id	sid	eid	entity	type
fcis-10198	1	1	2832-6024	DATE
fcis-10198	2	1	4	CARDINAL
fcis-10198	2	2	2	CARDINAL
fcis-10198	2	3	2023 57	DATE
fcis-10198	2	4	yunfeng kang	PERSON
fcis-10198	2	5	yixin mai school of computation	ORG
fcis-10198	2	6	university of munich	ORG
fcis-10198	2	7	germany	GPE
fcis-10198	6	1	2d	DATE
fcis-10198	10	1	1	CARDINAL
fcis-10198	12	1	two	CARDINAL
fcis-10198	13	1	recent years	DATE
fcis-10198	16	1	1.1	CARDINAL
fcis-10198	16	2	two	CARDINAL
fcis-10198	20	1	1	CARDINAL
fcis-10198	20	2	prm	ORG
fcis-10198	21	1	2	CARDINAL
fcis-10198	24	1	omp	ORG
fcis-10198	24	2	3	CARDINAL
fcis-10198	24	3	4	CARDINAL
fcis-10198	24	4	5	CARDINAL
fcis-10198	27	1	omp	ORG
fcis-10198	29	1	jurgenson	PERSON
fcis-10198	30	1	6	CARDINAL
fcis-10198	30	2	2d	DATE
fcis-10198	32	1	pandy et al	PERSON
fcis-10198	36	1	1.2	CARDINAL
fcis-10198	37	1	8	CARDINAL
fcis-10198	40	1	58	CARDINAL
fcis-10198	41	1	three	CARDINAL
fcis-10198	46	1	two	CARDINAL
fcis-10198	48	1	2	CARDINAL
fcis-10198	49	1	1	CARDINAL
fcis-10198	51	1	two	CARDINAL
fcis-10198	51	2	2d	DATE
fcis-10198	52	1	first	ORDINAL
fcis-10198	52	2	second	ORDINAL
fcis-10198	52	3	3	CARDINAL
fcis-10198	53	1	1	CARDINAL
fcis-10198	53	2	fed	ORG
fcis-10198	55	1	2	CARDINAL
fcis-10198	56	1	2	CARDINAL
fcis-10198	58	1	1	CARDINAL
fcis-10198	59	1	two	CARDINAL
fcis-10198	60	1	3	CARDINAL
fcis-10198	61	1	1	CARDINAL
fcis-10198	65	1	3	CARDINAL
fcis-10198	67	1	3	CARDINAL
fcis-10198	69	1	3	CARDINAL
fcis-10198	71	1	first	ORDINAL
fcis-10198	71	2	second	ORDINAL
fcis-10198	73	1	ii-a	DATE
fcis-10198	74	1	2.1	CARDINAL
fcis-10198	76	1	4	CARDINAL
fcis-10198	77	1	second	ORDINAL
fcis-10198	78	1	first	ORDINAL
fcis-10198	79	1	4	CARDINAL
fcis-10198	81	1	nurbs	WORK_OF_ART
fcis-10198	83	1	4	CARDINAL
fcis-10198	84	1	59	CARDINAL
fcis-10198	84	2	-1	ORG
fcis-10198	84	3	1	CARDINAL
fcis-10198	84	4	0	CARDINAL
fcis-10198	85	1	2.2	CARDINAL
fcis-10198	86	1	fig.	DATE
fcis-10198	87	1	5	CARDINAL
fcis-10198	87	2	3	CARDINAL
fcis-10198	88	1	first	ORDINAL
fcis-10198	91	1	5	CARDINAL
fcis-10198	91	2	six	CARDINAL
fcis-10198	93	1	5	CARDINAL
fcis-10198	94	1	second	ORDINAL
fcis-10198	96	1	fig	ORG
fcis-10198	97	1	5	CARDINAL
fcis-10198	98	1	second	ORDINAL
fcis-10198	100	1	nurbs	PERSON
fcis-10198	100	2	2d	DATE
fcis-10198	101	1	3d	CARDINAL
fcis-10198	102	1	2.3	CARDINAL
fcis-10198	103	1	two	CARDINAL
fcis-10198	104	1	one	CARDINAL
fcis-10198	105	1	6	CARDINAL
fcis-10198	108	1	zero	CARDINAL
fcis-10198	109	1	6	CARDINAL
fcis-10198	110	1	7	CARDINAL
fcis-10198	110	2	cnn	ORG
fcis-10198	114	1	8	CARDINAL
fcis-10198	117	1	3	CARDINAL
fcis-10198	117	2	firstly	ORDINAL
fcis-10198	119	1	three	CARDINAL
fcis-10198	119	2	1:1	CARDINAL
fcis-10198	119	3	1:5	CARDINAL
fcis-10198	121	1	9	CARDINAL
fcis-10198	121	2	fig.	DATE
fcis-10198	122	1	10	CARDINAL
fcis-10198	122	2	9	CARDINAL
fcis-10198	123	1	60	CARDINAL
fcis-10198	123	2	10	CARDINAL
fcis-10198	124	1	1:1	CARDINAL
fcis-10198	124	2	about 0.6	CARDINAL
fcis-10198	128	1	1:5	CARDINAL
fcis-10198	128	2	about 0.8	CARDINAL
fcis-10198	131	1	1:10	DATE
fcis-10198	134	1	5	CARDINAL
fcis-10198	135	1	first	ORDINAL
fcis-10198	135	2	2d	DATE
fcis-10198	135	3	section iii-a	PERSON
fcis-10198	136	1	section iii-c	PERSON
fcis-10198	136	2	section iii-d	PERSON
fcis-10198	137	1	3.1	CARDINAL
fcis-10198	137	2	2000	CARDINAL
fcis-10198	137	3	500	CARDINAL
fcis-10198	137	4	8	CARDINAL
fcis-10198	137	5	0.001	CARDINAL
fcis-10198	137	6	0.9	CARDINAL
fcis-10198	139	1	1	CARDINAL
fcis-10198	139	2	5	CARDINAL
fcis-10198	139	3	first	ORDINAL
fcis-10198	139	4	fig.	DATE
fcis-10198	140	1	11	CARDINAL
fcis-10198	144	1	11	CARDINAL
fcis-10198	145	1	the first epoch	DATE
fcis-10198	147	1	12	CARDINAL
fcis-10198	147	2	two	CARDINAL
fcis-10198	149	1	12	CARDINAL
fcis-10198	150	1	12	CARDINAL
fcis-10198	152	1	nurbs	PERSON
fcis-10198	153	1	12	CARDINAL
fcis-10198	154	1	fig.	DATE
fcis-10198	155	1	13	CARDINAL
fcis-10198	155	2	above 80%	PERCENT
fcis-10198	156	1	nurbs	NORP
fcis-10198	159	1	13	CARDINAL
fcis-10198	160	1	first	ORDINAL
fcis-10198	160	2	3.2	CARDINAL
fcis-10198	161	1	500	CARDINAL
fcis-10198	161	2	500	CARDINAL
fcis-10198	161	3	100	CARDINAL
fcis-10198	161	4	100	CARDINAL
fcis-10198	162	1	first	ORDINAL
fcis-10198	162	2	section ii-c.	PERSON
fcis-10198	162	3	i.	ORG
fcis-10198	163	1	1	CARDINAL
fcis-10198	163	2	second	ORDINAL
fcis-10198	166	1	61	CARDINAL
fcis-10198	170	1	3.3	CARDINAL
fcis-10198	170	2	3000	CARDINAL
fcis-10198	170	3	1000	CARDINAL
fcis-10198	170	4	1	CARDINAL
fcis-10198	170	5	1	CARDINAL
fcis-10198	171	1	14	CARDINAL
fcis-10198	172	1	third	ORDINAL
fcis-10198	174	1	70.3%	PERCENT
fcis-10198	174	2	0.87	CARDINAL
fcis-10198	174	3	65.8%	PERCENT
fcis-10198	174	4	1.26	CARDINAL
fcis-10198	176	1	14	DATE
fcis-10198	177	1	the last epoch 3.4	DATE
fcis-10198	178	1	four	CARDINAL
fcis-10198	179	1	section ii-c.	PERSON
fcis-10198	179	2	40	CARDINAL
fcis-10198	179	3	3000	CARDINAL
fcis-10198	179	4	8	CARDINAL
fcis-10198	179	5	1000	CARDINAL
fcis-10198	180	1	section iii-c.	PERSON
fcis-10198	180	2	first	ORDINAL
fcis-10198	182	1	15	CARDINAL
fcis-10198	188	1	15	CARDINAL
fcis-10198	188	2	60th	ORDINAL
fcis-10198	189	1	the last epoch	DATE
fcis-10198	191	1	15	CARDINAL
fcis-10198	192	1	60th	ORDINAL
fcis-10198	192	2	first	ORDINAL
fcis-10198	192	3	four	CARDINAL
fcis-10198	193	1	16	CARDINAL
fcis-10198	194	1	16	DATE
fcis-10198	196	1	16	CARDINAL
fcis-10198	200	1	2	CARDINAL
fcis-10198	200	2	fourth	ORDINAL
fcis-10198	200	3	four	CARDINAL
fcis-10198	200	4	62	CARDINAL
fcis-10198	202	1	2d	DATE
fcis-10198	206	1	4.	CARDINAL
fcis-10198	208	1	two	CARDINAL
fcis-10198	208	2	three	CARDINAL
fcis-10198	208	3	two	CARDINAL
fcis-10198	210	1	only about 60%	PERCENT
fcis-10198	211	1	one	CARDINAL
fcis-10198	213	1	firstly	ORDINAL
fcis-10198	215	1	secondly	ORDINAL
fcis-10198	217	1	3d	CARDINAL
fcis-10198	219	1	1	CARDINAL
fcis-10198	219	2	s. m. lavalle et al.	PERSON
fcis-10198	219	3	1998	DATE
fcis-10198	220	1	2	CARDINAL
fcis-10198	220	2	l. e. kavraki	PERSON
fcis-10198	220	3	j.-c.	GPE
fcis-10198	221	1	m. h. overmars	PERSON
fcis-10198	221	2	12	CARDINAL
fcis-10198	221	3	4	CARDINAL
fcis-10198	222	1	566–580, 1996	DATE
fcis-10198	223	1	3	CARDINAL
fcis-10198	223	2	m. zucker	PERSON
fcis-10198	223	3	n. ratliff	PERSON
fcis-10198	223	4	a. d. dragan	PERSON
fcis-10198	223	5	m. pivtoraiko	PERSON
fcis-10198	223	6	m. klingensmith	PERSON
fcis-10198	223	7	c. m. dellin	PERSON
fcis-10198	223	8	j. a. bagnell	PERSON
fcis-10198	223	9	s. s. srinivasa	PERSON
fcis-10198	223	10	the international journal of robotics research	ORG
fcis-10198	223	11	32	DATE
fcis-10198	223	12	9	CARDINAL
fcis-10198	223	13	1164–1193, 2013	DATE
fcis-10198	224	1	4	CARDINAL
fcis-10198	224	2	m. kalakrishnan	PERSON
fcis-10198	224	3	s. chitta	PERSON
fcis-10198	224	4	e. theodorou	GPE
fcis-10198	224	5	s. schaal	PERSON
fcis-10198	224	6	2011	DATE
fcis-10198	225	1	2011	DATE
fcis-10198	225	2	4569–4574	CARDINAL
fcis-10198	226	1	5	CARDINAL
fcis-10198	226	2	j. schulman	PERSON
fcis-10198	226	3	y. duan	PERSON
fcis-10198	226	4	j. ho	PERSON
fcis-10198	226	5	a. lee	PERSON
fcis-10198	226	6	i. awwal	PERSON
fcis-10198	226	7	h. bradlow	PERSON
fcis-10198	226	8	j. pan	PERSON
fcis-10198	226	9	s. patil	PERSON
fcis-10198	226	10	k. goldberg	PERSON
fcis-10198	226	11	the international journal of robotics research	ORG
fcis-10198	226	12	33	DATE
fcis-10198	226	13	9	CARDINAL
fcis-10198	226	14	1251–1270, 2014	DATE
fcis-10198	227	1	6	CARDINAL
fcis-10198	227	2	a. tamar	PERSON
fcis-10198	227	3	arxiv preprint arxiv	ORG
fcis-10198	227	4	1906. 00214	DATE
fcis-10198	227	5	2019	DATE
fcis-10198	228	1	7	CARDINAL
fcis-10198	228	2	m. p´andy,	PERSON
fcis-10198	228	3	d. lenton	PERSON
fcis-10198	228	4	r. clark	PERSON
fcis-10198	228	5	2021	CARDINAL
fcis-10198	229	1	2021	DATE
fcis-10198	229	2	1413–1420	CARDINAL
fcis-10198	230	1	8	CARDINAL
fcis-10198	230	2	k. li	PERSON
fcis-10198	230	3	j. malik	PERSON
fcis-10198	230	4	arxiv preprint arxiv	ORG
fcis-10198	230	5	1606.01885	CARDINAL
fcis-10198	230	6	2016	DATE