id	sid	eid	entity	type
fcis-14888	1	1	2832-6024	DATE
fcis-14888	2	1	6	CARDINAL
fcis-14888	2	2	1	CARDINAL
fcis-14888	2	3	2023 115	CARDINAL
fcis-14888	2	4	2	DATE
fcis-14888	2	5	3	DATE
fcis-14888	2	6	2	DATE
fcis-14888	2	7	3	DATE
fcis-14888	2	8	qingzhang wang 1	PERSON
fcis-14888	2	9	2	DATE
fcis-14888	2	10	3	DATE
fcis-14888	2	11	zhicheng wang 1	PERSON
fcis-14888	2	12	2	DATE
fcis-14888	2	13	3	DATE
fcis-14888	2	14	jianhua cui 1	PERSON
fcis-14888	2	15	2	DATE
fcis-14888	2	16	3	DATE
fcis-14888	2	17	4	CARDINAL
fcis-14888	2	18	lingling shen 1	PERSON
fcis-14888	2	19	2	DATE
fcis-14888	2	20	3	DATE
fcis-14888	2	21	xiaojun qian 1	PERSON
fcis-14888	2	22	2	DATE
fcis-14888	2	23	3 1	CARDINAL
fcis-14888	2	24	nanjing	GPE
fcis-14888	2	25	university	GPE
fcis-14888	2	26	nanjing	GPE
fcis-14888	2	27	china 2 school	ORG
fcis-14888	2	28	nanjing	GPE
fcis-14888	2	29	university	GPE
fcis-14888	2	30	nanjing	GPE
fcis-14888	2	31	china 3	ORG
fcis-14888	2	32	nanjing	GPE
fcis-14888	2	33	university	GPE
fcis-14888	2	34	nanjing	GPE
fcis-14888	2	35	china 4	ORG
fcis-14888	2	36	nanjing	GPE
fcis-14888	2	37	university	GPE
fcis-14888	2	38	nanjing	GPE
fcis-14888	2	39	china	GPE
fcis-14888	2	40	1426912622@qq.com	CARDINAL
fcis-14888	2	41	liwei zeng	PERSON
fcis-14888	2	42	lingling shen	PERSON
fcis-14888	6	1	gazebo	PRODUCT
fcis-14888	8	1	qt5	NORP
fcis-14888	8	2	gazebo	PRODUCT
fcis-14888	9	1	1	CARDINAL
fcis-14888	10	1	shanghai	GPE
fcis-14888	20	1	2	CARDINAL
fcis-14888	20	2	2.1	CARDINAL
fcis-14888	26	1	darknet-53	PRODUCT
fcis-14888	26	2	53	CARDINAL
fcis-14888	29	1	1	CARDINAL
fcis-14888	30	1	2.2	CARDINAL
fcis-14888	32	1	steven m. lavalle	PERSON
fcis-14888	33	1	2	CARDINAL
fcis-14888	36	1	116	CARDINAL
fcis-14888	38	1	one	CARDINAL
fcis-14888	38	2	4	CARDINAL
fcis-14888	39	1	2.3	CARDINAL
fcis-14888	41	1	3d	CARDINAL
fcis-14888	43	1	first	ORDINAL
fcis-14888	44	1	cnn	ORG
fcis-14888	45	1	3	CARDINAL
fcis-14888	45	2	3.1	CARDINAL
fcis-14888	47	1	rgb	ORG
fcis-14888	48	1	3d	CARDINAL
fcis-14888	50	1	1	CARDINAL
fcis-14888	51	1	six	CARDINAL
fcis-14888	51	2	payload:3kg	FAC
fcis-14888	51	3	radius:638mm	PERSON
fcis-14888	52	1	ipc dell	PERSON
fcis-14888	52	2	1	CARDINAL
fcis-14888	52	3	2	CARDINAL
fcis-14888	52	4	117 3.2	CARDINAL
fcis-14888	53	1	qt5	NORP
fcis-14888	55	1	first	ORDINAL
fcis-14888	59	1	3	CARDINAL
fcis-14888	59	2	3.3	CARDINAL
fcis-14888	67	1	iou	PERSON
fcis-14888	68	1	iou	PERSON
fcis-14888	68	2	two	CARDINAL
fcis-14888	75	1	two	CARDINAL
fcis-14888	76	1	3.4	CARDINAL
fcis-14888	76	2	one	CARDINAL
fcis-14888	81	1	3.5	CARDINAL
fcis-14888	88	1	first	ORDINAL
fcis-14888	91	1	8	CARDINAL
fcis-14888	92	1	4	CARDINAL
fcis-14888	92	2	4.1	CARDINAL
fcis-14888	93	1	gazebo	PRODUCT
fcis-14888	93	2	ros	GPE
fcis-14888	94	1	ros	GPE
fcis-14888	95	1	3d	CARDINAL
fcis-14888	96	1	gazebo	PRODUCT
fcis-14888	96	2	118	CARDINAL
fcis-14888	97	1	firstly	ORDINAL
fcis-14888	99	1	4	CARDINAL
fcis-14888	100	1	5	CARDINAL
fcis-14888	102	1	4.2	CARDINAL
fcis-14888	108	1	5	CARDINAL
fcis-14888	109	1	one	CARDINAL
fcis-14888	116	1	6	CARDINAL
fcis-14888	120	1	119	CARDINAL
fcis-14888	120	2	nanjing	GPE
fcis-14888	121	1	1	CARDINAL
fcis-14888	121	2	jin y	PERSON
fcis-14888	122	1	2020 3rd	DATE
fcis-14888	122	2	intelligence,2020:1-7	ORG
fcis-14888	123	1	2	CARDINAL
fcis-14888	123	2	ramses reyes	PERSON
fcis-14888	123	3	israel becerra	PERSON
fcis-14888	123	4	rafael murrieta	PERSON
fcis-14888	123	5	seth hutchinson	PERSON
fcis-14888	125	1	2023:09-22	CARDINAL
fcis-14888	126	1	3	CARDINAL
fcis-14888	126	2	fangbin wang	PERSON
fcis-14888	126	3	yefei gao	PERSON
fcis-14888	126	4	zhong chen	PERSON
fcis-14888	126	5	xue gong	PERSON
fcis-14888	126	6	darong zhu	GPE
fcis-14888	126	7	wanlin cong	PERSON
fcis-14888	128	1	2023:11-01	DATE
fcis-14888	129	1	4	CARDINAL
fcis-14888	129	2	wu y	PERSON
fcis-14888	129	3	xie	PERSON
fcis-14888	130	1	j. robust adaptive	ORG
fcis-14888	131	1	2021	CARDINAL
fcis-14888	131	2	51(2):1192-1202	DATE
fcis-14888	132	1	5	CARDINAL
fcis-14888	132	2	liu t	PERSON
fcis-14888	133	1	2023	CARDINAL
fcis-14888	133	2	13(2	DATE
fcis-14888	133	3	410	CARDINAL
fcis-14888	134	1	6	CARDINAL
fcis-14888	135	1	2021	DATE
fcis-14888	135	2	13(7):1327	CARDINAL
fcis-14888	136	1	liu g l	PERSON
fcis-14888	137	1	c]//2020	ORG
fcis-14888	137	2	2020	DATE
fcis-14888	138	1	8	CARDINAL
fcis-14888	139	1	2021	CARDINAL
fcis-14888	139	2	35	CARDINAL
fcis-14888	139	3	33	CARDINAL