id	sid	eid	entity	type
fcis-12444	1	1	2832-6024	DATE
fcis-12444	2	1	5	CARDINAL
fcis-12444	2	2	2	CARDINAL
fcis-12444	2	3	2023 52	DATE
fcis-12444	2	4	shi zheng	PERSON
fcis-12444	2	5	dalian university	ORG
fcis-12444	2	6	liaoning province	GPE
fcis-12444	2	7	dalian	GPE
fcis-12444	2	8	116600	DATE
fcis-12444	2	9	china	GPE
fcis-12444	9	1	1	CARDINAL
fcis-12444	9	2	five	CARDINAL
fcis-12444	30	1	2	CARDINAL
fcis-12444	30	2	2.1	CARDINAL
fcis-12444	31	1	the past few decades	DATE
fcis-12444	32	1	1	CARDINAL
fcis-12444	33	1	solomon	PERSON
fcis-12444	33	2	2	CARDINAL
fcis-12444	34	1	3	CARDINAL
fcis-12444	35	1	2003	DATE
fcis-12444	35	2	two	CARDINAL
fcis-12444	35	3	53	CARDINAL
fcis-12444	35	4	4	CARDINAL
fcis-12444	36	1	2004	DATE
fcis-12444	36	2	5	CARDINAL
fcis-12444	36	3	6	CARDINAL
fcis-12444	38	1	2.2	CARDINAL
fcis-12444	40	1	two	CARDINAL
fcis-12444	41	1	lavallein	PERSON
fcis-12444	41	2	1998	DATE
fcis-12444	49	1	lavalle et al	PERSON
fcis-12444	50	1	8	CARDINAL
fcis-12444	51	1	lavalle	PERSON
fcis-12444	51	2	9	CARDINAL
fcis-12444	52	1	2010	DATE
fcis-12444	52	2	karaman et al	PERSON
fcis-12444	52	3	10	CARDINAL
fcis-12444	53	1	2019	DATE
fcis-12444	53	2	li	PERSON
fcis-12444	53	3	sun	PERSON
fcis-12444	55	1	3	CARDINAL
fcis-12444	55	2	two	CARDINAL
fcis-12444	58	1	1	CARDINAL
fcis-12444	66	1	4	CARDINAL
fcis-12444	66	2	4.1	CARDINAL
fcis-12444	67	1	1	CARDINAL
fcis-12444	67	2	95%	PERCENT
fcis-12444	67	3	5%	PERCENT
fcis-12444	69	1	54	CARDINAL
fcis-12444	72	1	4.2	CARDINAL
fcis-12444	76	1	one	CARDINAL
fcis-12444	77	1	95%	PERCENT
fcis-12444	77	2	5%	PERCENT
fcis-12444	80	1	1	CARDINAL
fcis-12444	81	1	a. fig	PERSON
fcis-12444	81	2	2	CARDINAL
fcis-12444	85	1	three	CARDINAL
fcis-12444	86	1	first	ORDINAL
fcis-12444	88	1	3	CARDINAL
fcis-12444	88	2	four	CARDINAL
fcis-12444	88	3	1	CARDINAL
fcis-12444	88	4	2	CARDINAL
fcis-12444	88	5	3	CARDINAL
fcis-12444	88	6	24	CARDINAL
fcis-12444	88	7	4	CARDINAL
fcis-12444	88	8	fig	ORG
fcis-12444	89	1	2	CARDINAL
fcis-12444	89	2	40%	PERCENT
fcis-12444	89	3	40%	PERCENT
fcis-12444	89	4	20%	PERCENT
fcis-12444	92	1	4	CARDINAL
fcis-12444	93	1	55	CARDINAL
fcis-12444	93	2	4.3	CARDINAL
fcis-12444	94	1	10	CARDINAL
fcis-12444	94	2	four	CARDINAL
fcis-12444	95	1	3	CARDINAL
fcis-12444	96	1	4	CARDINAL
fcis-12444	98	1	2	CARDINAL
fcis-12444	98	2	60%	PERCENT
fcis-12444	99	1	3	CARDINAL
fcis-12444	99	2	30% and 20%	PERCENT
fcis-12444	99	3	close to 100%	PERCENT
fcis-12444	100	1	5	CARDINAL
fcis-12444	108	1	1	CARDINAL
fcis-12444	108	2	j., solomon	ORG
fcis-12444	108	3	m.m.	PERSON
fcis-12444	109	1	14(4	CARDINAL
fcis-12444	109	2	545-565	CARDINAL
fcis-12444	109	3	1984	DATE
fcis-12444	110	1	2	CARDINAL
fcis-12444	110	2	m.m.	PERSON
fcis-12444	111	1	254	CARDINAL
fcis-12444	111	2	1987	DATE
fcis-12444	112	1	3	CARDINAL
fcis-12444	112	2	j.f.	GPE
fcis-12444	112	3	laporte	ORG
fcis-12444	113	1	105	CARDINAL
fcis-12444	114	1	4	CARDINAL
fcis-12444	114	2	r.	NORP
fcis-12444	114	3	van hentenryck	PERSON
fcis-12444	115	1	two	CARDINAL
fcis-12444	116	1	37(1	DATE
fcis-12444	116	2	21	CARDINAL
fcis-12444	116	3	2003	DATE
fcis-12444	117	1	5	CARDINAL
fcis-12444	117	2	ghiani	PERSON
fcis-12444	117	3	r.	NORP
fcis-12444	118	1	john wiley &	ORG
fcis-12444	118	2	2004	DATE
fcis-12444	119	1	6	CARDINAL
fcis-12444	119	2	b.l.	GPE
fcis-12444	119	3	raghavan	GPE
fcis-12444	119	4	s.	GPE
fcis-12444	119	5	wasil	GPE
fcis-12444	119	6	e.a.	GPE
fcis-12444	121	1	springer science & business	ORG
fcis-12444	121	2	2008	DATE
fcis-12444	122	1	7	CARDINAL
fcis-12444	122	2	lavalle	GPE
fcis-12444	122	3	s.m.	GPE
fcis-12444	123	1	computer science department	ORG
fcis-12444	123	2	iowa state university	ORG
fcis-12444	123	3	1998	DATE
fcis-12444	124	1	8	CARDINAL
fcis-12444	124	2	j.j.	GPE
fcis-12444	124	3	lavalle	GPE
fcis-12444	124	4	s.m.	GPE
fcis-12444	125	1	2000	CARDINAL
fcis-12444	125	2	millennium	DATE
fcis-12444	130	1	2	CARDINAL
fcis-12444	131	1	995-1001	CARDINAL
fcis-12444	131	2	2000	DATE
fcis-12444	132	1	9	CARDINAL
fcis-12444	132	2	lavalle	GPE
fcis-12444	132	3	s.m.	GPE
fcis-12444	132	4	kuffner jr	PERSON
fcis-12444	132	5	j.j.	PERSON
fcis-12444	133	1	the international journal of robotics	ORG
fcis-12444	133	2	378-400	CARDINAL
fcis-12444	133	3	2001	DATE
fcis-12444	134	1	10	CARDINAL
fcis-12444	135	1	2010	DATE