26	to	to	ADP
fumecheng-2877	145	27	the	the	DET
fumecheng-2877	145	28	task	task	NOUN
fumecheng-2877	145	29	robot	robot	NOUN
fumecheng-2877	145	30	library	library	NOUN
fumecheng-2877	145	31	(	(	PUNCT
fumecheng-2877	145	32	trl	trl	PROPN
fumecheng-2877	145	33	)	)	PUNCT
fumecheng-2877	145	34	.	.	PUNCT
fumecheng-2877	146	1	during	during	ADP
fumecheng-2877	146	2	the	the	DET
fumecheng-2877	146	3	online	online	ADJ
fumecheng-2877	146	4	phase	phase	NOUN
fumecheng-2877	146	5	,	,	PUNCT
fumecheng-2877	146	6	the	the	DET
fumecheng-2877	146	7	trl	trl	PROPN
fumecheng-2877	146	8	is	be	AUX
fumecheng-2877	146	9	responsible	responsible	ADJ
fumecheng-2877	146	10	for	for	ADP
fumecheng-2877	146	11	identifying	identify	VERB
fumecheng-2877	146	12	and	and	CCONJ
fumecheng-2877	146	13	retrieving	retrieve	VERB
fumecheng-2877	146	14	the	the	DET
fumecheng-2877	146	15	task	task	NOUN
fumecheng-2877	146	16	to	to	PART
fumecheng-2877	146	17	be	be	AUX
fumecheng-2877	146	18	executed	execute	VERB
fumecheng-2877	146	19	.	.	PUNCT
fumecheng-2877	147	1	during	during	ADP
fumecheng-2877	147	2	the	the	DET
fumecheng-2877	147	3	online	online	ADJ
fumecheng-2877	147	4	functioning	functioning	NOUN
fumecheng-2877	147	5	,	,	PUNCT
fumecheng-2877	147	6	the	the	DET
fumecheng-2877	147	7	pose	pose	NOUN
fumecheng-2877	147	8	and	and	CCONJ
fumecheng-2877	147	9	dimensions	dimension	NOUN
fumecheng-2877	147	10	of	of	ADP
fumecheng-2877	147	11	every	every	DET
fumecheng-2877	147	12	object	object	NOUN
fumecheng-2877	147	13	are	be	AUX
fumecheng-2877	147	14	provided	provide	VERB
fumecheng-2877	147	15	by	by	ADP
fumecheng-2877	147	16	the	the	DET
fumecheng-2877	147	17	visionbased	visionbase	VERB
fumecheng-2877	147	18	environmental	environmental	ADJ
fumecheng-2877	147	19	perception	perception	NOUN
fumecheng-2877	147	20	module	module	NOUN
fumecheng-2877	147	21	.	.	PUNCT
fumecheng-2877	148	1	trl	trl	PROPN
fumecheng-2877	148	2	identifies	identify	VERB
fumecheng-2877	148	3	the	the	DET
fumecheng-2877	148	4	objects	object	NOUN
fumecheng-2877	148	5	based	base	VERB
fumecheng-2877	148	6	on	on	ADP
fumecheng-2877	148	7	the	the	DET
fumecheng-2877	148	8	pose	pose	NOUN
fumecheng-2877	148	9	and	and	CCONJ
fumecheng-2877	148	10	dimensions	dimension	NOUN
fumecheng-2877	148	11	and	and	CCONJ
fumecheng-2877	148	12	if	if	SCONJ
fumecheng-2877	148	13	there	there	PRON
fumecheng-2877	148	14	is	be	VERB
fumecheng-2877	148	15	a	a	DET
fumecheng-2877	148	16	match	match	NOUN
fumecheng-2877	148	17	with	with	ADP
fumecheng-2877	148	18	an	an	DET
fumecheng-2877	148	19	object	object	NOUN
fumecheng-2877	148	20	in	in	ADP
fumecheng-2877	148	21	a	a	DET
fumecheng-2877	148	22	stored	store	VERB
fumecheng-2877	148	23	learned	learn	VERB
fumecheng-2877	148	24	task	task	NOUN
fumecheng-2877	148	25	,	,	PUNCT
fumecheng-2877	148	26	the	the	DET
fumecheng-2877	148	27	trl	trl	PROPN
fumecheng-2877	148	28	will	will	AUX
fumecheng-2877	148	29	retrieve	retrieve	VERB
fumecheng-2877	148	30	the	the	DET
fumecheng-2877	148	31	learned	learn	VERB
fumecheng-2877	148	32	task	task	NOUN
fumecheng-2877	148	33	.	.	PUNCT
fumecheng-2877	149	1	in	in	ADP
fumecheng-2877	149	2	order	order	NOUN
fumecheng-2877	149	3	to	to	PART
fumecheng-2877	149	4	illustrate	illustrate	VERB
fumecheng-2877	149	5	this	this	DET
fumecheng-2877	149	6	awareness	awareness	NOUN
fumecheng-2877	149	7	in	in	ADP
fumecheng-2877	149	8	an	an	DET
fumecheng-2877	149	9	intuitive	intuitive	ADJ
fumecheng-2877	149	10	way	way	NOUN
fumecheng-2877	149	11	to	to	PART
fumecheng-2877	149	12	be	be	AUX
fumecheng-2877	149	13	easily	easily	ADV
fumecheng-2877	149	14	understood	understand	VERB
fumecheng-2877	149	15	by	by	ADP
fumecheng-2877	149	16	the	the	DET
fumecheng-2877	149	17	human	human	ADJ
fumecheng-2877	149	18	collaborator	collaborator	NOUN
fumecheng-2877	149	19	,	,	PUNCT
fumecheng-2877	149	20	a	a	DET
fumecheng-2877	149	21	virtual	virtual	ADJ
fumecheng-2877	149	22	environment	environment	NOUN
fumecheng-2877	149	23	has	have	AUX
fumecheng-2877	149	24	been	be	AUX
fumecheng-2877	149	25	developed	develop	VERB
fumecheng-2877	149	26	using	use	VERB
fumecheng-2877	149	27	the	the	DET
fumecheng-2877	149	28	ros	ros	PROPN
fumecheng-2877	149	29	-	-	PUNCT
fumecheng-2877	149	30	based	base	VERB
fumecheng-2877	149	31	tool	tool	NOUN
fumecheng-2877	149	32	rviz	rviz	NOUN
fumecheng-2877	149	33	(	(	PUNCT
fumecheng-2877	149	34	ros	ros	PROPN
fumecheng-2877	149	35	visualization	visualization	NOUN
fumecheng-2877	149	36	)	)	PUNCT
fumecheng-2877	150	1	[	[	X
fumecheng-2877	150	2	28	28	NUM
fumecheng-2877	150	3	]	]	PUNCT
fumecheng-2877	150	4	.	.	PUNCT
fumecheng-2877	151	1	the	the	DET
fumecheng-2877	151	2	human	human	ADJ
fumecheng-2877	151	3	collaborator	collaborator	NOUN
fumecheng-2877	151	4	can	can	AUX
fumecheng-2877	151	5	at	at	ADP
fumecheng-2877	151	6	first	first	ADV
fumecheng-2877	151	7	observe	observe	VERB
fumecheng-2877	151	8	the	the	DET
fumecheng-2877	151	9	robot	robot	NOUN
fumecheng-2877	151	10	performing	perform	VERB
fumecheng-2877	151	11	the	the	DET
fumecheng-2877	151	12	task	task	NOUN
fumecheng-2877	151	13	in	in	ADP
fumecheng-2877	151	14	the	the	DET
fumecheng-2877	151	15	virtual	virtual	ADJ
fumecheng-2877	151	16	environment	environment	NOUN
fumecheng-2877	151	17	and	and	CCONJ
fumecheng-2877	151	18	subsequently	subsequently	ADV
fumecheng-2877	151	19	can	can	AUX
fumecheng-2877	151	20	confirm	confirm	VERB
fumecheng-2877	151	21	if	if	SCONJ
fumecheng-2877	151	22	he	he	PRON
fumecheng-2877	151	23	/	/	PUNCT
fumecheng-2877	151	24	she	she	PRON
fumecheng-2877	151	25	is	be	AUX
fumecheng-2877	151	26	satisfied	satisfied	ADJ
fumecheng-2877	151	27	with	with	ADP
fumecheng-2877	151	28	the	the	DET
fumecheng-2877	151	29	visualized	visualize	VERB
fumecheng-2877	151	30	robot	robot	NOUN
fumecheng-2877	151	31	’s	’s	ADV
fumecheng-2877	151	32	performing	perform	VERB
fumecheng-2877	151	33	so	so	SCONJ
fumecheng-2877	151	34	that	that	SCONJ
fumecheng-2877	151	35	the	the	DET
fumecheng-2877	151	36	robot	robot	NOUN
fumecheng-2877	151	37	can	can	AUX
fumecheng-2877	151	38	“	"	PUNCT
fumecheng-2877	151	39	get	get	VERB
fumecheng-2877	151	40	a	a	DET
fumecheng-2877	151	41	green	green	ADJ
fumecheng-2877	151	42	light	light	NOUN
fumecheng-2877	151	43	”	"	PUNCT
fumecheng-2877	151	44	to	to	PART
fumecheng-2877	151	45	perform	perform	VERB
fumecheng-2877	151	46	the	the	DET
fumecheng-2877	151	47	task	task	NOUN
fumecheng-2877	151	48	in	in	ADP
fumecheng-2877	151	49	real	real	ADJ
fumecheng-2877	151	50	-	-	PUNCT
fumecheng-2877	151	51	world	world	NOUN
fumecheng-2877	151	52	.	.	PUNCT
fumecheng-2877	152	1	if	if	SCONJ
fumecheng-2877	152	2	the	the	DET
fumecheng-2877	152	3	human	human	ADJ
fumecheng-2877	152	4	collaborator	collaborator	NOUN
fumecheng-2877	152	5	is	be	AUX
fumecheng-2877	152	6	not	not	PART
fumecheng-2877	152	7	satisfied	satisfied	ADJ
fumecheng-2877	152	8	,	,	PUNCT
fumecheng-2877	152	9	he	he	PRON
fumecheng-2877	152	10	/	/	PUNCT
fumecheng-2877	152	11	she	she	PRON
fumecheng-2877	152	12	can	can	AUX
fumecheng-2877	152	13	retrain	retrain	VERB
fumecheng-2877	152	14	the	the	DET
fumecheng-2877	152	15	robot	robot	NOUN
fumecheng-2877	152	16	by	by	ADP
fumecheng-2877	152	17	providing	provide	VERB
fumecheng-2877	152	18	more	more	ADJ
fumecheng-2877	152	19	demonstrations	demonstration	NOUN
fumecheng-2877	152	20	.	.	PUNCT
fumecheng-2877	153	1	5	5	X
fumecheng-2877	153	2	.	.	X
fumecheng-2877	153	3	experimental	experimental	ADJ
fumecheng-2877	153	4	results	result	NOUN
fumecheng-2877	153	5	for	for	ADP
fumecheng-2877	153	6	the	the	DET
fumecheng-2877	153	7	evaluation	evaluation	NOUN
fumecheng-2877	153	8	of	of	ADP
fumecheng-2877	153	9	the	the	DET
fumecheng-2877	153	10	proposed	propose	VERB
fumecheng-2877	153	11	learning	learning	NOUN
fumecheng-2877	153	12	framework	framework	NOUN
fumecheng-2877	153	13	,	,	PUNCT
fumecheng-2877	153	14	experimental	experimental	ADJ
fumecheng-2877	153	15	studies	study	NOUN
fumecheng-2877	153	16	were	be	AUX
fumecheng-2877	153	17	conducted	conduct	VERB
fumecheng-2877	153	18	.	.	PUNCT
fumecheng-2877	154	1	five	five	NUM
fumecheng-2877	154	2	human	human	ADJ
fumecheng-2877	154	3	demonstrators	demonstrator	NOUN
fumecheng-2877	154	4	were	be	AUX
fumecheng-2877	154	5	asked	ask	VERB
fumecheng-2877	154	6	to	to	PART
fumecheng-2877	154	7	demonstrate	demonstrate	VERB
fumecheng-2877	154	8	a	a	DET
fumecheng-2877	154	9	manipulation	manipulation	NOUN
fumecheng-2877	154	10	task	task	NOUN
fumecheng-2877	154	11	to	to	ADP
fumecheng-2877	154	12	the	the	DET
fumecheng-2877	154	13	pi4	pi4	NOUN
fumecheng-2877	154	14	workerbot	workerbot	NOUN
fumecheng-2877	154	15	via	via	ADP
fumecheng-2877	154	16	kinesthetic	kinesthetic	ADJ
fumecheng-2877	154	17	teaching	teaching	NOUN
fumecheng-2877	154	18	.	.	PUNCT
fumecheng-2877	155	1	as	as	SCONJ
fumecheng-2877	155	2	shown	show	VERB
fumecheng-2877	155	3	in	in	ADP
fumecheng-2877	155	4	fig	fig	NOUN
fumecheng-2877	155	5	.	.	PUNCT
fumecheng-2877	156	1	2	2	NUM
fumecheng-2877	156	2	,	,	PUNCT
fumecheng-2877	156	3	the	the	DET
fumecheng-2877	156	4	object	object	NOUN
fumecheng-2877	156	5	manipulation	manipulation	NOUN
fumecheng-2877	156	6	task	task	NOUN
fumecheng-2877	156	7	consists	consist	VERB
fumecheng-2877	156	8	of	of	ADP
fumecheng-2877	156	9	the	the	DET
fumecheng-2877	156	10	following	following	ADJ
fumecheng-2877	156	11	actions	action	NOUN
fumecheng-2877	156	12	:	:	PUNCT
fumecheng-2877	156	13	action	action	NOUN
fumecheng-2877	156	14	1	1	NUM
fumecheng-2877	156	15	:	:	PUNCT
fumecheng-2877	156	16	pick	pick	VERB
fumecheng-2877	156	17	object	object	VERB
fumecheng-2877	156	18	a	a	DET
fumecheng-2877	156	19	up	up	NOUN
fumecheng-2877	156	20	with	with	ADP
fumecheng-2877	156	21	the	the	DET
fumecheng-2877	156	22	left	left	ADJ
fumecheng-2877	156	23	robot	robot	NOUN
fumecheng-2877	156	24	arm	arm	NOUN
fumecheng-2877	156	25	action	action	NOUN
fumecheng-2877	156	26	2	2	NUM
fumecheng-2877	156	27	:	:	PUNCT
fumecheng-2877	156	28	place	place	NOUN
fumecheng-2877	156	29	object	object	VERB
fumecheng-2877	156	30	a	a	PRON
fumecheng-2877	156	31	onto	onto	ADP
fumecheng-2877	156	32	the	the	DET
fumecheng-2877	156	33	top	top	NOUN
fumecheng-2877	156	34	of	of	ADP
fumecheng-2877	156	35	object	object	NOUN
fumecheng-2877	156	36	c	c	NOUN
fumecheng-2877	156	37	action	action	NOUN
fumecheng-2877	156	38	3	3	NUM
fumecheng-2877	156	39	:	:	PUNCT
fumecheng-2877	156	40	move	move	VERB
fumecheng-2877	156	41	the	the	DET
fumecheng-2877	156	42	left	left	ADJ
fumecheng-2877	156	43	robot	robot	NOUN
fumecheng-2877	156	44	arm	arm	NOUN
fumecheng-2877	156	45	away	away	ADV
fumecheng-2877	156	46	from	from	ADP
fumecheng-2877	156	47	the	the	DET
fumecheng-2877	156	48	workspace	workspace	NOUN
fumecheng-2877	156	49	(	(	PUNCT
fumecheng-2877	156	50	table	table	NOUN
fumecheng-2877	156	51	)	)	PUNCT
fumecheng-2877	156	52	action	action	NOUN
fumecheng-2877	156	53	4	4	NUM
fumecheng-2877	156	54	:	:	PUNCT
fumecheng-2877	156	55	pick	pick	VERB
fumecheng-2877	156	56	object	object	NOUN
fumecheng-2877	156	57	b	b	NOUN
fumecheng-2877	156	58	up	up	ADP
fumecheng-2877	156	59	with	with	ADP
fumecheng-2877	156	60	right	right	ADJ
fumecheng-2877	156	61	robot	robot	NOUN
fumecheng-2877	156	62	arm	arm	NOUN
fumecheng-2877	156	63	action	action	NOUN
fumecheng-2877	156	64	5	5	NUM
fumecheng-2877	156	65	:	:	PUNCT
fumecheng-2877	156	66	place	place	NOUN
fumecheng-2877	156	67	object	object	NOUN
fumecheng-2877	156	68	b	b	NOUN
fumecheng-2877	156	69	next	next	ADJ
fumecheng-2877	156	70	to	to	PART
fumecheng-2877	156	71	object	object	VERB
fumecheng-2877	156	72	c	c	NOUN
fumecheng-2877	156	73	action	action	NOUN
fumecheng-2877	156	74	6	6	NUM
fumecheng-2877	156	75	:	:	PUNCT
fumecheng-2877	156	76	move	move	VERB
fumecheng-2877	156	77	the	the	DET
fumecheng-2877	156	78	right	right	ADJ
fumecheng-2877	156	79	robot	robot	NOUN
fumecheng-2877	156	80	arm	arm	VERB
fumecheng-2877	156	81	away	away	ADV
fumecheng-2877	156	82	from	from	ADP
fumecheng-2877	156	83	the	the	DET
fumecheng-2877	156	84	workspace	workspace	NOUN
fumecheng-2877	156	85	(	(	PUNCT
fumecheng-2877	156	86	table	table	NOUN
fumecheng-2877	156	87	)	)	PUNCT
fumecheng-2877	156	88	each	each	DET
fumecheng-2877	156	89	human	human	ADJ
fumecheng-2877	156	90	teacher	teacher	NOUN
fumecheng-2877	156	91	demonstrates	demonstrate	VERB
fumecheng-2877	156	92	the	the	DET
fumecheng-2877	156	93	task	task	NOUN
fumecheng-2877	156	94	once	once	ADV
fumecheng-2877	156	95	.	.	PUNCT
fumecheng-2877	157	1	the	the	DET
fumecheng-2877	157	2	data	data	NOUN
fumecheng-2877	157	3	acquisition	acquisition	NOUN
fumecheng-2877	157	4	module	module	NOUN
fumecheng-2877	157	5	records	record	VERB
fumecheng-2877	157	6	the	the	DET
fumecheng-2877	157	7	end	end	NOUN
fumecheng-2877	157	8	-	-	PUNCT
fumecheng-2877	157	9	effector	effector	NOUN
fumecheng-2877	157	10	’s	’s	PART
fumecheng-2877	157	11	pose	pose	VERB
fumecheng-2877	157	12	for	for	ADP
fumecheng-2877	157	13	the	the	DET
fumecheng-2877	157	14	left	left	ADJ
fumecheng-2877	157	15	and	and	CCONJ
fumecheng-2877	157	16	right	right	ADJ
fumecheng-2877	157	17	robot	robot	NOUN
fumecheng-2877	157	18	arms	arm	NOUN
fumecheng-2877	157	19	.	.	PUNCT
fumecheng-2877	158	1	for	for	ADP
fumecheng-2877	158	2	the	the	DET
fumecheng-2877	158	3	sake	sake	NOUN
fumecheng-2877	158	4	of	of	ADP
fumecheng-2877	158	5	simplicity	simplicity	NOUN
fumecheng-2877	158	6	,	,	PUNCT
fumecheng-2877	158	7	in	in	ADP
fumecheng-2877	158	8	this	this	DET
fumecheng-2877	158	9	section	section	NOUN
fumecheng-2877	158	10	,	,	PUNCT
fumecheng-2877	158	11	only	only	ADV
fumecheng-2877	158	12	the	the	DET
fumecheng-2877	158	13	processing	processing	NOUN
fumecheng-2877	158	14	of	of	ADP
fumecheng-2877	158	15	the	the	DET
fumecheng-2877	158	16	cartesian	cartesian	ADJ
fumecheng-2877	158	17	position	position	NOUN
fumecheng-2877	158	18	(	(	PUNCT
fumecheng-2877	158	19	x	x	X
fumecheng-2877	158	20	,	,	PUNCT
fumecheng-2877	158	21	y	y	PROPN
fumecheng-2877	158	22	,	,	PUNCT
fumecheng-2877	158	23	z	z	NOUN
fumecheng-2877	158	24	)	)	PUNCT
fumecheng-2877	158	25	for	for	ADP
fumecheng-2877	158	26	the	the	DET
fumecheng-2877	158	27	end	end	NOUN
fumecheng-2877	158	28	-	-	PUNCT
fumecheng-2877	158	29	effector	effector	NOUN
fumecheng-2877	158	30	of	of	ADP
fumecheng-2877	158	31	the	the	DET
fumecheng-2877	158	32	left	left	ADJ
fumecheng-2877	158	33	robot	robot	NOUN
fumecheng-2877	158	34	arm	arm	NOUN
fumecheng-2877	158	35	will	will	AUX
fumecheng-2877	158	36	be	be	AUX
fumecheng-2877	158	37	shown	show	VERB
fumecheng-2877	158	38	.	.	PUNCT
fumecheng-2877	159	1	fig	fig	NOUN
fumecheng-2877	159	2	.	.	PUNCT
fumecheng-2877	160	1	3	3	NUM
fumecheng-2877	160	2	shows	show	VERB
fumecheng-2877	160	3	the	the	DET
fumecheng-2877	160	4	data	datum	NOUN
fumecheng-2877	160	5	recorded	record	VERB
fumecheng-2877	160	6	during	during	ADP
fumecheng-2877	160	7	the	the	DET
fumecheng-2877	160	8	5	5	NUM
fumecheng-2877	160	9	demonstrations	demonstration	NOUN
fumecheng-2877	160	10	for	for	ADP
fumecheng-2877	160	11	the	the	DET
fumecheng-2877	160	12	cartesian	cartesian	ADJ
fumecheng-2877	160	13	position	position	NOUN
fumecheng-2877	160	14	of	of	ADP
fumecheng-2877	160	15	the	the	DET
fumecheng-2877	160	16	left	left	ADJ
fumecheng-2877	160	17	robot	robot	NOUN
fumecheng-2877	160	18	arm	arm	NOUN
fumecheng-2877	160	19	end	end	NOUN
fumecheng-2877	160	20	-	-	PUNCT
fumecheng-2877	160	21	effector	effector	NOUN
fumecheng-2877	160	22	(	(	PUNCT
fumecheng-2877	160	23	gripper	gripper	NOUN
fumecheng-2877	160	24	)	)	PUNCT
fumecheng-2877	160	25	.	.	PUNCT
fumecheng-2877	161	1	224	224	NUM
fumecheng-2877	161	2	m.	m.	NOUN
fumecheng-2877	161	3	kyrarini	kyrarini	PROPN
fumecheng-2877	161	4	,	,	PUNCT
fumecheng-2877	161	5	m.	m.	NOUN
fumecheng-2877	161	6	a.	a.	PROPN
fumecheng-2877	161	7	haseeb	haseeb	PROPN
fumecheng-2877	161	8	,	,	PUNCT
fumecheng-2877	161	9	d.	d.	PROPN
fumecheng-2877	161	10	ristic	ristic	PROPN
fumecheng-2877	161	11	-	-	PUNCT
fumecheng-2877	161	12	durrant	durrant	PROPN
fumecheng-2877	161	13	,	,	PUNCT
fumecheng-2877	161	14	a.	a.	NOUN
fumecheng-2877	161	15	gräser	gräser	PROPN
fumecheng-2877	161	16	fig	fig	PROPN
fumecheng-2877	161	17	.	.	PUNCT
fumecheng-2877	162	1	2	2	NUM
fumecheng-2877	162	2	overview	overview	NOUN
fumecheng-2877	162	3	of	of	ADP
fumecheng-2877	162	4	the	the	DET
fumecheng-2877	162	5	demonstrated	demonstrate	VERB
fumecheng-2877	162	6	task	task	NOUN
fumecheng-2877	162	7	fig	fig	NOUN
fumecheng-2877	162	8	.	.	PUNCT
fumecheng-2877	163	1	3	3	NUM
fumecheng-2877	163	2	p(x	p(x	PROPN
fumecheng-2877	163	3	,	,	PUNCT
fumecheng-2877	163	4	y	y	PROPN
fumecheng-2877	163	5	,	,	PUNCT
fumecheng-2877	163	6	z	z	NOUN
fumecheng-2877	163	7	)	)	PUNCT
fumecheng-2877	163	8	of	of	ADP
fumecheng-2877	163	9	the	the	DET
fumecheng-2877	163	10	left	left	ADJ
fumecheng-2877	163	11	robot	robot	NOUN
fumecheng-2877	163	12	arm	arm	NOUN
fumecheng-2877	163	13	gripper	gripper	NOUN
fumecheng-2877	163	14	recorded	record	VERB
fumecheng-2877	163	15	during	during	ADP
fumecheng-2877	163	16	5	5	NUM
fumecheng-2877	163	17	different	different	ADJ
fumecheng-2877	163	18	human	human	ADJ
fumecheng-2877	163	19	demonstrations	demonstration	NOUN
fumecheng-2877	163	20	of	of	ADP
fumecheng-2877	163	21	the	the	DET
fumecheng-2877	163	22	task	task	NOUN
fumecheng-2877	163	23	robot	robot	NOUN
fumecheng-2877	163	24	learning	learning	NOUN
fumecheng-2877	163	25	of	of	ADP
fumecheng-2877	163	26	object	object	NOUN
fumecheng-2877	163	27	manipulation	manipulation	NOUN
fumecheng-2877	163	28	task	task	NOUN
fumecheng-2877	163	29	actions	action	NOUN
fumecheng-2877	163	30	from	from	ADP
fumecheng-2877	163	31	human	human	ADJ
fumecheng-2877	163	32	demonstrations	demonstration	NOUN
fumecheng-2877	163	33	225	225	NUM
fumecheng-2877	163	34	the	the	DET
fumecheng-2877	163	35	first	first	ADJ
fumecheng-2877	163	36	step	step	NOUN
fumecheng-2877	163	37	of	of	ADP
fumecheng-2877	163	38	the	the	DET
fumecheng-2877	163	39	learning	learning	NOUN
fumecheng-2877	163	40	module	module	NOUN
fumecheng-2877	163	41	is	be	AUX
fumecheng-2877	163	42	learning	learn	VERB
fumecheng-2877	163	43	at	at	ADP
fumecheng-2877	163	44	the	the	DET
fumecheng-2877	163	45	trajectory	trajectory	ADJ
fumecheng-2877	163	46	level	level	NOUN
fumecheng-2877	163	47	.	.	PUNCT
fumecheng-2877	164	1	the	the	DET
fumecheng-2877	164	2	automatic	automatic	ADJ
fumecheng-2877	164	3	selection	selection	NOUN
fumecheng-2877	164	4	of	of	ADP
fumecheng-2877	164	5	similar	similar	ADJ
fumecheng-2877	164	6	trajectories	trajectory	NOUN
fumecheng-2877	164	7	selected	select	VERB
fumecheng-2877	164	8	the	the	DET
fumecheng-2877	164	9	demonstrations	demonstration	NOUN
fumecheng-2877	164	10	4	4	NUM
fumecheng-2877	164	11	and	and	CCONJ
fumecheng-2877	164	12	5	5	NUM
fumecheng-2877	164	13	for	for	ADP
fumecheng-2877	164	14	the	the	DET
fumecheng-2877	164	15	left	left	ADJ
fumecheng-2877	164	16	robot	robot	NOUN
fumecheng-2877	164	17	-	-	PUNCT
fumecheng-2877	164	18	arm	arm	NOUN
fumecheng-2877	164	19	.	.	PUNCT
fumecheng-2877	165	1	these	these	DET
fumecheng-2877	165	2	two	two	NUM
fumecheng-2877	165	3	selected	select	VERB
fumecheng-2877	165	4	most	most	ADV
fumecheng-2877	165	5	similar	similar	ADJ
fumecheng-2877	165	6	demonstrations	demonstration	NOUN
fumecheng-2877	165	7	for	for	ADP
fumecheng-2877	165	8	the	the	DET
fumecheng-2877	165	9	left	left	ADJ
fumecheng-2877	165	10	robot	robot	NOUN
fumecheng-2877	165	11	-	-	PUNCT
fumecheng-2877	165	12	arm	arm	NOUN
fumecheng-2877	165	13	are	be	AUX
fumecheng-2877	165	14	shown	show	VERB
fumecheng-2877	165	15	in	in	ADP
fumecheng-2877	165	16	fig	fig	NOUN
fumecheng-2877	165	17	.	.	PUNCT
fumecheng-2877	166	1	4	4	NUM
fumecheng-2877	166	2	,	,	PUNCT
fumecheng-2877	166	3	before	before	ADP
fumecheng-2877	166	4	and	and	CCONJ
fumecheng-2877	166	5	after	after	ADP
fumecheng-2877	166	6	their	their	PRON
fumecheng-2877	166	7	alignment	alignment	NOUN
fumecheng-2877	166	8	with	with	ADP
fumecheng-2877	166	9	dtw	dtw	PROPN
fumecheng-2877	166	10	.	.	PUNCT
fumecheng-2877	166	11	fig	fig	NOUN
fumecheng-2877	166	12	.	.	PUNCT
fumecheng-2877	167	1	5	5	NUM
fumecheng-2877	167	2	-	-	SYM
fumecheng-2877	167	3	7	7	NUM
fumecheng-2877	167	4	show	show	VERB
fumecheng-2877	167	5	the	the	DET
fumecheng-2877	167	6	selected	select	VERB
fumecheng-2877	167	7	demonstrations	demonstration	NOUN
fumecheng-2877	167	8	after	after	ADP
fumecheng-2877	167	9	alignment	alignment	NOUN
fumecheng-2877	167	10	together	together	ADV
fumecheng-2877	167	11	with	with	ADP
fumecheng-2877	167	12	the	the	DET
fumecheng-2877	167	13	learned	learn	VERB
fumecheng-2877	167	14	gmm	gmm	PROPN
fumecheng-2877	167	15	models	model	NOUN
fumecheng-2877	167	16	of	of	ADP
fumecheng-2877	167	17	the	the	DET
fumecheng-2877	167	18	selected	select	VERB
fumecheng-2877	167	19	demonstrations	demonstration	NOUN
fumecheng-2877	167	20	and	and	CCONJ
fumecheng-2877	167	21	the	the	DET
fumecheng-2877	167	22	trajectories	trajectory	NOUN
fumecheng-2877	167	23	generated	generate	VERB
fumecheng-2877	167	24	by	by	ADP
fumecheng-2877	167	25	the	the	DET
fumecheng-2877	167	26	gmr	gmr	PROPN
fumecheng-2877	167	27	for	for	ADP
fumecheng-2877	167	28	each	each	DET
fumecheng-2877	167	29	dimension	dimension	NOUN
fumecheng-2877	167	30	x	x	X
fumecheng-2877	167	31	,	,	PUNCT
fumecheng-2877	167	32	y	y	PROPN
fumecheng-2877	167	33	,	,	PUNCT
fumecheng-2877	167	34	z.	z.	PROPN
fumecheng-2877	167	35	fig	fig	PROPN
fumecheng-2877	167	36	.	.	PUNCT
fumecheng-2877	168	1	4	4	NUM
fumecheng-2877	168	2	selected	select	VERB
fumecheng-2877	168	3	demonstrations	demonstration	NOUN
fumecheng-2877	168	4	of	of	ADP
fumecheng-2877	168	5	the	the	DET
fumecheng-2877	168	6	positions	position	NOUN
fumecheng-2877	168	7	(	(	PUNCT
fumecheng-2877	168	8	x	x	X
fumecheng-2877	168	9	,	,	PUNCT
fumecheng-2877	168	10	y	y	PROPN
fumecheng-2877	168	11	,	,	PUNCT
fumecheng-2877	168	12	z	z	NOUN
fumecheng-2877	168	13	)	)	PUNCT
fumecheng-2877	168	14	of	of	ADP
fumecheng-2877	168	15	the	the	DET
fumecheng-2877	168	16	left	left	ADJ
fumecheng-2877	168	17	robot	robot	NOUN
fumecheng-2877	168	18	-	-	PUNCT
fumecheng-2877	168	19	arm	arm	NOUN
fumecheng-2877	168	20	gripper	gripper	NOUN
fumecheng-2877	168	21	before	before	ADV
fumecheng-2877	168	22	and	and	CCONJ
fumecheng-2877	168	23	after	after	ADP
fumecheng-2877	168	24	alignment	alignment	NOUN
fumecheng-2877	168	25	using	use	VERB
fumecheng-2877	168	26	dynamic	dynamic	ADJ
fumecheng-2877	168	27	time	time	NOUN
fumecheng-2877	168	28	warping	warp	VERB
fumecheng-2877	168	29	(	(	PUNCT
fumecheng-2877	168	30	dtw	dtw	PROPN
fumecheng-2877	168	31	)	)	PUNCT
fumecheng-2877	168	32	fig	fig	NOUN
fumecheng-2877	168	33	.	.	PUNCT
fumecheng-2877	169	1	5	5	NUM
fumecheng-2877	169	2	left	leave	VERB
fumecheng-2877	169	3	robot	robot	NOUN
fumecheng-2877	169	4	-	-	PUNCT
fumecheng-2877	169	5	arm	arm	NOUN
fumecheng-2877	169	6	x	x	NOUN
fumecheng-2877	169	7	-	-	NOUN
fumecheng-2877	169	8	dimension	dimension	NOUN
fumecheng-2877	169	9	:	:	PUNCT
fumecheng-2877	169	10	learned	learn	VERB
fumecheng-2877	169	11	gmm	gmm	PROPN
fumecheng-2877	169	12	(	(	PUNCT
fumecheng-2877	169	13	above	above	ADV
fumecheng-2877	169	14	)	)	PUNCT
fumecheng-2877	169	15	and	and	CCONJ
fumecheng-2877	169	16	the	the	DET
fumecheng-2877	169	17	trajectory	trajectory	NOUN
fumecheng-2877	169	18	generated	generate	VERB
fumecheng-2877	169	19	by	by	ADP
fumecheng-2877	169	20	gmr	gmr	PROPN
fumecheng-2877	169	21	(	(	PUNCT
fumecheng-2877	169	22	below	below	ADV
fumecheng-2877	169	23	)	)	PUNCT
fumecheng-2877	169	24	226	226	NUM
fumecheng-2877	169	25	m.	m.	NOUN
fumecheng-2877	169	26	kyrarini	kyrarini	PROPN
fumecheng-2877	169	27	,	,	PUNCT
fumecheng-2877	169	28	m.	m.	NOUN
fumecheng-2877	169	29	a.	a.	PROPN
fumecheng-2877	169	30	haseeb	haseeb	PROPN
fumecheng-2877	169	31	,	,	PUNCT
fumecheng-2877	169	32	d.	d.	PROPN
fumecheng-2877	169	33	ristic	ristic	PROPN
fumecheng-2877	169	34	-	-	PUNCT
fumecheng-2877	169	35	durrant	durrant	PROPN
fumecheng-2877	169	36	,	,	PUNCT
fumecheng-2877	169	37	a.	a.	NOUN
fumecheng-2877	169	38	gräser	gräser	PROPN
fumecheng-2877	169	39	fig	fig	PROPN
fumecheng-2877	169	40	.	.	PUNCT
fumecheng-2877	170	1	6	6	NUM
fumecheng-2877	170	2	left	leave	VERB
fumecheng-2877	170	3	robot	robot	NOUN
fumecheng-2877	170	4	-	-	PUNCT
fumecheng-2877	170	5	arm	arm	NOUN
fumecheng-2877	170	6	y	y	NOUN
fumecheng-2877	170	7	-	-	NOUN
fumecheng-2877	170	8	dimension	dimension	NOUN
fumecheng-2877	170	9	:	:	PUNCT
fumecheng-2877	170	10	learned	learn	VERB
fumecheng-2877	170	11	gmm	gmm	PROPN
fumecheng-2877	170	12	(	(	PUNCT
fumecheng-2877	170	13	above	above	ADV
fumecheng-2877	170	14	)	)	PUNCT
fumecheng-2877	170	15	and	and	CCONJ
fumecheng-2877	170	16	trajectory	trajectory	NOUN
fumecheng-2877	170	17	generated	generate	VERB
fumecheng-2877	170	18	by	by	ADP
fumecheng-2877	170	19	gmr	gmr	PROPN
fumecheng-2877	170	20	(	(	PUNCT
fumecheng-2877	170	21	below	below	ADJ
fumecheng-2877	170	22	)	)	PUNCT
fumecheng-2877	170	23	fig	fig	NOUN
fumecheng-2877	170	24	.	.	PUNCT
fumecheng-2877	171	1	7	7	NUM
fumecheng-2877	171	2	left	leave	VERB
fumecheng-2877	171	3	robot	robot	NOUN
fumecheng-2877	171	4	-	-	PUNCT
fumecheng-2877	171	5	arm	arm	NOUN
fumecheng-2877	171	6	z	z	NOUN
fumecheng-2877	171	7	-	-	PUNCT
fumecheng-2877	171	8	dimension	dimension	NOUN
fumecheng-2877	171	9	:	:	PUNCT
fumecheng-2877	171	10	learned	learn	VERB
fumecheng-2877	171	11	gmm	gmm	PROPN
fumecheng-2877	171	12	(	(	PUNCT
fumecheng-2877	171	13	above	above	ADV
fumecheng-2877	171	14	)	)	PUNCT
fumecheng-2877	171	15	and	and	CCONJ
fumecheng-2877	171	16	trajectory	trajectory	NOUN
fumecheng-2877	171	17	generated	generate	VERB
fumecheng-2877	171	18	by	by	ADP
fumecheng-2877	171	19	gmr	gmr	PROPN
fumecheng-2877	171	20	(	(	PUNCT
fumecheng-2877	171	21	below	below	ADV
fumecheng-2877	171	22	)	)	PUNCT
fumecheng-2877	171	23	the	the	DET
fumecheng-2877	171	24	second	second	ADJ
fumecheng-2877	171	25	step	step	NOUN
fumecheng-2877	171	26	of	of	ADP
fumecheng-2877	171	27	the	the	DET
fumecheng-2877	171	28	learning	learning	NOUN
fumecheng-2877	171	29	module	module	NOUN
fumecheng-2877	171	30	is	be	AUX
fumecheng-2877	171	31	to	to	PART
fumecheng-2877	171	32	learn	learn	VERB
fumecheng-2877	171	33	the	the	DET
fumecheng-2877	171	34	sequence	sequence	NOUN
fumecheng-2877	171	35	of	of	ADP
fumecheng-2877	171	36	actions	action	NOUN
fumecheng-2877	171	37	needed	need	VERB
fumecheng-2877	171	38	to	to	PART
fumecheng-2877	171	39	reproduce	reproduce	VERB
fumecheng-2877	171	40	the	the	DET
fumecheng-2877	171	41	task	task	NOUN
fumecheng-2877	171	42	.	.	PUNCT
fumecheng-2877	172	1	firstly	firstly	ADV
fumecheng-2877	172	2	,	,	PUNCT
fumecheng-2877	172	3	specific	specific	ADJ
fumecheng-2877	172	4	ids	id	NOUN
fumecheng-2877	172	5	are	be	AUX
fumecheng-2877	172	6	assigned	assign	VERB
fumecheng-2877	172	7	to	to	ADP
fumecheng-2877	172	8	the	the	DET
fumecheng-2877	172	9	objects	object	NOUN
fumecheng-2877	172	10	identified	identify	VERB
fumecheng-2877	172	11	on	on	ADP
fumecheng-2877	172	12	the	the	DET
fumecheng-2877	172	13	working	working	NOUN
fumecheng-2877	172	14	table	table	NOUN
fumecheng-2877	172	15	,	,	PUNCT
fumecheng-2877	172	16	as	as	SCONJ
fumecheng-2877	172	17	shown	show	VERB
fumecheng-2877	172	18	in	in	ADP
fumecheng-2877	172	19	fig	fig	NOUN
fumecheng-2877	172	20	.	.	PUNCT
fumecheng-2877	173	1	8	8	X
fumecheng-2877	173	2	.	.	PUNCT
fumecheng-2877	174	1	it	it	PRON
fumecheng-2877	174	2	can	can	AUX
fumecheng-2877	174	3	be	be	AUX
fumecheng-2877	174	4	seen	see	VERB
fumecheng-2877	174	5	that	that	DET
fumecheng-2877	174	6	object	object	NOUN
fumecheng-2877	174	7	a	a	PRON
fumecheng-2877	174	8	is	be	AUX
fumecheng-2877	174	9	labeled	label	VERB
fumecheng-2877	174	10	as	as	ADP
fumecheng-2877	174	11	“	"	PUNCT
fumecheng-2877	174	12	left_pick_1	left_pick_1	PROPN
fumecheng-2877	174	13	”	"	PUNCT
fumecheng-2877	174	14	and	and	CCONJ
fumecheng-2877	174	15	object	object	VERB
fumecheng-2877	174	16	b	b	NOUN
fumecheng-2877	174	17	is	be	AUX
fumecheng-2877	174	18	labeled	label	VERB
fumecheng-2877	174	19	as	as	ADP
fumecheng-2877	174	20	“	"	PUNCT
fumecheng-2877	174	21	right_pick_1	right_pick_1	PROPN
fumecheng-2877	174	22	”	"	PUNCT
fumecheng-2877	174	23	.	.	PUNCT
fumecheng-2877	175	1	object	object	NOUN
fumecheng-2877	175	2	c	c	NOUN
fumecheng-2877	175	3	is	be	AUX
fumecheng-2877	175	4	labeled	label	VERB
fumecheng-2877	175	5	as	as	ADP
fumecheng-2877	175	6	“	"	PUNCT
fumecheng-2877	175	7	left_place_1	left_place_1	NOUN
fumecheng-2877	175	8	”	"	PUNCT
fumecheng-2877	175	9	and	and	CCONJ
fumecheng-2877	175	10	“	"	PUNCT
fumecheng-2877	175	11	right_place_1	right_place_1	X
fumecheng-2877	175	12	”	"	PUNCT
fumecheng-2877	175	13	,	,	PUNCT
fumecheng-2877	175	14	robot	robot	NOUN
fumecheng-2877	175	15	learning	learning	NOUN
fumecheng-2877	175	16	of	of	ADP
fumecheng-2877	175	17	object	object	NOUN
fumecheng-2877	175	18	manipulation	manipulation	NOUN
fumecheng-2877	175	19	task	task	NOUN
fumecheng-2877	175	20	actions	action	NOUN
fumecheng-2877	175	21	from	from	ADP
fumecheng-2877	175	22	human	human	ADJ
fumecheng-2877	175	23	demonstrations	demonstration	NOUN
fumecheng-2877	175	24	227	227	NUM
fumecheng-2877	175	25	since	since	SCONJ
fumecheng-2877	175	26	both	both	PRON
fumecheng-2877	175	27	objects	object	VERB
fumecheng-2877	175	28	a	a	PRON
fumecheng-2877	175	29	and	and	CCONJ
fumecheng-2877	175	30	b	b	NOUN
fumecheng-2877	175	31	shall	shall	AUX
fumecheng-2877	175	32	be	be	AUX
fumecheng-2877	175	33	placed	place	VERB
fumecheng-2877	175	34	next	next	ADV
fumecheng-2877	175	35	to	to	PART
fumecheng-2877	175	36	object	object	VERB
fumecheng-2877	175	37	c.	c.	NOUN
fumecheng-2877	175	38	next	next	ADV
fumecheng-2877	175	39	,	,	PUNCT
fumecheng-2877	175	40	the	the	DET
fumecheng-2877	175	41	mapping	mapping	NOUN
fumecheng-2877	175	42	of	of	ADP
fumecheng-2877	175	43	the	the	DET
fumecheng-2877	175	44	gripper	gripper	NOUN
fumecheng-2877	175	45	status	status	NOUN
fumecheng-2877	175	46	onto	onto	ADP
fumecheng-2877	175	47	the	the	DET
fumecheng-2877	175	48	learned	learn	VERB
fumecheng-2877	175	49	trajectory	trajectory	NOUN
fumecheng-2877	175	50	and	and	CCONJ
fumecheng-2877	175	51	the	the	DET
fumecheng-2877	175	52	splitting	splitting	NOUN
fumecheng-2877	175	53	of	of	ADP
fumecheng-2877	175	54	the	the	DET
fumecheng-2877	175	55	learned	learn	VERB
fumecheng-2877	175	56	task	task	NOUN
fumecheng-2877	175	57	(	(	PUNCT
fumecheng-2877	175	58	corresponding	correspond	VERB
fumecheng-2877	175	59	to	to	ADP
fumecheng-2877	175	60	the	the	DET
fumecheng-2877	175	61	learned	learn	VERB
fumecheng-2877	175	62	trajectory	trajectory	NOUN
fumecheng-2877	175	63	)	)	PUNCT
fumecheng-2877	175	64	into	into	ADP
fumecheng-2877	175	65	sequence	sequence	NOUN
fumecheng-2877	175	66	of	of	ADP
fumecheng-2877	175	67	individual	individual	ADJ
fumecheng-2877	175	68	actions	action	NOUN
fumecheng-2877	175	69	is	be	AUX
fumecheng-2877	175	70	completed	complete	VERB
fumecheng-2877	175	71	.	.	PUNCT
fumecheng-2877	176	1	an	an	DET
fumecheng-2877	176	2	example	example	NOUN
fumecheng-2877	176	3	of	of	ADP
fumecheng-2877	176	4	mapping	mapping	NOUN
fumecheng-2877	176	5	of	of	ADP
fumecheng-2877	176	6	the	the	DET
fumecheng-2877	176	7	gripper	gripper	NOUN
fumecheng-2877	176	8	status	status	NOUN
fumecheng-2877	176	9	onto	onto	ADP
fumecheng-2877	176	10	the	the	DET
fumecheng-2877	176	11	dimension	dimension	NOUN
fumecheng-2877	176	12	z	z	NOUN
fumecheng-2877	176	13	is	be	AUX
fumecheng-2877	176	14	shown	show	VERB
fumecheng-2877	176	15	in	in	ADP
fumecheng-2877	176	16	fig	fig	NOUN
fumecheng-2877	176	17	.	.	PUNCT
fumecheng-2877	177	1	9	9	X
fumecheng-2877	177	2	.	.	X
fumecheng-2877	178	1	in	in	ADP
fumecheng-2877	178	2	the	the	DET
fumecheng-2877	178	3	online	online	ADJ
fumecheng-2877	178	4	working	working	NOUN
fumecheng-2877	178	5	phase	phase	NOUN
fumecheng-2877	178	6	,	,	PUNCT
fumecheng-2877	178	7	the	the	DET
fumecheng-2877	178	8	trl	trl	PROPN
fumecheng-2877	178	9	recognizes	recognize	VERB
fumecheng-2877	178	10	the	the	DET
fumecheng-2877	178	11	task	task	NOUN
fumecheng-2877	178	12	based	base	VERB
fumecheng-2877	178	13	on	on	ADP
fumecheng-2877	178	14	the	the	DET
fumecheng-2877	178	15	objects	object	NOUN
fumecheng-2877	178	16	placed	place	VERB
fumecheng-2877	178	17	on	on	ADP
fumecheng-2877	178	18	the	the	DET
fumecheng-2877	178	19	working	working	NOUN
fumecheng-2877	178	20	table	table	NOUN
fumecheng-2877	178	21	by	by	ADP
fumecheng-2877	178	22	comparing	compare	VERB
fumecheng-2877	178	23	the	the	DET
fumecheng-2877	178	24	dimensions	dimension	NOUN
fumecheng-2877	178	25	and	and	CCONJ
fumecheng-2877	178	26	pose	pose	VERB
fumecheng-2877	178	27	of	of	ADP
fumecheng-2877	178	28	the	the	DET
fumecheng-2877	178	29	objects	object	NOUN
fumecheng-2877	178	30	with	with	ADP
fumecheng-2877	178	31	the	the	DET
fumecheng-2877	178	32	dimensions	dimension	NOUN
fumecheng-2877	178	33	and	and	CCONJ
fumecheng-2877	178	34	pose	pose	VERB
fumecheng-2877	178	35	of	of	ADP
fumecheng-2877	178	36	the	the	DET
fumecheng-2877	178	37	objects	object	NOUN
fumecheng-2877	178	38	stored	store	VERB
fumecheng-2877	178	39	in	in	ADP
fumecheng-2877	178	40	the	the	DET
fumecheng-2877	178	41	database	database	NOUN
fumecheng-2877	178	42	during	during	ADP
fumecheng-2877	178	43	the	the	DET
fumecheng-2877	178	44	demonstrations	demonstration	NOUN
fumecheng-2877	178	45	of	of	ADP
fumecheng-2877	178	46	the	the	DET
fumecheng-2877	178	47	task	task	NOUN
fumecheng-2877	178	48	.	.	PUNCT
fumecheng-2877	179	1	as	as	SCONJ
fumecheng-2877	179	2	shown	show	VERB
fumecheng-2877	179	3	in	in	ADP
fumecheng-2877	179	4	fig	fig	NOUN
fumecheng-2877	179	5	.	.	PUNCT
fumecheng-2877	180	1	10	10	NUM
fumecheng-2877	180	2	,	,	PUNCT
fumecheng-2877	180	3	the	the	DET
fumecheng-2877	180	4	robot	robot	NOUN
fumecheng-2877	180	5	performs	perform	VERB
fumecheng-2877	180	6	the	the	DET
fumecheng-2877	180	7	learned	learn	VERB
fumecheng-2877	180	8	task	task	NOUN
fumecheng-2877	180	9	successfully	successfully	ADV
fumecheng-2877	180	10	.	.	PUNCT
fumecheng-2877	181	1	fig	fig	NOUN
fumecheng-2877	181	2	.	.	PUNCT
fumecheng-2877	182	1	9	9	NUM
fumecheng-2877	182	2	left	leave	VERB
fumecheng-2877	182	3	robot	robot	NOUN
fumecheng-2877	182	4	-	-	PUNCT
fumecheng-2877	182	5	arm	arm	NOUN
fumecheng-2877	182	6	z	z	NOUN
fumecheng-2877	182	7	-	-	PUNCT
fumecheng-2877	182	8	dimension	dimension	NOUN
fumecheng-2877	182	9	:	:	PUNCT
fumecheng-2877	182	10	mapping	mapping	NOUN
fumecheng-2877	182	11	of	of	ADP
fumecheng-2877	182	12	the	the	DET
fumecheng-2877	182	13	gripper	gripper	NOUN
fumecheng-2877	182	14	status	status	NOUN
fumecheng-2877	182	15	onto	onto	ADP
fumecheng-2877	182	16	the	the	DET
fumecheng-2877	182	17	learned	learn	VERB
fumecheng-2877	182	18	trajectory	trajectory	NOUN
fumecheng-2877	182	19	fig	fig	NOUN
fumecheng-2877	182	20	.	.	PUNCT
fumecheng-2877	183	1	10	10	NUM
fumecheng-2877	183	2	robot	robot	NOUN
fumecheng-2877	183	3	execution	execution	NOUN
fumecheng-2877	183	4	(	(	PUNCT
fumecheng-2877	183	5	reproduction	reproduction	NOUN
fumecheng-2877	183	6	)	)	PUNCT
fumecheng-2877	183	7	of	of	ADP
fumecheng-2877	183	8	learned	learn	VERB
fumecheng-2877	183	9	task	task	PROPN
fumecheng-2877	183	10	fig	fig	NOUN
fumecheng-2877	183	11	.	.	PUNCT
fumecheng-2877	184	1	8	8	NUM
fumecheng-2877	184	2	labeling	labeling	NOUN
fumecheng-2877	184	3	of	of	ADP
fumecheng-2877	184	4	the	the	DET
fumecheng-2877	184	5	objects	object	NOUN
fumecheng-2877	184	6	with	with	ADP
fumecheng-2877	184	7	specific	specific	ADJ
fumecheng-2877	184	8	ids	id	NOUN
fumecheng-2877	184	9	228	228	NUM
fumecheng-2877	184	10	m.	m.	NOUN
fumecheng-2877	184	11	kyrarini	kyrarini	PROPN
fumecheng-2877	184	12	,	,	PUNCT
fumecheng-2877	184	13	m.	m.	NOUN
fumecheng-2877	184	14	a.	a.	PROPN
fumecheng-2877	184	15	haseeb	haseeb	PROPN
fumecheng-2877	184	16	,	,	PUNCT
fumecheng-2877	184	17	d.	d.	PROPN
fumecheng-2877	184	18	ristic	ristic	PROPN
fumecheng-2877	184	19	-	-	PUNCT
fumecheng-2877	184	20	durrant	durrant	PROPN
fumecheng-2877	184	21	,	,	PUNCT
fumecheng-2877	184	22	a.	a.	NOUN
fumecheng-2877	184	23	gräser	gräser	NOUN
fumecheng-2877	184	24	6	6	NUM
fumecheng-2877	184	25	.	.	PUNCT
fumecheng-2877	184	26	conclusion	conclusion	NOUN
fumecheng-2877	184	27	in	in	ADP
fumecheng-2877	184	28	this	this	DET
fumecheng-2877	184	29	paper	paper	NOUN
fumecheng-2877	184	30	,	,	PUNCT
fumecheng-2877	184	31	a	a	DET
fumecheng-2877	184	32	framework	framework	NOUN
fumecheng-2877	184	33	for	for	ADP
fumecheng-2877	184	34	the	the	DET
fumecheng-2877	184	35	robot	robot	NOUN
fumecheng-2877	184	36	learning	learning	NOUN
fumecheng-2877	184	37	of	of	ADP
fumecheng-2877	184	38	the	the	DET
fumecheng-2877	184	39	object	object	NOUN
fumecheng-2877	184	40	manipulation	manipulation	NOUN
fumecheng-2877	184	41	tasks	task	NOUN
fumecheng-2877	184	42	via	via	ADP
fumecheng-2877	184	43	multiple	multiple	ADJ
fumecheng-2877	184	44	human	human	ADJ
fumecheng-2877	184	45	demonstrations	demonstration	NOUN
fumecheng-2877	184	46	is	be	AUX
fumecheng-2877	184	47	presented	present	VERB
fumecheng-2877	184	48	.	.	PUNCT
fumecheng-2877	185	1	in	in	ADP
fumecheng-2877	185	2	the	the	DET
fumecheng-2877	185	3	offline	offline	ADJ
fumecheng-2877	185	4	learning	learning	NOUN
fumecheng-2877	185	5	phase	phase	NOUN
fumecheng-2877	185	6	the	the	DET
fumecheng-2877	185	7	robot	robot	NOUN
fumecheng-2877	185	8	learns	learn	VERB
fumecheng-2877	185	9	the	the	DET
fumecheng-2877	185	10	task	task	NOUN
fumecheng-2877	185	11	at	at	ADP
fumecheng-2877	185	12	the	the	DET
fumecheng-2877	185	13	trajectory	trajectory	NOUN
fumecheng-2877	185	14	level	level	NOUN
fumecheng-2877	185	15	by	by	ADP
fumecheng-2877	185	16	using	use	VERB
fumecheng-2877	185	17	the	the	DET
fumecheng-2877	185	18	algorithms	algorithm	NOUN
fumecheng-2877	185	19	for	for	ADP
fumecheng-2877	185	20	automatic	automatic	ADJ
fumecheng-2877	185	21	selection	selection	NOUN
fumecheng-2877	185	22	of	of	ADP
fumecheng-2877	185	23	similar	similar	ADJ
fumecheng-2877	185	24	demonstrations	demonstration	NOUN
fumecheng-2877	185	25	,	,	PUNCT
fumecheng-2877	185	26	the	the	DET
fumecheng-2877	185	27	dynamic	dynamic	ADJ
fumecheng-2877	185	28	time	time	NOUN
fumecheng-2877	185	29	warping	warp	VERB
fumecheng-2877	185	30	(	(	PUNCT
fumecheng-2877	185	31	dtw	dtw	PROPN
fumecheng-2877	185	32	)	)	PUNCT
fumecheng-2877	185	33	,	,	PUNCT
fumecheng-2877	185	34	the	the	DET
fumecheng-2877	185	35	gaussian	gaussian	ADJ
fumecheng-2877	185	36	mixture	mixture	NOUN
fumecheng-2877	185	37	model	model	NOUN
fumecheng-2877	185	38	(	(	PUNCT
fumecheng-2877	185	39	gmm	gmm	NOUN
fumecheng-2877	185	40	)	)	PUNCT
fumecheng-2877	185	41	and	and	CCONJ
fumecheng-2877	185	42	the	the	DET
fumecheng-2877	185	43	gaussian	gaussian	ADJ
fumecheng-2877	185	44	mixture	mixture	NOUN
fumecheng-2877	185	45	regression	regression	NOUN
fumecheng-2877	185	46	(	(	PUNCT
fumecheng-2877	185	47	gmr	gmr	PROPN
fumecheng-2877	185	48	)	)	PUNCT
fumecheng-2877	185	49	.	.	PUNCT
fumecheng-2877	186	1	additionally	additionally	ADV
fumecheng-2877	186	2	,	,	PUNCT
fumecheng-2877	186	3	with	with	ADP
fumecheng-2877	186	4	the	the	DET
fumecheng-2877	186	5	automatic	automatic	ADJ
fumecheng-2877	186	6	object	object	NOUN
fumecheng-2877	186	7	labeling	labeling	NOUN
fumecheng-2877	186	8	and	and	CCONJ
fumecheng-2877	186	9	the	the	DET
fumecheng-2877	186	10	splitting	splitting	NOUN
fumecheng-2877	186	11	of	of	ADP
fumecheng-2877	186	12	the	the	DET
fumecheng-2877	186	13	demonstrated	demonstrate	VERB
fumecheng-2877	186	14	task	task	NOUN
fumecheng-2877	186	15	into	into	ADP
fumecheng-2877	186	16	sequence	sequence	NOUN
fumecheng-2877	186	17	of	of	ADP
fumecheng-2877	186	18	actions	action	NOUN
fumecheng-2877	186	19	,	,	PUNCT
fumecheng-2877	186	20	the	the	DET
fumecheng-2877	186	21	robot	robot	NOUN
fumecheng-2877	186	22	is	be	AUX
fumecheng-2877	186	23	able	able	ADJ
fumecheng-2877	186	24	to	to	PART
fumecheng-2877	186	25	learn	learn	VERB
fumecheng-2877	186	26	the	the	DET
fumecheng-2877	186	27	actions	action	NOUN
fumecheng-2877	186	28	which	which	PRON
fumecheng-2877	186	29	are	be	AUX
fumecheng-2877	186	30	needed	need	VERB
fumecheng-2877	186	31	to	to	PART
fumecheng-2877	186	32	perform	perform	VERB
fumecheng-2877	186	33	the	the	DET
fumecheng-2877	186	34	task	task	NOUN
fumecheng-2877	186	35	successfully	successfully	ADV
fumecheng-2877	186	36	.	.	PUNCT
fumecheng-2877	187	1	the	the	DET
fumecheng-2877	187	2	proposed	propose	VERB
fumecheng-2877	187	3	learning	learning	NOUN
fumecheng-2877	187	4	framework	framework	NOUN
fumecheng-2877	187	5	has	have	AUX
fumecheng-2877	187	6	been	be	AUX
fumecheng-2877	187	7	experimentally	experimentally	ADV
fumecheng-2877	187	8	tested	test	VERB
fumecheng-2877	187	9	with	with	ADP
fumecheng-2877	187	10	a	a	DET
fumecheng-2877	187	11	dual	dual	ADJ
fumecheng-2877	187	12	arm	arm	NOUN
fumecheng-2877	187	13	industrial	industrial	ADJ
fumecheng-2877	187	14	robot	robot	NOUN
fumecheng-2877	187	15	for	for	ADP
fumecheng-2877	187	16	an	an	DET
fumecheng-2877	187	17	object	object	NOUN
fumecheng-2877	187	18	manipulation	manipulation	NOUN
fumecheng-2877	187	19	task	task	NOUN
fumecheng-2877	187	20	in	in	ADP
fumecheng-2877	187	21	an	an	DET
fumecheng-2877	187	22	assembly	assembly	NOUN
fumecheng-2877	187	23	scenario	scenario	NOUN
fumecheng-2877	187	24	and	and	CCONJ
fumecheng-2877	187	25	the	the	DET
fumecheng-2877	187	26	experimental	experimental	ADJ
fumecheng-2877	187	27	results	result	NOUN
fumecheng-2877	187	28	are	be	AUX
fumecheng-2877	187	29	presented	present	VERB
fumecheng-2877	187	30	.	.	PUNCT
fumecheng-2877	188	1	in	in	ADP
fumecheng-2877	188	2	the	the	DET
fumecheng-2877	188	3	future	future	ADJ
fumecheng-2877	188	4	work	work	NOUN
fumecheng-2877	188	5	,	,	PUNCT
fumecheng-2877	188	6	the	the	DET
fumecheng-2877	188	7	robot	robot	NOUN
fumecheng-2877	188	8	learning	learn	VERB
fumecheng-2877	188	9	framework	framework	NOUN
fumecheng-2877	188	10	will	will	AUX
fumecheng-2877	188	11	be	be	AUX
fumecheng-2877	188	12	updated	update	VERB
fumecheng-2877	188	13	to	to	PART
fumecheng-2877	188	14	enable	enable	VERB
fumecheng-2877	188	15	human	human	NOUN
fumecheng-2877	188	16	to	to	PART
fumecheng-2877	188	17	correct	correct	VERB
fumecheng-2877	188	18	the	the	DET
fumecheng-2877	188	19	robot	robot	NOUN
fumecheng-2877	188	20	actions	action	NOUN
fumecheng-2877	188	21	.	.	PUNCT
fumecheng-2877	189	1	the	the	DET
fumecheng-2877	189	2	corrective	corrective	ADJ
fumecheng-2877	189	3	actions	action	NOUN
fumecheng-2877	189	4	will	will	AUX
fumecheng-2877	189	5	be	be	AUX
fumecheng-2877	189	6	used	use	VERB
fumecheng-2877	189	7	as	as	ADP
fumecheng-2877	189	8	additional	additional	ADJ
fumecheng-2877	189	9	input	input	NOUN
fumecheng-2877	189	10	to	to	ADP
fumecheng-2877	189	11	the	the	DET
fumecheng-2877	189	12	learning	learning	NOUN
fumecheng-2877	189	13	framework	framework	NOUN
fumecheng-2877	189	14	.	.	PUNCT
fumecheng-2877	190	1	additionally	additionally	ADV
fumecheng-2877	190	2	,	,	PUNCT
fumecheng-2877	190	3	the	the	DET
fumecheng-2877	190	4	robot	robot	NOUN
fumecheng-2877	190	5	learning	learn	VERB
fumecheng-2877	190	6	framework	framework	NOUN
fumecheng-2877	190	7	will	will	AUX
fumecheng-2877	190	8	be	be	AUX
fumecheng-2877	190	9	extended	extend	VERB
fumecheng-2877	190	10	to	to	PART
fumecheng-2877	190	11	cope	cope	VERB
fumecheng-2877	190	12	with	with	ADP
fumecheng-2877	190	13	obstacle	obstacle	NOUN
fumecheng-2877	190	14	avoidance	avoidance	NOUN
fumecheng-2877	190	15	without	without	ADP
fumecheng-2877	190	16	the	the	DET
fumecheng-2877	190	17	need	need	NOUN
fumecheng-2877	190	18	of	of	ADP
fumecheng-2877	190	19	additional	additional	ADJ
fumecheng-2877	190	20	learning	learning	NOUN
fumecheng-2877	190	21	.	.	PUNCT
fumecheng-2877	191	1	acknowledgements	acknowledgement	NOUN
fumecheng-2877	191	2	:	:	PUNCT
fumecheng-2877	191	3	the	the	DET
fumecheng-2877	191	4	research	research	NOUN
fumecheng-2877	191	5	is	be	AUX
fumecheng-2877	191	6	supported	support	VERB
fumecheng-2877	191	7	by	by	ADP
fumecheng-2877	191	8	the	the	DET
fumecheng-2877	191	9	german	german	ADJ
fumecheng-2877	191	10	federal	federal	PROPN
fumecheng-2877	191	11	ministry	ministry	PROPN
fumecheng-2877	191	12	of	of	ADP
fumecheng-2877	191	13	education	education	PROPN
fumecheng-2877	191	14	and	and	CCONJ
fumecheng-2877	191	15	research	research	NOUN
fumecheng-2877	191	16	(	(	PUNCT
fumecheng-2877	191	17	bmbf	bmbf	NOUN
fumecheng-2877	191	18	)	)	PUNCT
fumecheng-2877	191	19	as	as	ADP
fumecheng-2877	191	20	part	part	NOUN
fumecheng-2877	191	21	of	of	ADP
fumecheng-2877	191	22	the	the	DET
fumecheng-2877	191	23	project	project	NOUN
fumecheng-2877	191	24	merosy	merosy	NOUN
fumecheng-2877	191	25	(	(	PUNCT
fumecheng-2877	191	26	human	human	ADJ
fumecheng-2877	191	27	robot	robot	NOUN
fumecheng-2877	191	28	synergy	synergy	NOUN
fumecheng-2877	191	29	)	)	PUNCT
fumecheng-2877	191	30	.	.	PUNCT
fumecheng-2877	192	1	the	the	DET
fumecheng-2877	192	2	authors	author	NOUN
fumecheng-2877	192	3	would	would	AUX
fumecheng-2877	192	4	like	like	VERB
fumecheng-2877	192	5	to	to	PART
fumecheng-2877	192	6	thank	thank	VERB
fumecheng-2877	192	7	pi4	pi4	PROPN
fumecheng-2877	192	8	robotics	robotic	NOUN
fumecheng-2877	192	9	gmbh	gmbh	PROPN
fumecheng-2877	192	10	for	for	ADP
fumecheng-2877	192	11	their	their	PRON
fumecheng-2877	192	12	support	support	NOUN
fumecheng-2877	192	13	.	.	PUNCT
fumecheng-2877	193	1	references	reference	NOUN
fumecheng-2877	193	2	1	1	NUM
fumecheng-2877	193	3	.	.	PUNCT
fumecheng-2877	194	1	li	li	PROPN
fumecheng-2877	194	2	,	,	PUNCT
fumecheng-2877	194	3	q.	q.	PROPN
fumecheng-2877	194	4	,	,	PUNCT
fumecheng-2877	194	5	takanishi	takanishi	PROPN
fumecheng-2877	194	6	,	,	PUNCT
fumecheng-2877	194	7	a.	a.	NOUN
fumecheng-2877	194	8	and	and	CCONJ
fumecheng-2877	194	9	kato	kato	PROPN
fumecheng-2877	194	10	,	,	PUNCT
fumecheng-2877	194	11	i.	i.	PROPN
fumecheng-2877	194	12	,	,	PUNCT
fumecheng-2877	194	13	1993	1993	NUM
fumecheng-2877	194	14	,	,	PUNCT
fumecheng-2877	194	15	learning	learning	NOUN
fumecheng-2877	194	16	of	of	ADP
fumecheng-2877	194	17	robot	robot	NOUN
fumecheng-2877	194	18	biped	bipe	VERB
fumecheng-2877	194	19	walking	walk	VERB
fumecheng-2877	194	20	with	with	ADP
fumecheng-2877	194	21	the	the	DET
fumecheng-2877	194	22	cooperation	cooperation	NOUN
fumecheng-2877	194	23	of	of	ADP
fumecheng-2877	194	24	a	a	DET
fumecheng-2877	194	25	human	human	ADJ
fumecheng-2877	194	26	,	,	PUNCT
fumecheng-2877	194	27	2nd	2nd	ADJ
fumecheng-2877	194	28	ieee	ieee	NOUN
fumecheng-2877	194	29	international	international	ADJ
fumecheng-2877	194	30	workshop	workshop	NOUN
fumecheng-2877	194	31	on	on	ADP
fumecheng-2877	194	32	robot	robot	NOUN
fumecheng-2877	194	33	and	and	CCONJ
fumecheng-2877	194	34	human	human	ADJ
fumecheng-2877	194	35	communication	communication	NOUN
fumecheng-2877	194	36	,	,	PUNCT
fumecheng-2877	194	37	tokyo	tokyo	PROPN
fumecheng-2877	194	38	,	,	PUNCT
fumecheng-2877	194	39	doi	doi	NOUN
fumecheng-2877	194	40	:	:	PUNCT
fumecheng-2877	194	41	10.1109	10.1109	NUM
fumecheng-2877	194	42	/	/	SYM
fumecheng-2877	194	43	roman	roman	NOUN
fumecheng-2877	194	44	.	.	PUNCT
fumecheng-2877	195	1	1993.367686	1993.367686	NUM
fumecheng-2877	195	2	.	.	PUNCT
fumecheng-2877	196	1	2	2	X
fumecheng-2877	196	2	.	.	X
fumecheng-2877	196	3	field	field	NOUN
fumecheng-2877	196	4	,	,	PUNCT
fumecheng-2877	196	5	m.	m.	NOUN
fumecheng-2877	196	6	,	,	PUNCT
fumecheng-2877	196	7	stirling	stirling	PROPN
fumecheng-2877	196	8	,	,	PUNCT
fumecheng-2877	196	9	d.	d.	PROPN
fumecheng-2877	196	10	,	,	PUNCT
fumecheng-2877	196	11	pan	pan	PROPN
fumecheng-2877	196	12	,	,	PUNCT
fumecheng-2877	196	13	z.	z.	PROPN
fumecheng-2877	196	14	,	,	PUNCT
fumecheng-2877	196	15	and	and	CCONJ
fumecheng-2877	196	16	naghdy	naghdy	PROPN
fumecheng-2877	196	17	,	,	PUNCT
fumecheng-2877	196	18	f.	f.	PROPN
fumecheng-2877	196	19	,	,	PUNCT
fumecheng-2877	196	20	2016	2016	NUM
fumecheng-2877	196	21	,	,	PUNCT
fumecheng-2877	196	22	learning	learn	VERB
fumecheng-2877	196	23	trajectories	trajectory	NOUN
fumecheng-2877	196	24	for	for	ADP
fumecheng-2877	196	25	robot	robot	NOUN
fumecheng-2877	196	26	programing	program	VERB
fumecheng-2877	196	27	by	by	ADP
fumecheng-2877	196	28	demonstration	demonstration	NOUN
fumecheng-2877	196	29	using	use	VERB
fumecheng-2877	196	30	a	a	DET
fumecheng-2877	196	31	coordinated	coordinated	ADJ
fumecheng-2877	196	32	mixture	mixture	NOUN
fumecheng-2877	196	33	of	of	ADP
fumecheng-2877	196	34	factor	factor	NOUN
fumecheng-2877	196	35	analyzers	analyzer	NOUN
fumecheng-2877	196	36	,	,	PUNCT
fumecheng-2877	196	37	ieee	ieee	NOUN
fumecheng-2877	196	38	transactions	transaction	NOUN
fumecheng-2877	196	39	on	on	ADP
fumecheng-2877	196	40	cybernetics	cybernetic	NOUN
fumecheng-2877	196	41	,	,	PUNCT
fumecheng-2877	196	42	46(3	46(3	NOUN
fumecheng-2877	196	43	)	)	PUNCT
fumecheng-2877	196	44	,	,	PUNCT
fumecheng-2877	196	45	pp	pp	PROPN
fumecheng-2877	196	46	.	.	PUNCT
fumecheng-2877	197	1	706	706	NUM
fumecheng-2877	197	2	-	-	SYM
fumecheng-2877	197	3	717	717	NUM
fumecheng-2877	197	4	.	.	PUNCT
fumecheng-2877	198	1	3	3	X
fumecheng-2877	198	2	.	.	X
fumecheng-2877	198	3	ureche	ureche	PROPN
fumecheng-2877	198	4	,	,	PUNCT
fumecheng-2877	198	5	a.	a.	PROPN
fumecheng-2877	198	6	l.	l.	PROPN
fumecheng-2877	198	7	p.	p.	PROPN
fumecheng-2877	198	8	,	,	PUNCT
fumecheng-2877	198	9	umezawa	umezawa	PROPN
fumecheng-2877	198	10	,	,	PUNCT
fumecheng-2877	198	11	k.	k.	PROPN
fumecheng-2877	198	12	,	,	PUNCT
fumecheng-2877	198	13	nakamura	nakamura	PROPN
fumecheng-2877	198	14	,	,	PUNCT
fumecheng-2877	198	15	y.	y.	PROPN
fumecheng-2877	198	16	,	,	PUNCT
fumecheng-2877	198	17	and	and	CCONJ
fumecheng-2877	198	18	billard	billard	PROPN
fumecheng-2877	198	19	,	,	PUNCT
fumecheng-2877	198	20	a.	a.	NOUN
fumecheng-2877	198	21	,	,	PUNCT
fumecheng-2877	198	22	2015	2015	NUM
fumecheng-2877	198	23	,	,	PUNCT
fumecheng-2877	198	24	task	task	NOUN
fumecheng-2877	198	25	parameterization	parameterization	NOUN
fumecheng-2877	198	26	using	use	VERB
fumecheng-2877	198	27	continuous	continuous	ADJ
fumecheng-2877	198	28	constraints	constraint	NOUN
fumecheng-2877	198	29	extracted	extract	VERB
fumecheng-2877	198	30	from	from	ADP
fumecheng-2877	198	31	human	human	ADJ
fumecheng-2877	198	32	demonstrations	demonstration	NOUN
fumecheng-2877	198	33	,	,	PUNCT
fumecheng-2877	198	34	ieee	ieee	NOUN
fumecheng-2877	198	35	transactions	transaction	NOUN
fumecheng-2877	198	36	on	on	ADP
fumecheng-2877	198	37	robotics	robotic	NOUN
fumecheng-2877	198	38	,	,	PUNCT
fumecheng-2877	198	39	31(6	31(6	NUM
fumecheng-2877	198	40	)	)	PUNCT
fumecheng-2877	198	41	,	,	PUNCT
fumecheng-2877	198	42	pp	pp	ADJ
fumecheng-2877	198	43	.	.	PUNCT
fumecheng-2877	199	1	1458	1458	NUM
fumecheng-2877	199	2	-	-	SYM
fumecheng-2877	199	3	1471	1471	NUM
fumecheng-2877	199	4	.	.	PUNCT
fumecheng-2877	200	1	4	4	NUM
fumecheng-2877	200	2	.	.	X
fumecheng-2877	200	3	bandera	bandera	PROPN
fumecheng-2877	200	4	,	,	PUNCT
fumecheng-2877	200	5	j.p	j.p	PROPN
fumecheng-2877	200	6	.	.	PROPN
fumecheng-2877	200	7	,	,	PUNCT
fumecheng-2877	200	8	rodriguez	rodriguez	PROPN
fumecheng-2877	200	9	,	,	PUNCT
fumecheng-2877	200	10	j.a	j.a	PROPN
fumecheng-2877	200	11	.	.	PROPN
fumecheng-2877	200	12	,	,	PUNCT
fumecheng-2877	200	13	molina	molina	PROPN
fumecheng-2877	200	14	-	-	PUNCT
fumecheng-2877	200	15	tanco	tanco	PROPN
fumecheng-2877	200	16	,	,	PUNCT
fumecheng-2877	200	17	l.	l.	PROPN
fumecheng-2877	200	18	and	and	CCONJ
fumecheng-2877	200	19	bandera	bandera	PROPN
fumecheng-2877	200	20	,	,	PUNCT
fumecheng-2877	200	21	a.	a.	NOUN
fumecheng-2877	200	22	,	,	PUNCT
fumecheng-2877	200	23	2012	2012	NUM
fumecheng-2877	200	24	,	,	PUNCT
fumecheng-2877	200	25	a	a	DET
fumecheng-2877	200	26	survey	survey	NOUN
fumecheng-2877	200	27	of	of	ADP
fumecheng-2877	200	28	vision	vision	NOUN
fumecheng-2877	200	29	-	-	PUNCT
fumecheng-2877	200	30	based	base	VERB
fumecheng-2877	200	31	architectures	architecture	NOUN
fumecheng-2877	200	32	for	for	ADP
fumecheng-2877	200	33	robot	robot	NOUN
fumecheng-2877	200	34	learning	learn	VERB
fumecheng-2877	200	35	by	by	ADP
fumecheng-2877	200	36	imitation	imitation	NOUN
fumecheng-2877	200	37	,	,	PUNCT
fumecheng-2877	200	38	international	international	ADJ
fumecheng-2877	200	39	journal	journal	NOUN
fumecheng-2877	200	40	of	of	ADP
fumecheng-2877	200	41	humanoid	humanoid	NOUN
fumecheng-2877	200	42	robotics	robotic	NOUN
fumecheng-2877	200	43	,	,	PUNCT
fumecheng-2877	200	44	9(01	9(01	NUM
fumecheng-2877	200	45	)	)	PUNCT
fumecheng-2877	200	46	,	,	PUNCT
fumecheng-2877	200	47	p.1250006	p.1250006	NOUN
fumecheng-2877	200	48	.	.	PROPN
fumecheng-2877	201	1	5	5	NUM
fumecheng-2877	201	2	.	.	X
fumecheng-2877	201	3	lee	lee	PROPN
fumecheng-2877	201	4	,	,	PUNCT
fumecheng-2877	201	5	a.x	a.x	PROPN
fumecheng-2877	201	6	.	.	PROPN
fumecheng-2877	201	7	,	,	PUNCT
fumecheng-2877	201	8	gupta	gupta	PROPN
fumecheng-2877	201	9	,	,	PUNCT
fumecheng-2877	201	10	a.	a.	PROPN
fumecheng-2877	201	11	,	,	PUNCT
fumecheng-2877	201	12	lu	lu	PROPN
fumecheng-2877	201	13	,	,	PUNCT
fumecheng-2877	201	14	h.	h.	PROPN
fumecheng-2877	201	15	,	,	PUNCT
fumecheng-2877	201	16	levine	levine	PROPN
fumecheng-2877	201	17	,	,	PUNCT
fumecheng-2877	201	18	s.	s.	PROPN
fumecheng-2877	201	19	and	and	CCONJ
fumecheng-2877	201	20	abbeel	abbeel	NOUN
fumecheng-2877	201	21	,	,	PUNCT
fumecheng-2877	201	22	p.	p.	NOUN
fumecheng-2877	201	23	,	,	PUNCT
fumecheng-2877	201	24	2015	2015	NUM
fumecheng-2877	201	25	,	,	PUNCT
fumecheng-2877	201	26	learning	learn	VERB
fumecheng-2877	201	27	from	from	ADP
fumecheng-2877	201	28	multiple	multiple	ADJ
fumecheng-2877	201	29	demonstrations	demonstration	NOUN
fumecheng-2877	201	30	using	use	VERB
fumecheng-2877	201	31	trajectory	trajectory	NOUN
fumecheng-2877	201	32	-	-	PUNCT
fumecheng-2877	201	33	aware	aware	ADJ
fumecheng-2877	201	34	non	non	ADJ
fumecheng-2877	201	35	-	-	ADJ
fumecheng-2877	201	36	rigid	rigid	ADJ
fumecheng-2877	201	37	registration	registration	NOUN
fumecheng-2877	201	38	with	with	ADP
fumecheng-2877	201	39	applications	application	NOUN
fumecheng-2877	201	40	to	to	ADP
fumecheng-2877	201	41	deformable	deformable	ADJ
fumecheng-2877	201	42	object	object	NOUN
fumecheng-2877	201	43	manipulation	manipulation	NOUN
fumecheng-2877	201	44	,	,	PUNCT
fumecheng-2877	201	45	2015	2015	NUM
fumecheng-2877	201	46	ieee	ieee	NOUN
fumecheng-2877	201	47	/	/	SYM
fumecheng-2877	201	48	rsj	rsj	NOUN
fumecheng-2877	201	49	international	international	ADJ
fumecheng-2877	201	50	conference	conference	NOUN
fumecheng-2877	201	51	on	on	ADP
fumecheng-2877	201	52	intelligent	intelligent	ADJ
fumecheng-2877	201	53	robots	robot	NOUN
fumecheng-2877	201	54	and	and	CCONJ
fumecheng-2877	201	55	systems	system	NOUN
fumecheng-2877	201	56	(	(	PUNCT
fumecheng-2877	201	57	iros	iro	NOUN
fumecheng-2877	201	58	)	)	PUNCT
fumecheng-2877	201	59	,	,	PUNCT
fumecheng-2877	201	60	pp	pp	ADP
fumecheng-2877	201	61	.	.	PUNCT
fumecheng-2877	202	1	5265	5265	NUM
fumecheng-2877	202	2	-	-	SYM
fumecheng-2877	202	3	5272	5272	NUM
fumecheng-2877	202	4	,	,	PUNCT
fumecheng-2877	202	5	hamburg	hamburg	PROPN
fumecheng-2877	202	6	.	.	PUNCT
fumecheng-2877	203	1	6	6	NUM
fumecheng-2877	203	2	.	.	X
fumecheng-2877	203	3	schou	schou	PROPN
fumecheng-2877	203	4	,	,	PUNCT
fumecheng-2877	203	5	c.	c.	PROPN
fumecheng-2877	203	6	,	,	PUNCT
fumecheng-2877	203	7	damgaard	damgaard	PROPN
fumecheng-2877	203	8	,	,	PUNCT
fumecheng-2877	203	9	j.s	j.s	PROPN
fumecheng-2877	203	10	.	.	PROPN
fumecheng-2877	203	11	,	,	PUNCT
fumecheng-2877	203	12	bogh	bogh	PROPN
fumecheng-2877	203	13	,	,	PUNCT
fumecheng-2877	203	14	s.	s.	PROPN
fumecheng-2877	203	15	and	and	CCONJ
fumecheng-2877	203	16	madsen	madsen	PROPN
fumecheng-2877	203	17	,	,	PUNCT
fumecheng-2877	203	18	o.	o.	PROPN
fumecheng-2877	203	19	,	,	PUNCT
fumecheng-2877	203	20	2013	2013	NUM
fumecheng-2877	203	21	,	,	PUNCT
fumecheng-2877	203	22	human	human	ADJ
fumecheng-2877	203	23	-	-	PUNCT
fumecheng-2877	203	24	robot	robot	NOUN
fumecheng-2877	203	25	interface	interface	NOUN
fumecheng-2877	203	26	for	for	ADP
fumecheng-2877	203	27	instructing	instruct	VERB
fumecheng-2877	203	28	industrial	industrial	ADJ
fumecheng-2877	203	29	tasks	task	NOUN
fumecheng-2877	203	30	using	use	VERB
fumecheng-2877	203	31	kinesthetic	kinesthetic	ADJ
fumecheng-2877	203	32	teaching	teaching	NOUN
fumecheng-2877	203	33	,	,	PUNCT
fumecheng-2877	203	34	2013	2013	NUM
fumecheng-2877	203	35	44th	44th	ADJ
fumecheng-2877	203	36	international	international	ADJ
fumecheng-2877	203	37	symposium	symposium	NOUN
fumecheng-2877	203	38	on	on	ADP
fumecheng-2877	203	39	robotics	robotic	NOUN
fumecheng-2877	203	40	,	,	PUNCT
fumecheng-2877	203	41	pp	pp	ADJ
fumecheng-2877	203	42	.	.	PUNCT
fumecheng-2877	204	1	1	1	NUM
fumecheng-2877	204	2	-	-	SYM
fumecheng-2877	204	3	6	6	NUM
fumecheng-2877	204	4	,	,	PUNCT
fumecheng-2877	204	5	seoul	seoul	PROPN
fumecheng-2877	204	6	.	.	PUNCT
fumecheng-2877	205	1	7	7	X
fumecheng-2877	205	2	.	.	X
fumecheng-2877	205	3	akgun	akgun	PROPN
fumecheng-2877	205	4	,	,	PUNCT
fumecheng-2877	205	5	b.	b.	PROPN
fumecheng-2877	205	6	,	,	PUNCT
fumecheng-2877	205	7	and	and	CCONJ
fumecheng-2877	205	8	thomaz	thomaz	PROPN
fumecheng-2877	205	9	,	,	PUNCT
fumecheng-2877	205	10	a.	a.	NOUN
fumecheng-2877	205	11	,	,	PUNCT
fumecheng-2877	205	12	2016	2016	NUM
fumecheng-2877	205	13	,	,	PUNCT
fumecheng-2877	205	14	simultaneously	simultaneously	ADV
fumecheng-2877	205	15	learning	learn	VERB
fumecheng-2877	205	16	actions	action	NOUN
fumecheng-2877	205	17	and	and	CCONJ
fumecheng-2877	205	18	goals	goal	NOUN
fumecheng-2877	205	19	from	from	ADP
fumecheng-2877	205	20	demonstration	demonstration	NOUN
fumecheng-2877	205	21	,	,	PUNCT
fumecheng-2877	205	22	autonomous	autonomous	ADJ
fumecheng-2877	205	23	robots	robot	NOUN
fumecheng-2877	205	24	,	,	PUNCT
fumecheng-2877	205	25	40(2	40(2	NUM
fumecheng-2877	205	26	)	)	PUNCT
fumecheng-2877	205	27	,	,	PUNCT
fumecheng-2877	205	28	211	211	NUM
fumecheng-2877	205	29	-	-	SYM
fumecheng-2877	205	30	227	227	NUM
fumecheng-2877	205	31	.	.	NOUN
fumecheng-2877	205	32	8	8	NUM
fumecheng-2877	205	33	.	.	X
fumecheng-2877	205	34	calinon	calinon	PROPN
fumecheng-2877	205	35	,	,	PUNCT
fumecheng-2877	205	36	s.	s.	PROPN
fumecheng-2877	205	37	,	,	PUNCT
fumecheng-2877	205	38	sauser	sauser	PROPN
fumecheng-2877	205	39	,	,	PUNCT
fumecheng-2877	205	40	e.l	e.l	PROPN
fumecheng-2877	205	41	.	.	PROPN
fumecheng-2877	205	42	,	,	PUNCT
fumecheng-2877	205	43	billard	billard	PROPN
fumecheng-2877	205	44	,	,	PUNCT
fumecheng-2877	205	45	a.g	a.g	PROPN
fumecheng-2877	205	46	.	.	PROPN
fumecheng-2877	205	47	and	and	CCONJ
fumecheng-2877	205	48	caldwell	caldwell	PROPN
fumecheng-2877	205	49	,	,	PUNCT
fumecheng-2877	205	50	d.g	d.g	PROPN
fumecheng-2877	205	51	.	.	PROPN
fumecheng-2877	205	52	,	,	PUNCT
fumecheng-2877	205	53	2010	2010	NUM
fumecheng-2877	205	54	,	,	PUNCT
fumecheng-2877	205	55	evaluation	evaluation	NOUN
fumecheng-2877	205	56	of	of	ADP
fumecheng-2877	205	57	a	a	DET
fumecheng-2877	205	58	probabilistic	probabilistic	ADJ
fumecheng-2877	205	59	approach	approach	NOUN
fumecheng-2877	205	60	to	to	PART
fumecheng-2877	205	61	learn	learn	VERB
fumecheng-2877	205	62	and	and	CCONJ
fumecheng-2877	205	63	reproduce	reproduce	VERB
fumecheng-2877	205	64	gestures	gesture	NOUN
fumecheng-2877	205	65	by	by	ADP
fumecheng-2877	205	66	imitation	imitation	NOUN
fumecheng-2877	205	67	,	,	PUNCT
fumecheng-2877	205	68	2010	2010	NUM
fumecheng-2877	205	69	ieee	ieee	NOUN
fumecheng-2877	205	70	international	international	ADJ
fumecheng-2877	205	71	conference	conference	NOUN
fumecheng-2877	205	72	on	on	ADP
fumecheng-2877	205	73	robotics	robotic	NOUN
fumecheng-2877	205	74	and	and	CCONJ
fumecheng-2877	205	75	automation	automation	NOUN
fumecheng-2877	205	76	(	(	PUNCT
fumecheng-2877	205	77	icra	icra	PROPN
fumecheng-2877	205	78	)	)	PUNCT
fumecheng-2877	205	79	,	,	PUNCT
fumecheng-2877	205	80	pp	pp	PROPN
fumecheng-2877	205	81	.	.	PUNCT
fumecheng-2877	206	1	2671	2671	NUM
fumecheng-2877	206	2	-	-	SYM
fumecheng-2877	206	3	2676	2676	NUM
fumecheng-2877	206	4	,	,	PUNCT
fumecheng-2877	206	5	anchrorage	anchrorage	PROPN
fumecheng-2877	206	6	,	,	PUNCT
fumecheng-2877	206	7	ak	ak	PROPN
fumecheng-2877	206	8	,	,	PUNCT
fumecheng-2877	206	9	usa	usa	PROPN
fumecheng-2877	206	10	.	.	PROPN
fumecheng-2877	206	11	9	9	NUM
fumecheng-2877	206	12	.	.	X
fumecheng-2877	207	1	billard	billard	PROPN
fumecheng-2877	207	2	,	,	PUNCT
fumecheng-2877	207	3	a.	a.	NOUN
fumecheng-2877	207	4	,	,	PUNCT
fumecheng-2877	207	5	calinon	calinon	NOUN
fumecheng-2877	207	6	,	,	PUNCT
fumecheng-2877	207	7	s.	s.	PROPN
fumecheng-2877	207	8	,	,	PUNCT
fumecheng-2877	207	9	dillmann	dillmann	PROPN
fumecheng-2877	207	10	,	,	PUNCT
fumecheng-2877	207	11	r.	r.	PROPN
fumecheng-2877	207	12	and	and	CCONJ
fumecheng-2877	207	13	schaal	schaal	PROPN
fumecheng-2877	207	14	,	,	PUNCT
fumecheng-2877	207	15	s.	s.	PROPN
fumecheng-2877	207	16	,	,	PUNCT
fumecheng-2877	207	17	2008	2008	NUM
fumecheng-2877	207	18	,	,	PUNCT
fumecheng-2877	207	19	robot	robot	NOUN
fumecheng-2877	207	20	programming	programming	NOUN
fumecheng-2877	207	21	by	by	ADP
fumecheng-2877	207	22	demonstration	demonstration	NOUN
fumecheng-2877	207	23	,	,	PUNCT
fumecheng-2877	207	24	in	in	ADP
fumecheng-2877	207	25	siciliano	siciliano	PROPN
fumecheng-2877	207	26	,	,	PUNCT
fumecheng-2877	207	27	b.	b.	PROPN
fumecheng-2877	207	28	,	,	PUNCT
fumecheng-2877	207	29	khatib	khatib	PROPN
fumecheng-2877	207	30	,	,	PUNCT
fumecheng-2877	207	31	o.	o.	PROPN
fumecheng-2877	207	32	(	(	PUNCT
fumecheng-2877	207	33	eds	ed	NOUN
fumecheng-2877	207	34	.	.	PUNCT
fumecheng-2877	207	35	)	)	PUNCT
fumecheng-2877	207	36	,	,	PUNCT
fumecheng-2877	207	37	springer	springer	NOUN
fumecheng-2877	207	38	handbook	handbook	NOUN
fumecheng-2877	207	39	of	of	ADP
fumecheng-2877	207	40	robotics	robotic	NOUN
fumecheng-2877	207	41	,	,	PUNCT
fumecheng-2877	207	42	springer	springer	NOUN
fumecheng-2877	207	43	berlin	berlin	PROPN
fumecheng-2877	207	44	heidelberg	heidelberg	PROPN
fumecheng-2877	207	45	,	,	PUNCT
fumecheng-2877	207	46	pp	pp	ADP
fumecheng-2877	207	47	.	.	PUNCT
fumecheng-2877	208	1	1371	1371	NUM
fumecheng-2877	208	2	-	-	SYM
fumecheng-2877	208	3	1394	1394	NUM
fumecheng-2877	208	4	.	.	PUNCT
fumecheng-2877	209	1	10	10	NUM
fumecheng-2877	209	2	.	.	X
fumecheng-2877	209	3	sabbaghi	sabbaghi	PROPN
fumecheng-2877	209	4	,	,	PUNCT
fumecheng-2877	209	5	e.	e.	PROPN
fumecheng-2877	209	6	,	,	PUNCT
fumecheng-2877	209	7	bahrami	bahrami	NOUN
fumecheng-2877	209	8	,	,	PUNCT
fumecheng-2877	209	9	m.	m.	NOUN
fumecheng-2877	209	10	and	and	CCONJ
fumecheng-2877	209	11	ghidary	ghidary	NOUN
fumecheng-2877	209	12	,	,	PUNCT
fumecheng-2877	209	13	s.s	s.s	PROPN
fumecheng-2877	209	14	.	.	PROPN
fumecheng-2877	209	15	,	,	PUNCT
fumecheng-2877	209	16	2014	2014	NUM
fumecheng-2877	209	17	,	,	PUNCT
fumecheng-2877	209	18	learning	learning	NOUN
fumecheng-2877	209	19	of	of	ADP
fumecheng-2877	209	20	gestures	gesture	NOUN
fumecheng-2877	209	21	by	by	ADP
fumecheng-2877	209	22	imitation	imitation	NOUN
fumecheng-2877	209	23	using	use	VERB
fumecheng-2877	209	24	a	a	DET
fumecheng-2877	209	25	monocular	monocular	ADJ
fumecheng-2877	209	26	vision	vision	NOUN
fumecheng-2877	209	27	system	system	NOUN
fumecheng-2877	209	28	on	on	ADP
fumecheng-2877	209	29	a	a	DET
fumecheng-2877	209	30	humanoid	humanoid	NOUN
fumecheng-2877	209	31	robot	robot	NOUN
fumecheng-2877	209	32	,	,	PUNCT
fumecheng-2877	209	33	2014	2014	NUM
fumecheng-2877	209	34	second	second	ADJ
fumecheng-2877	209	35	rsi	rsi	NOUN
fumecheng-2877	209	36	/	/	SYM
fumecheng-2877	209	37	ism	ism	NOUN
fumecheng-2877	209	38	international	international	ADJ
fumecheng-2877	209	39	conference	conference	NOUN
fumecheng-2877	209	40	on	on	ADP
fumecheng-2877	209	41	robotics	robotic	NOUN
fumecheng-2877	209	42	and	and	CCONJ
fumecheng-2877	209	43	mechatronics	mechatronic	NOUN
fumecheng-2877	209	44	(	(	PUNCT
fumecheng-2877	209	45	icrom	icrom	PROPN
fumecheng-2877	209	46	)	)	PUNCT
fumecheng-2877	209	47	,	,	PUNCT
fumecheng-2877	209	48	pp	pp	ADP
fumecheng-2877	209	49	.	.	PUNCT
fumecheng-2877	210	1	588	588	NUM
fumecheng-2877	210	2	-	-	SYM
fumecheng-2877	210	3	594	594	NUM
fumecheng-2877	210	4	.	.	PUNCT
fumecheng-2877	211	1	robot	robot	NOUN
fumecheng-2877	211	2	learning	learning	NOUN
fumecheng-2877	211	3	of	of	ADP
fumecheng-2877	211	4	object	object	NOUN
fumecheng-2877	211	5	manipulation	manipulation	NOUN
fumecheng-2877	211	6	task	task	NOUN
fumecheng-2877	211	7	actions	action	NOUN
fumecheng-2877	211	8	from	from	ADP
fumecheng-2877	211	9	human	human	ADJ
fumecheng-2877	211	10	demonstrations	demonstration	NOUN
fumecheng-2877	211	11	229	229	NUM
fumecheng-2877	211	12	11	11	NUM
fumecheng-2877	211	13	.	.	PUNCT
fumecheng-2877	212	1	ekvall	ekvall	PROPN
fumecheng-2877	212	2	,	,	PUNCT
fumecheng-2877	212	3	s.	s.	PROPN
fumecheng-2877	212	4	and	and	CCONJ
fumecheng-2877	212	5	kragic	kragic	PROPN
fumecheng-2877	212	6	,	,	PUNCT
fumecheng-2877	212	7	d.	d.	PROPN
fumecheng-2877	212	8	,	,	PUNCT
fumecheng-2877	212	9	2006	2006	NUM
fumecheng-2877	212	10	,	,	PUNCT
fumecheng-2877	212	11	learning	learn	VERB
fumecheng-2877	212	12	task	task	NOUN
fumecheng-2877	212	13	models	model	NOUN
fumecheng-2877	212	14	from	from	ADP
fumecheng-2877	212	15	multiple	multiple	ADJ
fumecheng-2877	212	16	human	human	ADJ
fumecheng-2877	212	17	demonstrations	demonstration	NOUN
fumecheng-2877	212	18	,	,	PUNCT
fumecheng-2877	212	19	the	the	DET
fumecheng-2877	212	20	15th	15th	ADJ
fumecheng-2877	212	21	ieee	ieee	NOUN
fumecheng-2877	212	22	international	international	ADJ
fumecheng-2877	212	23	symposium	symposium	NOUN
fumecheng-2877	212	24	on	on	ADP
fumecheng-2877	212	25	robot	robot	NOUN
fumecheng-2877	212	26	and	and	CCONJ
fumecheng-2877	212	27	human	human	ADJ
fumecheng-2877	212	28	interactive	interactive	ADJ
fumecheng-2877	212	29	communication	communication	NOUN
fumecheng-2877	212	30	,	,	PUNCT
fumecheng-2877	212	31	roman	roman	NOUN
fumecheng-2877	212	32	2006	2006	NUM
fumecheng-2877	212	33	,	,	PUNCT
fumecheng-2877	212	34	pp	pp	ADV
fumecheng-2877	212	35	.	.	PUNCT
fumecheng-2877	213	1	358	358	NUM
fumecheng-2877	213	2	-	-	SYM
fumecheng-2877	213	3	363	363	NUM
fumecheng-2877	213	4	.	.	PUNCT
fumecheng-2877	214	1	12	12	NUM
fumecheng-2877	214	2	.	.	X
fumecheng-2877	215	1	asfour	asfour	PROPN
fumecheng-2877	215	2	,	,	PUNCT
fumecheng-2877	215	3	t.	t.	PROPN
fumecheng-2877	215	4	,	,	PUNCT
fumecheng-2877	215	5	azad	azad	PROPN
fumecheng-2877	215	6	,	,	PUNCT
fumecheng-2877	215	7	p.	p.	NOUN
fumecheng-2877	215	8	,	,	PUNCT
fumecheng-2877	215	9	gyarfas	gyarfas	NOUN
fumecheng-2877	215	10	,	,	PUNCT
fumecheng-2877	215	11	f.	f.	PROPN
fumecheng-2877	215	12	and	and	CCONJ
fumecheng-2877	215	13	dillmann	dillmann	PROPN
fumecheng-2877	215	14	,	,	PUNCT
fumecheng-2877	215	15	r.	r.	PROPN
fumecheng-2877	215	16	,	,	PUNCT
fumecheng-2877	215	17	2008	2008	NUM
fumecheng-2877	215	18	,	,	PUNCT
fumecheng-2877	215	19	imitation	imitation	NOUN
fumecheng-2877	215	20	learning	learning	NOUN
fumecheng-2877	215	21	of	of	ADP
fumecheng-2877	215	22	dual	dual	ADJ
fumecheng-2877	215	23	-	-	PUNCT
fumecheng-2877	215	24	arm	arm	NOUN
fumecheng-2877	215	25	manipulation	manipulation	NOUN
fumecheng-2877	215	26	tasks	task	NOUN
fumecheng-2877	215	27	in	in	ADP
fumecheng-2877	215	28	humanoid	humanoid	NOUN
fumecheng-2877	215	29	robots	robot	NOUN
fumecheng-2877	215	30	,	,	PUNCT
fumecheng-2877	215	31	international	international	ADJ
fumecheng-2877	215	32	journal	journal	NOUN
fumecheng-2877	215	33	of	of	ADP
fumecheng-2877	215	34	humanoid	humanoid	NOUN
fumecheng-2877	215	35	robotics	robotic	NOUN
fumecheng-2877	215	36	,	,	PUNCT
fumecheng-2877	215	37	5(02	5(02	NUM
fumecheng-2877	215	38	)	)	PUNCT
fumecheng-2877	215	39	,	,	PUNCT
fumecheng-2877	215	40	pp.183	pp.183	PROPN
fumecheng-2877	215	41	-	-	PUNCT
fumecheng-2877	215	42	202	202	NUM
fumecheng-2877	215	43	.	.	NOUN
fumecheng-2877	215	44	13	13	NUM
fumecheng-2877	215	45	.	.	X
fumecheng-2877	216	1	kruger	kruger	PROPN
fumecheng-2877	216	2	,	,	PUNCT
fumecheng-2877	216	3	v.	v.	PROPN
fumecheng-2877	216	4	,	,	PUNCT
fumecheng-2877	216	5	herzog	herzog	PROPN
fumecheng-2877	216	6	,	,	PUNCT
fumecheng-2877	216	7	d.l	d.l	PROPN
fumecheng-2877	216	8	.	.	PROPN
fumecheng-2877	216	9	,	,	PUNCT
fumecheng-2877	216	10	baby	baby	PROPN
fumecheng-2877	216	11	,	,	PUNCT
fumecheng-2877	216	12	s.	s.	PROPN
fumecheng-2877	216	13	,	,	PUNCT
fumecheng-2877	216	14	ude	ude	NOUN
fumecheng-2877	216	15	,	,	PUNCT
fumecheng-2877	216	16	a.	a.	NOUN
fumecheng-2877	216	17	and	and	CCONJ
fumecheng-2877	216	18	kragic	kragic	PROPN
fumecheng-2877	216	19	,	,	PUNCT
fumecheng-2877	216	20	d.	d.	PROPN
fumecheng-2877	216	21	,	,	PUNCT
fumecheng-2877	216	22	2010	2010	NUM
fumecheng-2877	216	23	,	,	PUNCT
fumecheng-2877	216	24	learning	learn	VERB
fumecheng-2877	216	25	actions	action	NOUN
fumecheng-2877	216	26	from	from	ADP
fumecheng-2877	216	27	observations	observation	NOUN
fumecheng-2877	216	28	,	,	PUNCT
fumecheng-2877	216	29	ieee	ieee	NOUN
fumecheng-2877	216	30	robotics	robotic	NOUN
fumecheng-2877	216	31	&	&	CCONJ
fumecheng-2877	216	32	automation	automation	PROPN
fumecheng-2877	216	33	magazine	magazine	PROPN
fumecheng-2877	216	34	,	,	PUNCT
fumecheng-2877	216	35	17(2	17(2	NUM
fumecheng-2877	216	36	)	)	PUNCT
fumecheng-2877	216	37	,	,	PUNCT
fumecheng-2877	216	38	pp.30	pp.30	NOUN
fumecheng-2877	216	39	-	-	PUNCT
fumecheng-2877	216	40	43	43	NUM
fumecheng-2877	216	41	.	.	PUNCT
fumecheng-2877	217	1	14	14	NUM
fumecheng-2877	217	2	.	.	PUNCT
fumecheng-2877	218	1	alibeigi	alibeigi	PROPN
fumecheng-2877	218	2	,	,	PUNCT
fumecheng-2877	218	3	m.	m.	NOUN
fumecheng-2877	218	4	,	,	PUNCT
fumecheng-2877	218	5	ahmadabadi	ahmadabadi	NOUN
fumecheng-2877	218	6	,	,	PUNCT
fumecheng-2877	218	7	m.	m.	NOUN
fumecheng-2877	218	8	n.	n.	PROPN
fumecheng-2877	218	9	and	and	CCONJ
fumecheng-2877	218	10	araabi	araabi	PROPN
fumecheng-2877	218	11	,	,	PUNCT
fumecheng-2877	218	12	b.	b.	PROPN
fumecheng-2877	218	13	n.	n.	PROPN
fumecheng-2877	218	14	,	,	PUNCT
fumecheng-2877	218	15	2017	2017	NUM
fumecheng-2877	218	16	,	,	PUNCT
fumecheng-2877	218	17	a	a	DET
fumecheng-2877	218	18	fast	fast	ADJ
fumecheng-2877	218	19	,	,	PUNCT
fumecheng-2877	218	20	robust	robust	ADJ
fumecheng-2877	218	21	,	,	PUNCT
fumecheng-2877	218	22	and	and	CCONJ
fumecheng-2877	218	23	incremental	incremental	ADJ
fumecheng-2877	218	24	model	model	NOUN
fumecheng-2877	218	25	for	for	ADP
fumecheng-2877	218	26	learning	learn	VERB
fumecheng-2877	218	27	high	high	ADJ
fumecheng-2877	218	28	-	-	PUNCT
fumecheng-2877	218	29	level	level	NOUN
fumecheng-2877	218	30	concepts	concept	NOUN
fumecheng-2877	218	31	from	from	ADP
fumecheng-2877	218	32	human	human	ADJ
fumecheng-2877	218	33	motions	motion	NOUN
fumecheng-2877	218	34	by	by	ADP
fumecheng-2877	218	35	imitation	imitation	NOUN
fumecheng-2877	218	36	,	,	PUNCT
fumecheng-2877	218	37	ieee	ieee	NOUN
fumecheng-2877	218	38	transactions	transaction	NOUN
fumecheng-2877	218	39	on	on	ADP
fumecheng-2877	218	40	robotics	robotic	NOUN
fumecheng-2877	218	41	,	,	PUNCT
fumecheng-2877	218	42	33(1	33(1	NUM
fumecheng-2877	218	43	)	)	PUNCT
fumecheng-2877	218	44	,	,	PUNCT
fumecheng-2877	218	45	pp	pp	ADJ
fumecheng-2877	218	46	.	.	PUNCT
fumecheng-2877	219	1	153–168	153–168	NUM
fumecheng-2877	219	2	.	.	PUNCT
fumecheng-2877	219	3	15	15	NUM
fumecheng-2877	219	4	.	.	PUNCT
fumecheng-2877	219	5	pi4	pi4	PROPN
fumecheng-2877	219	6	workerbot	workerbot	PROPN
fumecheng-2877	220	1	3	3	NUM
fumecheng-2877	220	2	,	,	PUNCT
fumecheng-2877	220	3	online	online	ADV
fumecheng-2877	220	4	available	available	ADJ
fumecheng-2877	220	5	:	:	PUNCT
fumecheng-2877	221	1	http://www.pi4.de/fileadmin/material/datenblatt/datenblatt_wb3_en	http://www.pi4.de/fileadmin/material/datenblatt/datenblatt_wb3_en	PROPN
fumecheng-2877	221	2	_	_	PUNCT
fumecheng-2877	221	3	v1_2.pdf	v1_2.pdf	NOUN
fumecheng-2877	221	4	(	(	PUNCT
fumecheng-2877	221	5	last	last	ADJ
fumecheng-2877	221	6	access	access	NOUN
fumecheng-2877	221	7	:	:	PUNCT
fumecheng-2877	221	8	28.04.2017	28.04.2017	NUM
fumecheng-2877	221	9	)	)	PUNCT
fumecheng-2877	221	10	16	16	NUM
fumecheng-2877	221	11	.	.	PUNCT
fumecheng-2877	222	1	universal	universal	ADJ
fumecheng-2877	222	2	robots	robot	NOUN
fumecheng-2877	222	3	ur10	ur10	PROPN
fumecheng-2877	222	4	,	,	PUNCT
fumecheng-2877	222	5	online	online	ADV
fumecheng-2877	222	6	available	available	ADJ
fumecheng-2877	222	7	:	:	PUNCT
fumecheng-2877	222	8	https://www.universal-robots.com/products/ur10-robot/	https://www.universal-robots.com/products/ur10-robot/	PROPN
fumecheng-2877	222	9	(	(	PUNCT
fumecheng-2877	222	10	last	last	ADJ
fumecheng-2877	222	11	access	access	NOUN
fumecheng-2877	222	12	:	:	PUNCT
fumecheng-2877	222	13	28.04.2017	28.04.2017	NUM
fumecheng-2877	222	14	)	)	PUNCT
fumecheng-2877	222	15	17	17	NUM
fumecheng-2877	222	16	.	.	PUNCT
fumecheng-2877	222	17	kinect	kinect	PROPN
fumecheng-2877	222	18	for	for	ADP
fumecheng-2877	222	19	xbox	xbox	PROPN
fumecheng-2877	222	20	one	one	PROPN
fumecheng-2877	222	21	,	,	PUNCT
fumecheng-2877	222	22	online	online	ADV
fumecheng-2877	222	23	available	available	ADJ
fumecheng-2877	222	24	:	:	PUNCT
fumecheng-2877	222	25	http://www.xbox.com/en-us/xbox-one/accessories/kinect	http://www.xbox.com/en-us/xbox-one/accessories/kinect	PROPN
fumecheng-2877	222	26	(	(	PUNCT
fumecheng-2877	222	27	last	last	ADJ
fumecheng-2877	222	28	access	access	NOUN
fumecheng-2877	222	29	:	:	PUNCT
fumecheng-2877	222	30	28.04.2017	28.04.2017	NUM
fumecheng-2877	222	31	)	)	PUNCT
fumecheng-2877	222	32	18	18	NUM
fumecheng-2877	222	33	.	.	PUNCT
fumecheng-2877	223	1	kyrarini	kyrarini	PROPN
fumecheng-2877	223	2	,	,	PUNCT
fumecheng-2877	223	3	m.	m.	NOUN
fumecheng-2877	223	4	,	,	PUNCT
fumecheng-2877	223	5	leu	leu	PROPN
fumecheng-2877	223	6	,	,	PUNCT
fumecheng-2877	223	7	a.	a.	NOUN
fumecheng-2877	223	8	,	,	PUNCT
fumecheng-2877	223	9	ristić	ristić	NOUN
fumecheng-2877	223	10	-	-	PUNCT
fumecheng-2877	223	11	durrant	durrant	NOUN
fumecheng-2877	223	12	,	,	PUNCT
fumecheng-2877	223	13	d.	d.	PROPN
fumecheng-2877	223	14	,	,	PUNCT
fumecheng-2877	223	15	gräser	gräser	PROPN
fumecheng-2877	223	16	,	,	PUNCT
fumecheng-2877	223	17	a.	a.	NOUN
fumecheng-2877	223	18	,	,	PUNCT
fumecheng-2877	223	19	jackowski	jackowski	PROPN
fumecheng-2877	223	20	,	,	PUNCT
fumecheng-2877	223	21	a.	a.	NOUN
fumecheng-2877	223	22	,	,	PUNCT
fumecheng-2877	223	23	gebhard	gebhard	NOUN
fumecheng-2877	223	24	,	,	PUNCT
fumecheng-2877	223	25	m.	m.	NOUN
fumecheng-2877	223	26	,	,	PUNCT
fumecheng-2877	223	27	nelles	nelle	NOUN
fumecheng-2877	223	28	,	,	PUNCT
fumecheng-2877	223	29	j.	j.	PROPN
fumecheng-2877	223	30	,	,	PUNCT
fumecheng-2877	223	31	bröhl	bröhl	PROPN
fumecheng-2877	223	32	,	,	PUNCT
fumecheng-2877	223	33	c.	c.	PROPN
fumecheng-2877	223	34	,	,	PUNCT
fumecheng-2877	223	35	brandl	brandl	PROPN
fumecheng-2877	223	36	,	,	PUNCT
fumecheng-2877	223	37	c.	c.	PROPN
fumecheng-2877	223	38	,	,	PUNCT
fumecheng-2877	223	39	mertens	mertens	PROPN
fumecheng-2877	223	40	,	,	PUNCT
fumecheng-2877	223	41	a.	a.	NOUN
fumecheng-2877	223	42	and	and	CCONJ
fumecheng-2877	223	43	schlick	schlick	PROPN
fumecheng-2877	223	44	,	,	PUNCT
fumecheng-2877	223	45	c.m	c.m	PROPN
fumecheng-2877	223	46	.	.	PROPN
fumecheng-2877	223	47	,	,	PUNCT
fumecheng-2877	223	48	2016	2016	NUM
fumecheng-2877	223	49	,	,	PUNCT
fumecheng-2877	223	50	human	human	ADJ
fumecheng-2877	223	51	-	-	PUNCT
fumecheng-2877	223	52	robot	robot	NOUN
fumecheng-2877	223	53	synergy	synergy	NOUN
fumecheng-2877	223	54	for	for	ADP
fumecheng-2877	223	55	cooperative	cooperative	ADJ
fumecheng-2877	223	56	robots	robot	NOUN
fumecheng-2877	223	57	,	,	PUNCT
fumecheng-2877	223	58	facta	facta	PROPN
fumecheng-2877	223	59	universitatis	universitatis	PROPN
fumecheng-2877	223	60	,	,	PUNCT
fumecheng-2877	223	61	series	series	NOUN
fumecheng-2877	223	62	:	:	PUNCT
fumecheng-2877	223	63	automatic	automatic	ADJ
fumecheng-2877	223	64	control	control	NOUN
fumecheng-2877	223	65	and	and	CCONJ
fumecheng-2877	223	66	robotics	robotic	NOUN
fumecheng-2877	223	67	,	,	PUNCT
fumecheng-2877	223	68	15(3	15(3	NUM
fumecheng-2877	223	69	)	)	PUNCT
fumecheng-2877	223	70	,	,	PUNCT
fumecheng-2877	223	71	pp.187	pp.187	PROPN
fumecheng-2877	223	72	-	-	PUNCT
fumecheng-2877	223	73	204	204	NUM
fumecheng-2877	223	74	.	.	PUNCT
fumecheng-2877	224	1	19	19	NUM
fumecheng-2877	224	2	.	.	NUM
fumecheng-2877	224	3	calinon	calinon	PROPN
fumecheng-2877	224	4	,	,	PUNCT
fumecheng-2877	224	5	s.	s.	PROPN
fumecheng-2877	224	6	,	,	PUNCT
fumecheng-2877	224	7	2007	2007	NUM
fumecheng-2877	224	8	,	,	PUNCT
fumecheng-2877	224	9	continuous	continuous	ADJ
fumecheng-2877	224	10	extraction	extraction	NOUN
fumecheng-2877	224	11	of	of	ADP
fumecheng-2877	224	12	task	task	NOUN
fumecheng-2877	224	13	constraints	constraint	NOUN
fumecheng-2877	224	14	in	in	ADP
fumecheng-2877	224	15	a	a	DET
fumecheng-2877	224	16	robot	robot	NOUN
fumecheng-2877	224	17	programming	programming	NOUN
fumecheng-2877	224	18	by	by	ADP
fumecheng-2877	224	19	demonstration	demonstration	NOUN
fumecheng-2877	224	20	framework	framework	NOUN
fumecheng-2877	224	21	,	,	PUNCT
fumecheng-2877	224	22	phd	phd	NOUN
fumecheng-2877	224	23	dissertation	dissertation	NOUN
fumecheng-2877	224	24	,	,	PUNCT
fumecheng-2877	224	25	école	école	X
fumecheng-2877	224	26	polytechnique	polytechnique	X
fumecheng-2877	224	27	fédérale	fédérale	PROPN
fumecheng-2877	224	28	de	de	X
fumecheng-2877	224	29	lausanne	lausanne	PROPN
fumecheng-2877	224	30	.	.	PROPN
fumecheng-2877	225	1	20	20	NUM
fumecheng-2877	225	2	.	.	X
fumecheng-2877	225	3	sakoe	sakoe	PROPN
fumecheng-2877	225	4	,	,	PUNCT
fumecheng-2877	225	5	h.	h.	PROPN
fumecheng-2877	225	6	and	and	CCONJ
fumecheng-2877	225	7	chiba	chiba	PROPN
fumecheng-2877	225	8	,	,	PUNCT
fumecheng-2877	225	9	s.	s.	PROPN
fumecheng-2877	225	10	,	,	PUNCT
fumecheng-2877	225	11	1987	1987	NUM
fumecheng-2877	225	12	,	,	PUNCT
fumecheng-2877	225	13	dynamic	dynamic	ADJ
fumecheng-2877	225	14	programming	programming	NOUN
fumecheng-2877	225	15	algorithm	algorithm	NOUN
fumecheng-2877	225	16	optimization	optimization	NOUN
fumecheng-2877	225	17	for	for	ADP
fumecheng-2877	225	18	spoken	speak	VERB
fumecheng-2877	225	19	word	word	NOUN
fumecheng-2877	225	20	recognition	recognition	NOUN
fumecheng-2877	225	21	,	,	PUNCT
fumecheng-2877	225	22	ieee	ieee	NOUN
fumecheng-2877	225	23	transactions	transaction	NOUN
fumecheng-2877	225	24	on	on	ADP
fumecheng-2877	225	25	acoustics	acoustic	NOUN
fumecheng-2877	225	26	,	,	PUNCT
fumecheng-2877	225	27	speech	speech	NOUN
fumecheng-2877	225	28	and	and	CCONJ
fumecheng-2877	225	29	signal	signal	NOUN
fumecheng-2877	225	30	processing	processing	NOUN
fumecheng-2877	225	31	,	,	PUNCT
fumecheng-2877	225	32	26(1	26(1	NUM
fumecheng-2877	225	33	)	)	PUNCT
fumecheng-2877	225	34	,	,	PUNCT
fumecheng-2877	225	35	pp	pp	PROPN
fumecheng-2877	225	36	.	.	PUNCT
fumecheng-2877	226	1	43–49	43–49	NUM
fumecheng-2877	226	2	.	.	PUNCT
fumecheng-2877	227	1	21	21	NUM
fumecheng-2877	227	2	.	.	X
fumecheng-2877	228	1	zhang	zhang	PROPN
fumecheng-2877	228	2	,	,	PUNCT
fumecheng-2877	228	3	j.	j.	PROPN
fumecheng-2877	228	4	and	and	CCONJ
fumecheng-2877	228	5	qin	qin	PROPN
fumecheng-2877	228	6	,	,	PUNCT
fumecheng-2877	228	7	b.	b.	PROPN
fumecheng-2877	228	8	,	,	PUNCT
fumecheng-2877	228	9	2012	2012	NUM
fumecheng-2877	228	10	,	,	PUNCT
fumecheng-2877	228	11	dtw	dtw	PROPN
fumecheng-2877	228	12	speech	speech	NOUN
fumecheng-2877	228	13	recognition	recognition	NOUN
fumecheng-2877	228	14	algorithm	algorithm	NOUN
fumecheng-2877	228	15	of	of	ADP
fumecheng-2877	228	16	optimization	optimization	NOUN
fumecheng-2877	228	17	template	template	NOUN
fumecheng-2877	228	18	matching	matching	NOUN
fumecheng-2877	228	19	.	.	PUNCT
fumecheng-2877	229	1	world	world	PROPN
fumecheng-2877	229	2	automation	automation	PROPN
fumecheng-2877	229	3	congress	congress	PROPN
fumecheng-2877	229	4	(	(	PUNCT
fumecheng-2877	229	5	wac	wac	PROPN
fumecheng-2877	229	6	)	)	PUNCT
fumecheng-2877	229	7	,	,	PUNCT
fumecheng-2877	229	8	pp	pp	ADJ
fumecheng-2877	229	9	.	.	PUNCT
fumecheng-2877	230	1	1	1	NUM
fumecheng-2877	230	2	-	-	SYM
fumecheng-2877	230	3	4	4	NUM
fumecheng-2877	230	4	.	.	NOUN
fumecheng-2877	230	5	22	22	NUM
fumecheng-2877	230	6	.	.	PUNCT
fumecheng-2877	231	1	cheng	cheng	PROPN
fumecheng-2877	231	2	,	,	PUNCT
fumecheng-2877	231	3	h.	h.	PROPN
fumecheng-2877	231	4	,	,	PUNCT
fumecheng-2877	231	5	luo	luo	PROPN
fumecheng-2877	231	6	,	,	PUNCT
fumecheng-2877	231	7	j.	j.	PROPN
fumecheng-2877	231	8	and	and	CCONJ
fumecheng-2877	231	9	chen	chen	PROPN
fumecheng-2877	231	10	,	,	PUNCT
fumecheng-2877	231	11	x.	x.	PROPN
fumecheng-2877	231	12	,	,	PUNCT
fumecheng-2877	231	13	2014	2014	NUM
fumecheng-2877	231	14	,	,	PUNCT
fumecheng-2877	231	15	a	a	DET
fumecheng-2877	231	16	windowed	windowed	ADJ
fumecheng-2877	231	17	dynamic	dynamic	ADJ
fumecheng-2877	231	18	time	time	NOUN
fumecheng-2877	231	19	warping	warp	VERB
fumecheng-2877	231	20	approach	approach	NOUN
fumecheng-2877	231	21	for	for	ADP
fumecheng-2877	231	22	3d	3d	NUM
fumecheng-2877	231	23	continuous	continuous	ADJ
fumecheng-2877	231	24	hand	hand	NOUN
fumecheng-2877	231	25	gesture	gesture	NOUN
fumecheng-2877	231	26	recognition	recognition	NOUN
fumecheng-2877	231	27	,	,	PUNCT
fumecheng-2877	231	28	2014	2014	NUM
fumecheng-2877	231	29	ieee	ieee	PROPN
fumecheng-2877	231	30	international	international	ADJ
fumecheng-2877	231	31	conference	conference	NOUN
fumecheng-2877	231	32	on	on	ADP
fumecheng-2877	231	33	multimedia	multimedia	NOUN
fumecheng-2877	231	34	and	and	CCONJ
fumecheng-2877	231	35	expo	expo	NOUN
fumecheng-2877	231	36	(	(	PUNCT
fumecheng-2877	231	37	icme	icme	PROPN
fumecheng-2877	231	38	)	)	PUNCT
fumecheng-2877	231	39	,	,	PUNCT
fumecheng-2877	231	40	pp	pp	PROPN
fumecheng-2877	231	41	.	.	PUNCT
fumecheng-2877	232	1	1	1	NUM
fumecheng-2877	232	2	-	-	SYM
fumecheng-2877	232	3	6	6	NUM
fumecheng-2877	232	4	23	23	NUM
fumecheng-2877	232	5	.	.	PUNCT
fumecheng-2877	233	1	vakanski	vakanski	PROPN
fumecheng-2877	233	2	,	,	PUNCT
fumecheng-2877	233	3	a.	a.	PROPN
fumecheng-2877	233	4	,	,	PUNCT
fumecheng-2877	233	5	mantegh	mantegh	ADV
fumecheng-2877	233	6	,	,	PUNCT
fumecheng-2877	233	7	i.	i.	PROPN
fumecheng-2877	233	8	,	,	PUNCT
fumecheng-2877	233	9	irish	irish	PROPN
fumecheng-2877	233	10	,	,	PUNCT
fumecheng-2877	233	11	a.	a.	NOUN
fumecheng-2877	233	12	and	and	CCONJ
fumecheng-2877	233	13	janabi	janabi	NOUN
fumecheng-2877	233	14	-	-	PUNCT
fumecheng-2877	233	15	sharifi	sharifi	NOUN
fumecheng-2877	233	16	,	,	PUNCT
fumecheng-2877	233	17	f.	f.	PROPN
fumecheng-2877	233	18	,	,	PUNCT
fumecheng-2877	233	19	2012	2012	NUM
fumecheng-2877	233	20	,	,	PUNCT
fumecheng-2877	233	21	trajectory	trajectory	NOUN
fumecheng-2877	233	22	learning	learning	NOUN
fumecheng-2877	233	23	for	for	ADP
fumecheng-2877	233	24	robot	robot	NOUN
fumecheng-2877	233	25	programming	programming	NOUN
fumecheng-2877	233	26	by	by	ADP
fumecheng-2877	233	27	demonstration	demonstration	NOUN
fumecheng-2877	233	28	using	use	VERB
fumecheng-2877	233	29	hidden	hide	VERB
fumecheng-2877	233	30	markov	markov	NOUN
fumecheng-2877	233	31	model	model	NOUN
fumecheng-2877	233	32	and	and	CCONJ
fumecheng-2877	233	33	dynamic	dynamic	ADJ
fumecheng-2877	233	34	time	time	NOUN
fumecheng-2877	233	35	warping	warping	NOUN
fumecheng-2877	233	36	,	,	PUNCT
fumecheng-2877	233	37	ieee	ieee	NOUN
fumecheng-2877	233	38	transactions	transaction	NOUN
fumecheng-2877	233	39	on	on	ADP
fumecheng-2877	233	40	systems	system	NOUN
fumecheng-2877	233	41	,	,	PUNCT
fumecheng-2877	233	42	man	man	NOUN
fumecheng-2877	233	43	,	,	PUNCT
fumecheng-2877	233	44	and	and	CCONJ
fumecheng-2877	233	45	cybernetics	cybernetic	NOUN
fumecheng-2877	233	46	,	,	PUNCT
fumecheng-2877	233	47	part	part	NOUN
fumecheng-2877	233	48	b	b	PROPN
fumecheng-2877	233	49	(	(	PUNCT
fumecheng-2877	233	50	cybernetics	cybernetic	NOUN
fumecheng-2877	233	51	)	)	PUNCT
fumecheng-2877	233	52	,	,	PUNCT
fumecheng-2877	233	53	42(4	42(4	PROPN
fumecheng-2877	233	54	)	)	PUNCT
fumecheng-2877	233	55	,	,	PUNCT
fumecheng-2877	233	56	pp.1039	pp.1039	PROPN
fumecheng-2877	233	57	-	-	SYM
fumecheng-2877	233	58	1052	1052	NUM
fumecheng-2877	233	59	.	.	PUNCT
fumecheng-2877	234	1	24	24	NUM
fumecheng-2877	234	2	.	.	PUNCT
fumecheng-2877	235	1	wang	wang	PROPN
fumecheng-2877	235	2	,	,	PUNCT
fumecheng-2877	235	3	x.	x.	PROPN
fumecheng-2877	235	4	,	,	PUNCT
fumecheng-2877	235	5	kyrarini	kyrarini	PROPN
fumecheng-2877	235	6	,	,	PUNCT
fumecheng-2877	235	7	m.	m.	NOUN
fumecheng-2877	235	8	,	,	PUNCT
fumecheng-2877	235	9	ristić	ristić	NOUN
fumecheng-2877	235	10	-	-	PUNCT
fumecheng-2877	235	11	durrant	durrant	NOUN
fumecheng-2877	235	12	,	,	PUNCT
fumecheng-2877	235	13	d.	d.	PROPN
fumecheng-2877	235	14	,	,	PUNCT
fumecheng-2877	235	15	spranger	spranger	NOUN
fumecheng-2877	235	16	,	,	PUNCT
fumecheng-2877	235	17	m.	m.	NOUN
fumecheng-2877	235	18	and	and	CCONJ
fumecheng-2877	235	19	gräser	gräser	NOUN
fumecheng-2877	235	20	,	,	PUNCT
fumecheng-2877	235	21	a.	a.	NOUN
fumecheng-2877	235	22	,	,	PUNCT
fumecheng-2877	235	23	2016	2016	NUM
fumecheng-2877	235	24	,	,	PUNCT
fumecheng-2877	235	25	monitoring	monitoring	NOUN
fumecheng-2877	235	26	of	of	ADP
fumecheng-2877	235	27	gait	gait	ADJ
fumecheng-2877	235	28	performance	performance	NOUN
fumecheng-2877	235	29	using	use	VERB
fumecheng-2877	235	30	dynamic	dynamic	ADJ
fumecheng-2877	235	31	time	time	NOUN
fumecheng-2877	235	32	warping	warp	VERB
fumecheng-2877	235	33	on	on	ADP
fumecheng-2877	235	34	imu	imu	ADJ
fumecheng-2877	235	35	-	-	PUNCT
fumecheng-2877	235	36	sensor	sensor	NOUN
fumecheng-2877	235	37	data	datum	NOUN
fumecheng-2877	235	38	,	,	PUNCT
fumecheng-2877	235	39	2016	2016	NUM
fumecheng-2877	235	40	ieee	ieee	NOUN
fumecheng-2877	235	41	international	international	ADJ
fumecheng-2877	235	42	symposium	symposium	NOUN
fumecheng-2877	235	43	on	on	ADP
fumecheng-2877	235	44	medical	medical	ADJ
fumecheng-2877	235	45	measurements	measurement	NOUN
fumecheng-2877	235	46	and	and	CCONJ
fumecheng-2877	235	47	applications	application	NOUN
fumecheng-2877	235	48	(	(	PUNCT
fumecheng-2877	235	49	memea	memea	PROPN
fumecheng-2877	235	50	)	)	PUNCT
fumecheng-2877	235	51	,	,	PUNCT
fumecheng-2877	235	52	pp	pp	PROPN
fumecheng-2877	235	53	.	.	PUNCT
fumecheng-2877	236	1	1	1	NUM
fumecheng-2877	236	2	-	-	SYM
fumecheng-2877	236	3	6	6	NUM
fumecheng-2877	236	4	,	,	PUNCT
fumecheng-2877	236	5	doi:10.1109	doi:10.1109	ADJ
fumecheng-2877	236	6	/	/	SYM
fumecheng-2877	236	7	memea.2016.7533745	memea.2016.7533745	PROPN
fumecheng-2877	236	8	25	25	NUM
fumecheng-2877	236	9	.	.	PUNCT
fumecheng-2877	236	10	calinon	calinon	PROPN
fumecheng-2877	236	11	,	,	PUNCT
fumecheng-2877	236	12	s.	s.	PROPN
fumecheng-2877	236	13	,	,	PUNCT
fumecheng-2877	236	14	guenter	guenter	PROPN
fumecheng-2877	236	15	,	,	PUNCT
fumecheng-2877	236	16	f.	f.	PROPN
fumecheng-2877	236	17	and	and	CCONJ
fumecheng-2877	236	18	billard	billard	PROPN
fumecheng-2877	236	19	,	,	PUNCT
fumecheng-2877	236	20	a.	a.	NOUN
fumecheng-2877	236	21	,	,	PUNCT
fumecheng-2877	236	22	2007	2007	NUM
fumecheng-2877	236	23	,	,	PUNCT
fumecheng-2877	236	24	on	on	ADP
fumecheng-2877	236	25	learning	learning	NOUN
fumecheng-2877	236	26	,	,	PUNCT
fumecheng-2877	236	27	representing	represent	VERB
fumecheng-2877	236	28	,	,	PUNCT
fumecheng-2877	236	29	and	and	CCONJ
fumecheng-2877	236	30	generalizing	generalize	VERB
fumecheng-2877	236	31	a	a	DET
fumecheng-2877	236	32	task	task	NOUN
fumecheng-2877	236	33	in	in	ADP
fumecheng-2877	236	34	a	a	DET
fumecheng-2877	236	35	humanoid	humanoid	NOUN
fumecheng-2877	236	36	robot	robot	NOUN
fumecheng-2877	236	37	,	,	PUNCT
fumecheng-2877	236	38	ieee	ieee	NOUN
fumecheng-2877	236	39	transactions	transaction	NOUN
fumecheng-2877	236	40	on	on	ADP
fumecheng-2877	236	41	systems	system	NOUN
fumecheng-2877	236	42	,	,	PUNCT
fumecheng-2877	236	43	man	man	NOUN
fumecheng-2877	236	44	,	,	PUNCT
fumecheng-2877	236	45	and	and	CCONJ
fumecheng-2877	236	46	cybernetics	cybernetic	NOUN
fumecheng-2877	236	47	,	,	PUNCT
fumecheng-2877	236	48	part	part	NOUN
fumecheng-2877	236	49	b	b	PROPN
fumecheng-2877	236	50	(	(	PUNCT
fumecheng-2877	236	51	cybernetics	cybernetic	NOUN
fumecheng-2877	236	52	)	)	PUNCT
fumecheng-2877	236	53	,	,	PUNCT
fumecheng-2877	236	54	37(2	37(2	NOUN
fumecheng-2877	236	55	)	)	PUNCT
fumecheng-2877	236	56	,	,	PUNCT
fumecheng-2877	237	1	pp	pp	ADP
fumecheng-2877	237	2	.	.	PUNCT
fumecheng-2877	238	1	286	286	NUM
fumecheng-2877	238	2	-	-	SYM
fumecheng-2877	238	3	298	298	NUM
fumecheng-2877	238	4	.	.	NOUN
fumecheng-2877	239	1	26	26	NUM
fumecheng-2877	239	2	.	.	PUNCT
fumecheng-2877	240	1	guenter	guenter	PROPN
fumecheng-2877	240	2	,	,	PUNCT
fumecheng-2877	240	3	f.	f.	PROPN
fumecheng-2877	240	4	,	,	PUNCT
fumecheng-2877	240	5	hersch	hersch	PROPN
fumecheng-2877	240	6	,	,	PUNCT
fumecheng-2877	240	7	m.	m.	NOUN
fumecheng-2877	240	8	,	,	PUNCT
fumecheng-2877	240	9	calinon	calinon	NOUN
fumecheng-2877	240	10	,	,	PUNCT
fumecheng-2877	240	11	s.	s.	PROPN
fumecheng-2877	240	12	and	and	CCONJ
fumecheng-2877	240	13	billard	billard	PROPN
fumecheng-2877	240	14	,	,	PUNCT
fumecheng-2877	240	15	a.	a.	NOUN
fumecheng-2877	240	16	,	,	PUNCT
fumecheng-2877	240	17	2007	2007	NUM
fumecheng-2877	240	18	.	.	PUNCT
fumecheng-2877	241	1	reinforcement	reinforcement	NOUN
fumecheng-2877	241	2	learning	learning	NOUN
fumecheng-2877	241	3	for	for	ADP
fumecheng-2877	241	4	imitating	imitate	VERB
fumecheng-2877	241	5	constrained	constrain	VERB
fumecheng-2877	241	6	reaching	reach	VERB
fumecheng-2877	241	7	movements	movement	NOUN
fumecheng-2877	241	8	,	,	PUNCT
fumecheng-2877	241	9	advanced	advanced	ADJ
fumecheng-2877	241	10	robotics	robotic	NOUN
fumecheng-2877	241	11	,	,	PUNCT
fumecheng-2877	241	12	21(13	21(13	NUM
fumecheng-2877	241	13	)	)	PUNCT
fumecheng-2877	241	14	,	,	PUNCT
fumecheng-2877	241	15	pp.1521	pp.1521	PROPN
fumecheng-2877	241	16	-	-	SYM
fumecheng-2877	241	17	1544	1544	NUM
fumecheng-2877	241	18	.	.	PUNCT
fumecheng-2877	242	1	27	27	NUM
fumecheng-2877	242	2	.	.	PUNCT
fumecheng-2877	243	1	dempster	dempster	PROPN
fumecheng-2877	243	2	,	,	PUNCT
fumecheng-2877	243	3	a.p	a.p	PROPN
fumecheng-2877	243	4	.	.	PROPN
fumecheng-2877	243	5	,	,	PUNCT
fumecheng-2877	243	6	laird	laird	PROPN
fumecheng-2877	243	7	,	,	PUNCT
fumecheng-2877	243	8	n.m	n.m	PROPN
fumecheng-2877	243	9	.	.	PROPN
fumecheng-2877	243	10	and	and	CCONJ
fumecheng-2877	243	11	rubin	rubin	PROPN
fumecheng-2877	243	12	,	,	PUNCT
fumecheng-2877	243	13	d.b	d.b	PROPN
fumecheng-2877	243	14	.	.	PROPN
fumecheng-2877	243	15	,	,	PUNCT
fumecheng-2877	243	16	1977	1977	NUM
fumecheng-2877	243	17	,	,	PUNCT
fumecheng-2877	243	18	maximum	maximum	ADJ
fumecheng-2877	243	19	likelihood	likelihood	NOUN
fumecheng-2877	243	20	from	from	ADP
fumecheng-2877	243	21	incomplete	incomplete	ADJ
fumecheng-2877	243	22	data	datum	NOUN
fumecheng-2877	243	23	via	via	ADP
fumecheng-2877	243	24	the	the	DET
fumecheng-2877	243	25	em	em	PROPN
fumecheng-2877	243	26	algorithm	algorithm	NOUN
fumecheng-2877	243	27	,	,	PUNCT
fumecheng-2877	243	28	journal	journal	NOUN
fumecheng-2877	243	29	of	of	ADP
fumecheng-2877	243	30	the	the	DET
fumecheng-2877	243	31	royal	royal	ADJ
fumecheng-2877	243	32	statistical	statistical	ADJ
fumecheng-2877	243	33	society	society	NOUN
fumecheng-2877	243	34	.	.	PUNCT
fumecheng-2877	244	1	series	series	PROPN
fumecheng-2877	244	2	b	b	PROPN
fumecheng-2877	244	3	(	(	PUNCT
fumecheng-2877	244	4	methodological	methodological	ADJ
fumecheng-2877	244	5	)	)	PUNCT
fumecheng-2877	244	6	,	,	PUNCT
fumecheng-2877	244	7	pp.1	pp.1	PROPN
fumecheng-2877	244	8	-	-	PUNCT
fumecheng-2877	244	9	38	38	NUM
fumecheng-2877	244	10	.	.	PUNCT
fumecheng-2877	245	1	28	28	NUM
fumecheng-2877	245	2	.	.	PUNCT
fumecheng-2877	246	1	moveit	moveit	PROPN
fumecheng-2877	246	2	ros	ros	PROPN
fumecheng-2877	246	3	,	,	PUNCT
fumecheng-2877	246	4	online	online	ADV
fumecheng-2877	246	5	available	available	ADJ
fumecheng-2877	246	6	:	:	PUNCT
fumecheng-2877	246	7	http://	http://	PROPN
fumecheng-2877	246	8	moveit.ros.org	moveit.ros.org	PROPN
fumecheng-2877	246	9	(	(	PUNCT
fumecheng-2877	246	10	last	last	ADJ
fumecheng-2877	246	11	access	access	NOUN
fumecheng-2877	246	12	:	:	PUNCT
fumecheng-2877	246	13	28.04.2017	28.04.2017	NUM
fumecheng-2877	246	14	)	)	PUNCT
fumecheng-2877	246	15	http://www.pi4.de/fileadmin/material/datenblatt/datenblatt_wb3_en_v1_2.pdf	http://www.pi4.de/fileadmin/material/datenblatt/datenblatt_wb3_en_v1_2.pdf	NOUN
fumecheng-2877	246	16	http://www.pi4.de/fileadmin/material/datenblatt/datenblatt_wb3_en_v1_2.pdf	http://www.pi4.de/fileadmin/material/datenblatt/datenblatt_wb3_en_v1_2.pdf	NOUN
fumecheng-2877	246	17	https://www.universal-robots.com/products/ur10-robot/	https://www.universal-robots.com/products/ur10-robot/	PROPN
fumecheng-2877	246	18	http://www.xbox.com/en-us/xbox-one/accessories/kinect	http://www.xbox.com/en-us/xbox-one/accessories/kinect	PROPN