id	sid	tid	token	lemma	pos
fcis-10198	1	1	frontiers	frontier	NOUN
fcis-10198	1	2	in	in	ADP
fcis-10198	1	3	computing	computing	NOUN
fcis-10198	1	4	and	and	CCONJ
fcis-10198	1	5	intelligent	intelligent	ADJ
fcis-10198	1	6	systems	system	NOUN
fcis-10198	1	7	issn	issn	VERB
fcis-10198	1	8	:	:	PUNCT
fcis-10198	1	9	2832	2832	NUM
fcis-10198	1	10	-	-	SYM
fcis-10198	1	11	6024	6024	NUM
fcis-10198	1	12	|	|	NOUN
fcis-10198	1	13	vol	vol	NOUN
fcis-10198	1	14	.	.	PROPN
fcis-10198	2	1	4	4	NUM
fcis-10198	2	2	,	,	PUNCT
fcis-10198	2	3	no	no	INTJ
fcis-10198	2	4	.	.	NOUN
fcis-10198	2	5	2	2	NUM
fcis-10198	2	6	,	,	PUNCT
fcis-10198	2	7	2023	2023	NUM
fcis-10198	2	8	57	57	NUM
fcis-10198	2	9	robot	robot	NOUN
fcis-10198	2	10	motion	motion	NOUN
fcis-10198	2	11	planning	planning	NOUN
fcis-10198	2	12	with	with	ADP
fcis-10198	2	13	optimization‐based	optimization‐base	VERB
fcis-10198	2	14	algorithm	algorithm	NOUN
fcis-10198	2	15	and	and	CCONJ
fcis-10198	2	16	neural	neural	ADJ
fcis-10198	2	17	network	network	NOUN
fcis-10198	2	18	:	:	PUNCT
fcis-10198	2	19	unsupervised	unsupervised	ADJ
fcis-10198	2	20	path	path	NOUN
fcis-10198	2	21	regression	regression	PROPN
fcis-10198	2	22	yunfeng	yunfeng	PROPN
fcis-10198	2	23	kang	kang	PROPN
fcis-10198	2	24	,	,	PUNCT
fcis-10198	2	25	yixin	yixin	PROPN
fcis-10198	2	26	mai	mai	PROPN
fcis-10198	2	27	school	school	PROPN
fcis-10198	2	28	of	of	ADP
fcis-10198	2	29	computation	computation	NOUN
fcis-10198	2	30	,	,	PUNCT
fcis-10198	2	31	information	information	NOUN
fcis-10198	2	32	and	and	CCONJ
fcis-10198	2	33	technology	technology	NOUN
fcis-10198	2	34	,	,	PUNCT
fcis-10198	2	35	technical	technical	ADJ
fcis-10198	2	36	university	university	PROPN
fcis-10198	2	37	of	of	ADP
fcis-10198	2	38	munich	munich	PROPN
fcis-10198	2	39	,	,	PUNCT
fcis-10198	2	40	germany	germany	PROPN
fcis-10198	2	41	abstract	abstract	NOUN
fcis-10198	2	42	:	:	PUNCT
fcis-10198	2	43	planning	plan	VERB
fcis-10198	2	44	collision	collision	NOUN
fcis-10198	2	45	-	-	PUNCT
fcis-10198	2	46	free	free	ADJ
fcis-10198	2	47	motions	motion	NOUN
fcis-10198	2	48	for	for	ADP
fcis-10198	2	49	robots	robot	NOUN
fcis-10198	2	50	is	be	AUX
fcis-10198	2	51	challenging	challenge	VERB
fcis-10198	2	52	in	in	ADP
fcis-10198	2	53	environments	environment	NOUN
fcis-10198	2	54	with	with	ADP
fcis-10198	2	55	complex	complex	ADJ
fcis-10198	2	56	obstacle	obstacle	NOUN
fcis-10198	2	57	geometries	geometry	NOUN
fcis-10198	2	58	.	.	PUNCT
fcis-10198	3	1	in	in	ADP
fcis-10198	3	2	this	this	DET
fcis-10198	3	3	study	study	NOUN
fcis-10198	3	4	,	,	PUNCT
fcis-10198	3	5	we	we	PRON
fcis-10198	3	6	combine	combine	VERB
fcis-10198	3	7	the	the	DET
fcis-10198	3	8	optimization	optimization	NOUN
fcis-10198	3	9	-	-	PUNCT
fcis-10198	3	10	based	base	VERB
fcis-10198	3	11	algorithm	algorithm	NOUN
fcis-10198	3	12	and	and	CCONJ
fcis-10198	3	13	neural	neural	ADJ
fcis-10198	3	14	network	network	NOUN
fcis-10198	3	15	to	to	PART
fcis-10198	3	16	obtain	obtain	VERB
fcis-10198	3	17	a	a	DET
fcis-10198	3	18	short	short	ADJ
fcis-10198	3	19	and	and	CCONJ
fcis-10198	3	20	collision	collision	NOUN
fcis-10198	3	21	-	-	PUNCT
fcis-10198	3	22	free	free	ADJ
fcis-10198	3	23	path	path	NOUN
fcis-10198	3	24	through	through	ADP
fcis-10198	3	25	unsupervised	unsupervised	ADJ
fcis-10198	3	26	path	path	NOUN
fcis-10198	3	27	regression	regression	NOUN
fcis-10198	3	28	.	.	PUNCT
fcis-10198	4	1	the	the	DET
fcis-10198	4	2	network	network	NOUN
fcis-10198	4	3	can	can	AUX
fcis-10198	4	4	help	help	VERB
fcis-10198	4	5	to	to	PART
fcis-10198	4	6	predict	predict	VERB
fcis-10198	4	7	an	an	DET
fcis-10198	4	8	educated	educate	VERB
fcis-10198	4	9	initial	initial	ADJ
fcis-10198	4	10	path	path	NOUN
fcis-10198	4	11	for	for	ADP
fcis-10198	4	12	an	an	DET
fcis-10198	4	13	optimization	optimization	NOUN
fcis-10198	4	14	-	-	PUNCT
fcis-10198	4	15	based	base	VERB
fcis-10198	4	16	planner	planner	NOUN
fcis-10198	4	17	,	,	PUNCT
fcis-10198	4	18	which	which	PRON
fcis-10198	4	19	will	will	AUX
fcis-10198	4	20	converge	converge	VERB
fcis-10198	4	21	to	to	ADP
fcis-10198	4	22	a	a	DET
fcis-10198	4	23	better	well	ADJ
fcis-10198	4	24	solution	solution	NOUN
fcis-10198	4	25	.	.	PUNCT
fcis-10198	5	1	we	we	PRON
fcis-10198	5	2	compare	compare	VERB
fcis-10198	5	3	different	different	ADJ
fcis-10198	5	4	path	path	NOUN
fcis-10198	5	5	representations	representation	NOUN
fcis-10198	5	6	,	,	PUNCT
fcis-10198	5	7	world	world	NOUN
fcis-10198	5	8	representations	representation	NOUN
fcis-10198	5	9	,	,	PUNCT
fcis-10198	5	10	and	and	CCONJ
fcis-10198	5	11	also	also	ADV
fcis-10198	5	12	their	their	PRON
fcis-10198	5	13	combinations	combination	NOUN
fcis-10198	5	14	to	to	PART
fcis-10198	5	15	improve	improve	VERB
fcis-10198	5	16	the	the	DET
fcis-10198	5	17	result	result	NOUN
fcis-10198	5	18	.	.	PUNCT
fcis-10198	6	1	the	the	DET
fcis-10198	6	2	motion	motion	NOUN
fcis-10198	6	3	planning	planning	NOUN
fcis-10198	6	4	problem	problem	NOUN
fcis-10198	6	5	is	be	AUX
fcis-10198	6	6	extended	extend	VERB
fcis-10198	6	7	from	from	ADP
fcis-10198	6	8	a	a	DET
fcis-10198	6	9	sphere	sphere	NOUN
fcis-10198	6	10	robot	robot	NOUN
fcis-10198	6	11	in	in	ADP
fcis-10198	6	12	a	a	DET
fcis-10198	6	13	single	single	ADJ
fcis-10198	6	14	2d	2d	NUM
fcis-10198	6	15	world	world	NOUN
fcis-10198	6	16	to	to	ADP
fcis-10198	6	17	a	a	DET
fcis-10198	6	18	more	more	ADV
fcis-10198	6	19	complex	complex	ADJ
fcis-10198	6	20	static	static	ADJ
fcis-10198	6	21	arm	arm	NOUN
fcis-10198	6	22	robot	robot	NOUN
fcis-10198	6	23	in	in	ADP
fcis-10198	6	24	multiple	multiple	ADJ
fcis-10198	6	25	worlds	world	NOUN
fcis-10198	6	26	.	.	PUNCT
fcis-10198	7	1	through	through	ADP
fcis-10198	7	2	our	our	PRON
fcis-10198	7	3	experiments	experiment	NOUN
fcis-10198	7	4	,	,	PUNCT
fcis-10198	7	5	we	we	PRON
fcis-10198	7	6	can	can	AUX
fcis-10198	7	7	find	find	VERB
fcis-10198	7	8	that	that	SCONJ
fcis-10198	7	9	in	in	ADP
fcis-10198	7	10	multiple	multiple	ADJ
fcis-10198	7	11	worlds	world	NOUN
fcis-10198	7	12	,	,	PUNCT
fcis-10198	7	13	the	the	DET
fcis-10198	7	14	relative	relative	ADJ
fcis-10198	7	15	path	path	NOUN
fcis-10198	7	16	with	with	ADP
fcis-10198	7	17	the	the	DET
fcis-10198	7	18	signed	sign	VERB
fcis-10198	7	19	distance	distance	NOUN
fcis-10198	7	20	field	field	NOUN
fcis-10198	7	21	is	be	AUX
fcis-10198	7	22	the	the	DET
fcis-10198	7	23	best	good	ADJ
fcis-10198	7	24	combination	combination	NOUN
fcis-10198	7	25	for	for	ADP
fcis-10198	7	26	both	both	DET
fcis-10198	7	27	robots	robot	NOUN
fcis-10198	7	28	.	.	PUNCT
fcis-10198	8	1	this	this	PRON
fcis-10198	8	2	is	be	AUX
fcis-10198	8	3	not	not	PART
fcis-10198	8	4	only	only	ADV
fcis-10198	8	5	proved	prove	VERB
fcis-10198	8	6	by	by	ADP
fcis-10198	8	7	metrics	metric	NOUN
fcis-10198	8	8	of	of	ADP
fcis-10198	8	9	feasible	feasible	ADJ
fcis-10198	8	10	rate	rate	NOUN
fcis-10198	8	11	and	and	CCONJ
fcis-10198	8	12	loss	loss	NOUN
fcis-10198	8	13	but	but	CCONJ
fcis-10198	8	14	also	also	ADV
fcis-10198	8	15	by	by	ADP
fcis-10198	8	16	the	the	DET
fcis-10198	8	17	visualization	visualization	NOUN
fcis-10198	8	18	in	in	ADP
fcis-10198	8	19	the	the	DET
fcis-10198	8	20	map	map	NOUN
fcis-10198	8	21	.	.	PUNCT
fcis-10198	9	1	keywords	keyword	NOUN
fcis-10198	9	2	:	:	PUNCT
fcis-10198	9	3	robot	robot	NOUN
fcis-10198	9	4	motion	motion	NOUN
fcis-10198	9	5	planning	planning	NOUN
fcis-10198	9	6	;	;	PUNCT
fcis-10198	9	7	optimization	optimization	NOUN
fcis-10198	9	8	-	-	PUNCT
fcis-10198	9	9	based	base	VERB
fcis-10198	9	10	algorithm	algorithm	NOUN
fcis-10198	9	11	;	;	PUNCT
fcis-10198	9	12	neural	neural	ADJ
fcis-10198	9	13	network	network	NOUN
fcis-10198	9	14	;	;	PUNCT
fcis-10198	9	15	path	path	NOUN
fcis-10198	9	16	regression	regression	NOUN
fcis-10198	9	17	;	;	PUNCT
fcis-10198	9	18	path	path	NOUN
fcis-10198	9	19	and	and	CCONJ
fcis-10198	9	20	world	world	NOUN
fcis-10198	9	21	representations	representation	NOUN
fcis-10198	9	22	.	.	PUNCT
fcis-10198	10	1	1	1	X
fcis-10198	10	2	.	.	X
fcis-10198	10	3	introduction	introduction	NOUN
fcis-10198	10	4	robot	robot	NOUN
fcis-10198	10	5	motion	motion	NOUN
fcis-10198	10	6	planning	planning	NOUN
fcis-10198	10	7	is	be	AUX
fcis-10198	10	8	a	a	DET
fcis-10198	10	9	critical	critical	ADJ
fcis-10198	10	10	domain	domain	NOUN
fcis-10198	10	11	of	of	ADP
fcis-10198	10	12	robotics	robotic	NOUN
fcis-10198	10	13	that	that	PRON
fcis-10198	10	14	involves	involve	VERB
fcis-10198	10	15	the	the	DET
fcis-10198	10	16	strategic	strategic	ADJ
fcis-10198	10	17	determination	determination	NOUN
fcis-10198	10	18	of	of	ADP
fcis-10198	10	19	a	a	DET
fcis-10198	10	20	path	path	NOUN
fcis-10198	10	21	for	for	SCONJ
fcis-10198	10	22	a	a	DET
fcis-10198	10	23	robot	robot	NOUN
fcis-10198	10	24	to	to	PART
fcis-10198	10	25	navigate	navigate	VERB
fcis-10198	10	26	from	from	ADP
fcis-10198	10	27	an	an	DET
fcis-10198	10	28	initial	initial	ADJ
fcis-10198	10	29	joint	joint	ADJ
fcis-10198	10	30	configuration	configuration	NOUN
fcis-10198	10	31	to	to	ADP
fcis-10198	10	32	a	a	DET
fcis-10198	10	33	desired	desire	VERB
fcis-10198	10	34	goal	goal	NOUN
fcis-10198	10	35	configuration	configuration	NOUN
fcis-10198	10	36	.	.	PUNCT
fcis-10198	11	1	this	this	DET
fcis-10198	11	2	process	process	NOUN
fcis-10198	11	3	is	be	AUX
fcis-10198	11	4	crucial	crucial	ADJ
fcis-10198	11	5	for	for	ADP
fcis-10198	11	6	enabling	enable	VERB
fcis-10198	11	7	robots	robot	NOUN
fcis-10198	11	8	to	to	PART
fcis-10198	11	9	autonomously	autonomously	ADV
fcis-10198	11	10	perform	perform	VERB
fcis-10198	11	11	complex	complex	ADJ
fcis-10198	11	12	tasks	task	NOUN
fcis-10198	11	13	in	in	ADP
fcis-10198	11	14	various	various	ADJ
fcis-10198	11	15	applications	application	NOUN
fcis-10198	11	16	,	,	PUNCT
fcis-10198	11	17	ranging	range	VERB
fcis-10198	11	18	from	from	ADP
fcis-10198	11	19	industrial	industrial	ADJ
fcis-10198	11	20	automation	automation	NOUN
fcis-10198	11	21	to	to	ADP
fcis-10198	11	22	autonomous	autonomous	ADJ
fcis-10198	11	23	vehicles	vehicle	NOUN
fcis-10198	11	24	and	and	CCONJ
fcis-10198	11	25	even	even	ADV
fcis-10198	11	26	in	in	ADP
fcis-10198	11	27	healthcare	healthcare	NOUN
fcis-10198	11	28	settings	setting	NOUN
fcis-10198	11	29	.	.	PUNCT
fcis-10198	12	1	the	the	DET
fcis-10198	12	2	primary	primary	ADJ
fcis-10198	12	3	objective	objective	NOUN
fcis-10198	12	4	of	of	ADP
fcis-10198	12	5	robot	robot	NOUN
fcis-10198	12	6	motion	motion	NOUN
fcis-10198	12	7	planning	planning	NOUN
fcis-10198	12	8	is	be	AUX
fcis-10198	12	9	to	to	PART
fcis-10198	12	10	ensure	ensure	VERB
fcis-10198	12	11	the	the	DET
fcis-10198	12	12	successful	successful	ADJ
fcis-10198	12	13	execution	execution	NOUN
fcis-10198	12	14	of	of	ADP
fcis-10198	12	15	movements	movement	NOUN
fcis-10198	12	16	while	while	SCONJ
fcis-10198	12	17	addressing	address	VERB
fcis-10198	12	18	two	two	NUM
fcis-10198	12	19	key	key	ADJ
fcis-10198	12	20	challenges	challenge	NOUN
fcis-10198	12	21	:	:	PUNCT
fcis-10198	12	22	ensuring	ensure	VERB
fcis-10198	12	23	the	the	DET
fcis-10198	12	24	avoidance	avoidance	NOUN
fcis-10198	12	25	of	of	ADP
fcis-10198	12	26	obstacles	obstacle	NOUN
fcis-10198	12	27	within	within	ADP
fcis-10198	12	28	the	the	DET
fcis-10198	12	29	environment	environment	NOUN
fcis-10198	12	30	and	and	CCONJ
fcis-10198	12	31	preventing	prevent	VERB
fcis-10198	12	32	self	self	NOUN
fcis-10198	12	33	-	-	PUNCT
fcis-10198	12	34	collision	collision	NOUN
fcis-10198	12	35	throughout	throughout	ADP
fcis-10198	12	36	the	the	DET
fcis-10198	12	37	trajectory	trajectory	NOUN
fcis-10198	12	38	;	;	PUNCT
fcis-10198	12	39	the	the	DET
fcis-10198	12	40	path	path	NOUN
fcis-10198	12	41	of	of	ADP
fcis-10198	12	42	the	the	DET
fcis-10198	12	43	robot	robot	NOUN
fcis-10198	12	44	's	's	PART
fcis-10198	12	45	motion	motion	NOUN
fcis-10198	12	46	is	be	AUX
fcis-10198	12	47	as	as	ADV
fcis-10198	12	48	short	short	ADJ
fcis-10198	12	49	as	as	ADP
fcis-10198	12	50	possible	possible	ADJ
fcis-10198	12	51	.	.	PUNCT
fcis-10198	13	1	the	the	DET
fcis-10198	13	2	utilization	utilization	NOUN
fcis-10198	13	3	of	of	ADP
fcis-10198	13	4	deep	deep	ADJ
fcis-10198	13	5	learning	learning	NOUN
fcis-10198	13	6	and	and	CCONJ
fcis-10198	13	7	neural	neural	ADJ
fcis-10198	13	8	networks	network	NOUN
fcis-10198	13	9	in	in	ADP
fcis-10198	13	10	robot	robot	NOUN
fcis-10198	13	11	motion	motion	NOUN
fcis-10198	13	12	planning	planning	NOUN
fcis-10198	13	13	has	have	AUX
fcis-10198	13	14	witnessed	witness	VERB
fcis-10198	13	15	a	a	DET
fcis-10198	13	16	remarkable	remarkable	ADJ
fcis-10198	13	17	surge	surge	NOUN
fcis-10198	13	18	in	in	ADP
fcis-10198	13	19	recent	recent	ADJ
fcis-10198	13	20	years	year	NOUN
fcis-10198	13	21	.	.	PUNCT
fcis-10198	14	1	as	as	SCONJ
fcis-10198	14	2	robots	robot	NOUN
fcis-10198	14	3	become	become	AUX
fcis-10198	14	4	increasingly	increasingly	ADV
fcis-10198	14	5	integrated	integrate	VERB
fcis-10198	14	6	into	into	ADP
fcis-10198	14	7	diverse	diverse	ADJ
fcis-10198	14	8	applications	application	NOUN
fcis-10198	14	9	and	and	CCONJ
fcis-10198	14	10	operate	operate	VERB
fcis-10198	14	11	in	in	ADP
fcis-10198	14	12	complex	complex	ADJ
fcis-10198	14	13	environments	environment	NOUN
fcis-10198	14	14	,	,	PUNCT
fcis-10198	14	15	the	the	DET
fcis-10198	14	16	need	need	NOUN
fcis-10198	14	17	for	for	ADP
fcis-10198	14	18	advanced	advanced	ADJ
fcis-10198	14	19	and	and	CCONJ
fcis-10198	14	20	efficient	efficient	ADJ
fcis-10198	14	21	path	path	NOUN
fcis-10198	14	22	-	-	PUNCT
fcis-10198	14	23	planning	planning	NOUN
fcis-10198	14	24	techniques	technique	NOUN
fcis-10198	14	25	has	have	AUX
fcis-10198	14	26	become	become	VERB
fcis-10198	14	27	more	more	ADV
fcis-10198	14	28	pressing	pressing	ADJ
fcis-10198	14	29	.	.	PUNCT
fcis-10198	15	1	traditional	traditional	ADJ
fcis-10198	15	2	approaches	approach	NOUN
fcis-10198	15	3	to	to	ADP
fcis-10198	15	4	motion	motion	NOUN
fcis-10198	15	5	planning	planning	NOUN
fcis-10198	15	6	often	often	ADV
fcis-10198	15	7	struggle	struggle	VERB
fcis-10198	15	8	to	to	PART
fcis-10198	15	9	handle	handle	VERB
fcis-10198	15	10	the	the	DET
fcis-10198	15	11	intricacies	intricacy	NOUN
fcis-10198	15	12	of	of	ADP
fcis-10198	15	13	real	real	ADJ
fcis-10198	15	14	-	-	PUNCT
fcis-10198	15	15	world	world	NOUN
fcis-10198	15	16	scenarios	scenario	NOUN
fcis-10198	15	17	,	,	PUNCT
fcis-10198	15	18	leading	lead	VERB
fcis-10198	15	19	to	to	ADP
fcis-10198	15	20	the	the	DET
fcis-10198	15	21	exploration	exploration	NOUN
fcis-10198	15	22	of	of	ADP
fcis-10198	15	23	novel	novel	ADJ
fcis-10198	15	24	methodologies	methodology	NOUN
fcis-10198	15	25	that	that	PRON
fcis-10198	15	26	leverage	leverage	VERB
fcis-10198	15	27	the	the	DET
fcis-10198	15	28	power	power	NOUN
fcis-10198	15	29	of	of	ADP
fcis-10198	15	30	deep	deep	ADJ
fcis-10198	15	31	learning	learning	NOUN
fcis-10198	15	32	and	and	CCONJ
fcis-10198	15	33	neural	neural	ADJ
fcis-10198	15	34	networks	network	NOUN
fcis-10198	15	35	.	.	PUNCT
fcis-10198	16	1	1.1	1.1	NUM
fcis-10198	16	2	.	.	PUNCT
fcis-10198	16	3	related	relate	VERB
fcis-10198	16	4	work	work	NOUN
fcis-10198	16	5	there	there	PRON
fcis-10198	16	6	are	be	VERB
fcis-10198	16	7	two	two	NUM
fcis-10198	16	8	widely	widely	ADV
fcis-10198	16	9	known	know	VERB
fcis-10198	16	10	methods	method	NOUN
fcis-10198	16	11	for	for	ADP
fcis-10198	16	12	addressing	address	VERB
fcis-10198	16	13	motion	motion	NOUN
fcis-10198	16	14	tasks	task	NOUN
fcis-10198	16	15	in	in	ADP
fcis-10198	16	16	robotics	robotic	NOUN
fcis-10198	16	17	:	:	PUNCT
fcis-10198	16	18	sampling	sample	VERB
fcis-10198	16	19	-	-	PUNCT
fcis-10198	16	20	based	base	VERB
fcis-10198	16	21	planners	planner	NOUN
fcis-10198	16	22	(	(	PUNCT
fcis-10198	16	23	smp	smp	PROPN
fcis-10198	16	24	)	)	PUNCT
fcis-10198	16	25	and	and	CCONJ
fcis-10198	16	26	optimization	optimization	NOUN
fcis-10198	16	27	-	-	PUNCT
fcis-10198	16	28	based	base	VERB
fcis-10198	16	29	motion	motion	NOUN
fcis-10198	16	30	planners	planner	NOUN
fcis-10198	16	31	(	(	PUNCT
fcis-10198	16	32	omp	omp	PROPN
fcis-10198	16	33	)	)	PUNCT
fcis-10198	16	34	.	.	PUNCT
fcis-10198	17	1	these	these	DET
fcis-10198	17	2	approaches	approach	NOUN
fcis-10198	17	3	differ	differ	VERB
fcis-10198	17	4	significantly	significantly	ADV
fcis-10198	17	5	in	in	ADP
fcis-10198	17	6	their	their	PRON
fcis-10198	17	7	fundamental	fundamental	ADJ
fcis-10198	17	8	principles	principle	NOUN
fcis-10198	17	9	.	.	PUNCT
fcis-10198	18	1	smp	smp	PROPN
fcis-10198	18	2	relies	rely	VERB
fcis-10198	18	3	on	on	ADP
fcis-10198	18	4	randomness	randomness	NOUN
fcis-10198	18	5	as	as	ADP
fcis-10198	18	6	its	its	PRON
fcis-10198	18	7	foundation	foundation	NOUN
fcis-10198	18	8	and	and	CCONJ
fcis-10198	18	9	can	can	AUX
fcis-10198	18	10	ensure	ensure	VERB
fcis-10198	18	11	the	the	DET
fcis-10198	18	12	discovery	discovery	NOUN
fcis-10198	18	13	of	of	ADP
fcis-10198	18	14	a	a	DET
fcis-10198	18	15	feasible	feasible	ADJ
fcis-10198	18	16	and	and	CCONJ
fcis-10198	18	17	collision	collision	NOUN
fcis-10198	18	18	-	-	PUNCT
fcis-10198	18	19	free	free	ADJ
fcis-10198	18	20	path	path	NOUN
fcis-10198	18	21	on	on	ADP
fcis-10198	18	22	a	a	DET
fcis-10198	18	23	global	global	ADJ
fcis-10198	18	24	scale	scale	NOUN
fcis-10198	18	25	,	,	PUNCT
fcis-10198	18	26	if	if	SCONJ
fcis-10198	18	27	one	one	PRON
fcis-10198	18	28	exists	exist	VERB
fcis-10198	18	29	.	.	PUNCT
fcis-10198	19	1	rapidly	rapidly	ADV
fcis-10198	19	2	exploring	explore	VERB
fcis-10198	19	3	random	random	ADJ
fcis-10198	19	4	trees	tree	NOUN
fcis-10198	19	5	(	(	PUNCT
fcis-10198	19	6	rrt	rrt	NOUN
fcis-10198	19	7	)	)	PUNCT
fcis-10198	20	1	[	[	X
fcis-10198	20	2	1	1	NUM
fcis-10198	20	3	]	]	PUNCT
fcis-10198	20	4	,	,	PUNCT
fcis-10198	20	5	probabilistic	probabilistic	ADJ
fcis-10198	20	6	roadmap	roadmap	NOUN
fcis-10198	20	7	(	(	PUNCT
fcis-10198	20	8	prm	prm	PROPN
fcis-10198	20	9	)	)	PUNCT
fcis-10198	21	1	[	[	X
fcis-10198	21	2	2	2	NUM
fcis-10198	21	3	]	]	PUNCT
fcis-10198	21	4	,	,	PUNCT
fcis-10198	21	5	and	and	CCONJ
fcis-10198	21	6	their	their	PRON
fcis-10198	21	7	extensions	extension	NOUN
fcis-10198	21	8	are	be	AUX
fcis-10198	21	9	prominent	prominent	ADJ
fcis-10198	21	10	examples	example	NOUN
fcis-10198	21	11	of	of	ADP
fcis-10198	21	12	smp	smp	PROPN
fcis-10198	21	13	,	,	PUNCT
fcis-10198	21	14	where	where	SCONJ
fcis-10198	21	15	they	they	PRON
fcis-10198	21	16	iteratively	iteratively	ADV
fcis-10198	21	17	explore	explore	VERB
fcis-10198	21	18	the	the	DET
fcis-10198	21	19	configuration	configuration	NOUN
fcis-10198	21	20	space	space	NOUN
fcis-10198	21	21	and	and	CCONJ
fcis-10198	21	22	construct	construct	VERB
fcis-10198	21	23	a	a	DET
fcis-10198	21	24	graph	graph	NOUN
fcis-10198	21	25	of	of	ADP
fcis-10198	21	26	potential	potential	ADJ
fcis-10198	21	27	configurations	configuration	NOUN
fcis-10198	21	28	until	until	SCONJ
fcis-10198	21	29	a	a	DET
fcis-10198	21	30	branch	branch	NOUN
fcis-10198	21	31	reaches	reach	VERB
fcis-10198	21	32	the	the	DET
fcis-10198	21	33	desired	desire	VERB
fcis-10198	21	34	goal	goal	NOUN
fcis-10198	21	35	.	.	PUNCT
fcis-10198	22	1	however	however	ADV
fcis-10198	22	2	,	,	PUNCT
fcis-10198	22	3	vanilla	vanilla	NOUN
fcis-10198	22	4	versions	version	NOUN
fcis-10198	22	5	of	of	ADP
fcis-10198	22	6	smp	smp	NOUN
fcis-10198	22	7	encounter	encounter	NOUN
fcis-10198	22	8	challenges	challenge	NOUN
fcis-10198	22	9	when	when	SCONJ
fcis-10198	22	10	applied	apply	VERB
fcis-10198	22	11	to	to	ADP
fcis-10198	22	12	complex	complex	ADJ
fcis-10198	22	13	robots	robot	NOUN
fcis-10198	22	14	because	because	SCONJ
fcis-10198	22	15	the	the	DET
fcis-10198	22	16	search	search	NOUN
fcis-10198	22	17	space	space	NOUN
fcis-10198	22	18	expands	expand	VERB
fcis-10198	22	19	exponentially	exponentially	ADV
fcis-10198	22	20	with	with	ADP
fcis-10198	22	21	the	the	DET
fcis-10198	22	22	number	number	NOUN
fcis-10198	22	23	of	of	ADP
fcis-10198	22	24	degrees	degree	NOUN
fcis-10198	22	25	of	of	ADP
fcis-10198	22	26	freedom	freedom	NOUN
fcis-10198	22	27	(	(	PUNCT
fcis-10198	22	28	dof	dof	NOUN
fcis-10198	22	29	)	)	PUNCT
fcis-10198	22	30	.	.	PUNCT
fcis-10198	23	1	consequently	consequently	ADV
fcis-10198	23	2	,	,	PUNCT
fcis-10198	23	3	their	their	PRON
fcis-10198	23	4	scalability	scalability	NOUN
fcis-10198	23	5	is	be	AUX
fcis-10198	23	6	limited	limit	VERB
fcis-10198	23	7	in	in	ADP
fcis-10198	23	8	such	such	ADJ
fcis-10198	23	9	cases	case	NOUN
fcis-10198	23	10	.	.	PUNCT
fcis-10198	24	1	omp	omp	PROPN
fcis-10198	24	2	,	,	PUNCT
fcis-10198	24	3	on	on	ADP
fcis-10198	24	4	the	the	DET
fcis-10198	24	5	other	other	ADJ
fcis-10198	24	6	hand	hand	NOUN
fcis-10198	24	7	,	,	PUNCT
fcis-10198	24	8	tackles	tackle	VERB
fcis-10198	24	9	the	the	DET
fcis-10198	24	10	motion	motion	NOUN
fcis-10198	24	11	task	task	NOUN
fcis-10198	24	12	by	by	ADP
fcis-10198	24	13	transforming	transform	VERB
fcis-10198	24	14	it	it	PRON
fcis-10198	24	15	into	into	ADP
fcis-10198	24	16	an	an	DET
fcis-10198	24	17	optimization	optimization	NOUN
fcis-10198	24	18	problem	problem	NOUN
fcis-10198	24	19	[	[	X
fcis-10198	24	20	3	3	X
fcis-10198	24	21	]	]	X
fcis-10198	24	22	[	[	X
fcis-10198	24	23	4	4	X
fcis-10198	24	24	]	]	X
fcis-10198	24	25	[	[	X
fcis-10198	24	26	5	5	NUM
fcis-10198	24	27	]	]	PUNCT
fcis-10198	24	28	.	.	PUNCT
fcis-10198	25	1	it	it	PRON
fcis-10198	25	2	employs	employ	VERB
fcis-10198	25	3	gradient	gradient	NOUN
fcis-10198	25	4	-	-	PUNCT
fcis-10198	25	5	based	base	VERB
fcis-10198	25	6	techniques	technique	NOUN
fcis-10198	25	7	for	for	ADP
fcis-10198	25	8	non	non	ADJ
fcis-10198	25	9	-	-	ADJ
fcis-10198	25	10	convex	convex	ADJ
fcis-10198	25	11	optimization	optimization	NOUN
fcis-10198	25	12	to	to	PART
fcis-10198	25	13	search	search	VERB
fcis-10198	25	14	for	for	ADP
fcis-10198	25	15	a	a	DET
fcis-10198	25	16	suitable	suitable	ADJ
fcis-10198	25	17	solution	solution	NOUN
fcis-10198	25	18	.	.	PUNCT
fcis-10198	26	1	in	in	ADP
fcis-10198	26	2	theory	theory	NOUN
fcis-10198	26	3	,	,	PUNCT
fcis-10198	26	4	these	these	DET
fcis-10198	26	5	methods	method	NOUN
fcis-10198	26	6	have	have	VERB
fcis-10198	26	7	the	the	DET
fcis-10198	26	8	potential	potential	NOUN
fcis-10198	26	9	to	to	PART
fcis-10198	26	10	scale	scale	VERB
fcis-10198	26	11	linearly	linearly	ADV
fcis-10198	26	12	with	with	ADP
fcis-10198	26	13	the	the	DET
fcis-10198	26	14	number	number	NOUN
fcis-10198	26	15	of	of	ADP
fcis-10198	26	16	degrees	degree	NOUN
fcis-10198	26	17	of	of	ADP
fcis-10198	26	18	freedom	freedom	NOUN
fcis-10198	26	19	(	(	PUNCT
fcis-10198	26	20	dof	dof	NOUN
fcis-10198	26	21	)	)	PUNCT
fcis-10198	26	22	and	and	CCONJ
fcis-10198	26	23	can	can	AUX
fcis-10198	26	24	rapidly	rapidly	ADV
fcis-10198	26	25	converge	converge	VERB
fcis-10198	26	26	to	to	ADP
fcis-10198	26	27	a	a	DET
fcis-10198	26	28	smooth	smooth	ADJ
fcis-10198	26	29	trajectory	trajectory	NOUN
fcis-10198	26	30	.	.	PUNCT
fcis-10198	27	1	this	this	DET
fcis-10198	27	2	characteristic	characteristic	NOUN
fcis-10198	27	3	allows	allow	VERB
fcis-10198	27	4	omp	omp	PROPN
fcis-10198	27	5	to	to	PART
fcis-10198	27	6	handle	handle	VERB
fcis-10198	27	7	motion	motion	NOUN
fcis-10198	27	8	planning	planning	NOUN
fcis-10198	27	9	efficiently	efficiently	ADV
fcis-10198	27	10	,	,	PUNCT
fcis-10198	27	11	offering	offer	VERB
fcis-10198	27	12	advantages	advantage	NOUN
fcis-10198	27	13	in	in	ADP
fcis-10198	27	14	terms	term	NOUN
fcis-10198	27	15	of	of	ADP
fcis-10198	27	16	computational	computational	ADJ
fcis-10198	27	17	complexity	complexity	NOUN
fcis-10198	27	18	.	.	PUNCT
fcis-10198	28	1	furthermore	furthermore	ADV
fcis-10198	28	2	,	,	PUNCT
fcis-10198	28	3	alternative	alternative	ADJ
fcis-10198	28	4	learning	learning	NOUN
fcis-10198	28	5	methods	method	NOUN
fcis-10198	28	6	have	have	AUX
fcis-10198	28	7	been	be	AUX
fcis-10198	28	8	employed	employ	VERB
fcis-10198	28	9	in	in	ADP
fcis-10198	28	10	tackling	tackle	VERB
fcis-10198	28	11	this	this	DET
fcis-10198	28	12	problem	problem	NOUN
fcis-10198	28	13	.	.	PUNCT
fcis-10198	29	1	for	for	ADP
fcis-10198	29	2	instance	instance	NOUN
fcis-10198	29	3	,	,	PUNCT
fcis-10198	29	4	jurgenson	jurgenson	NOUN
fcis-10198	29	5	and	and	CCONJ
fcis-10198	29	6	tamar	tamar	PROPN
fcis-10198	30	1	[	[	X
fcis-10198	30	2	6	6	NUM
fcis-10198	30	3	]	]	X
fcis-10198	30	4	leveraged	leveraged	ADJ
fcis-10198	30	5	reinforcement	reinforcement	NOUN
fcis-10198	30	6	learning	learning	NOUN
fcis-10198	30	7	combined	combine	VERB
fcis-10198	30	8	with	with	ADP
fcis-10198	30	9	convolutional	convolutional	ADJ
fcis-10198	30	10	layers	layer	NOUN
fcis-10198	30	11	to	to	PART
fcis-10198	30	12	process	process	VERB
fcis-10198	30	13	the	the	DET
fcis-10198	30	14	occupancy	occupancy	NOUN
fcis-10198	30	15	map	map	NOUN
fcis-10198	30	16	of	of	ADP
fcis-10198	30	17	the	the	DET
fcis-10198	30	18	environment	environment	NOUN
fcis-10198	30	19	for	for	ADP
fcis-10198	30	20	2d	2d	NUM
fcis-10198	30	21	serial	serial	ADJ
fcis-10198	30	22	robots	robot	NOUN
fcis-10198	30	23	.	.	PUNCT
fcis-10198	31	1	they	they	PRON
fcis-10198	31	2	employed	employ	VERB
fcis-10198	31	3	a	a	DET
fcis-10198	31	4	classical	classical	ADJ
fcis-10198	31	5	planner	planner	NOUN
fcis-10198	31	6	as	as	ADP
fcis-10198	31	7	a	a	DET
fcis-10198	31	8	fallback	fallback	NOUN
fcis-10198	31	9	option	option	NOUN
fcis-10198	31	10	when	when	SCONJ
fcis-10198	31	11	random	random	ADJ
fcis-10198	31	12	exploration	exploration	NOUN
fcis-10198	31	13	failed	fail	VERB
fcis-10198	31	14	to	to	PART
fcis-10198	31	15	find	find	VERB
fcis-10198	31	16	a	a	DET
fcis-10198	31	17	viable	viable	ADJ
fcis-10198	31	18	solution	solution	NOUN
fcis-10198	31	19	,	,	PUNCT
fcis-10198	31	20	thereby	thereby	ADV
fcis-10198	31	21	utilizing	utilize	VERB
fcis-10198	31	22	expert	expert	ADJ
fcis-10198	31	23	knowledge	knowledge	NOUN
fcis-10198	31	24	to	to	PART
fcis-10198	31	25	guide	guide	VERB
fcis-10198	31	26	the	the	DET
fcis-10198	31	27	training	training	NOUN
fcis-10198	31	28	process	process	NOUN
fcis-10198	31	29	implicitly	implicitly	ADV
fcis-10198	31	30	.	.	PUNCT
fcis-10198	32	1	in	in	ADP
fcis-10198	32	2	a	a	DET
fcis-10198	32	3	different	different	ADJ
fcis-10198	32	4	approach	approach	NOUN
fcis-10198	32	5	,	,	PUNCT
fcis-10198	32	6	pandy	pandy	NOUN
fcis-10198	32	7	et	et	PROPN
fcis-10198	32	8	al	al	PROPN
fcis-10198	32	9	.	.	PUNCT
fcis-10198	33	1	[	[	X
fcis-10198	33	2	7	7	X
fcis-10198	33	3	]	]	PUNCT
fcis-10198	33	4	introduced	introduce	VERB
fcis-10198	33	5	a	a	DET
fcis-10198	33	6	novel	novel	ADJ
fcis-10198	33	7	methodology	methodology	NOUN
fcis-10198	33	8	that	that	PRON
fcis-10198	33	9	eliminates	eliminate	VERB
fcis-10198	33	10	the	the	DET
fcis-10198	33	11	need	need	NOUN
fcis-10198	33	12	for	for	ADP
fcis-10198	33	13	dataset	dataset	NOUN
fcis-10198	33	14	generation	generation	NOUN
fcis-10198	33	15	.	.	PUNCT
fcis-10198	34	1	instead	instead	ADV
fcis-10198	34	2	,	,	PUNCT
fcis-10198	34	3	they	they	PRON
fcis-10198	34	4	directly	directly	ADV
fcis-10198	34	5	trained	train	VERB
fcis-10198	34	6	the	the	DET
fcis-10198	34	7	network	network	NOUN
fcis-10198	34	8	using	use	VERB
fcis-10198	34	9	the	the	DET
fcis-10198	34	10	planning	planning	NOUN
fcis-10198	34	11	problem	problem	NOUN
fcis-10198	34	12	's	's	PART
fcis-10198	34	13	objective	objective	ADJ
fcis-10198	34	14	function	function	NOUN
fcis-10198	34	15	as	as	ADP
fcis-10198	34	16	the	the	DET
fcis-10198	34	17	training	training	NOUN
fcis-10198	34	18	loss	loss	NOUN
fcis-10198	34	19	,	,	PUNCT
fcis-10198	34	20	effectively	effectively	ADV
fcis-10198	34	21	bypassing	bypass	VERB
fcis-10198	34	22	the	the	DET
fcis-10198	34	23	use	use	NOUN
fcis-10198	34	24	of	of	ADP
fcis-10198	34	25	supervision	supervision	NOUN
fcis-10198	34	26	.	.	PUNCT
fcis-10198	35	1	however	however	ADV
fcis-10198	35	2	,	,	PUNCT
fcis-10198	35	3	their	their	PRON
fcis-10198	35	4	approach	approach	NOUN
fcis-10198	35	5	was	be	AUX
fcis-10198	35	6	limited	limit	VERB
fcis-10198	35	7	to	to	ADP
fcis-10198	35	8	representing	represent	VERB
fcis-10198	35	9	environments	environment	NOUN
fcis-10198	35	10	with	with	ADP
fcis-10198	35	11	only	only	ADV
fcis-10198	35	12	a	a	DET
fcis-10198	35	13	few	few	ADJ
fcis-10198	35	14	obstacles	obstacle	NOUN
fcis-10198	35	15	using	use	VERB
fcis-10198	35	16	geometric	geometric	ADJ
fcis-10198	35	17	primitives	primitive	NOUN
fcis-10198	35	18	,	,	PUNCT
fcis-10198	35	19	which	which	PRON
fcis-10198	35	20	constrained	constrain	VERB
fcis-10198	35	21	its	its	PRON
fcis-10198	35	22	flexibility	flexibility	NOUN
fcis-10198	35	23	.	.	PUNCT
fcis-10198	36	1	1.2	1.2	NUM
fcis-10198	36	2	.	.	PUNCT
fcis-10198	36	3	contributions	contribution	NOUN
fcis-10198	36	4	robot	robot	NOUN
fcis-10198	36	5	motion	motion	NOUN
fcis-10198	36	6	planning	planning	NOUN
fcis-10198	36	7	is	be	AUX
fcis-10198	36	8	a	a	DET
fcis-10198	36	9	widely	widely	ADV
fcis-10198	36	10	researched	research	VERB
fcis-10198	36	11	topic	topic	NOUN
fcis-10198	36	12	recently	recently	ADV
fcis-10198	36	13	.	.	PUNCT
fcis-10198	37	1	in	in	ADP
fcis-10198	37	2	addition	addition	NOUN
fcis-10198	37	3	to	to	ADP
fcis-10198	37	4	the	the	DET
fcis-10198	37	5	traditional	traditional	ADJ
fcis-10198	37	6	optimization	optimization	NOUN
fcis-10198	37	7	-	-	PUNCT
fcis-10198	37	8	based	base	VERB
fcis-10198	37	9	algorithms	algorithm	NOUN
fcis-10198	37	10	,	,	PUNCT
fcis-10198	37	11	nowadays	nowadays	ADV
fcis-10198	37	12	the	the	DET
fcis-10198	37	13	neural	neural	ADJ
fcis-10198	37	14	network	network	NOUN
fcis-10198	37	15	[	[	X
fcis-10198	37	16	7	7	NUM
fcis-10198	37	17	]	]	PUNCT
fcis-10198	37	18	and	and	CCONJ
fcis-10198	37	19	reinforcement	reinforcement	NOUN
fcis-10198	37	20	learning	learning	NOUN
fcis-10198	37	21	[	[	X
fcis-10198	37	22	8	8	NUM
fcis-10198	37	23	]	]	PUNCT
fcis-10198	37	24	can	can	AUX
fcis-10198	37	25	also	also	ADV
fcis-10198	37	26	be	be	AUX
fcis-10198	37	27	integrated	integrate	VERB
fcis-10198	37	28	to	to	PART
fcis-10198	37	29	solve	solve	VERB
fcis-10198	37	30	the	the	DET
fcis-10198	37	31	motion	motion	NOUN
fcis-10198	37	32	planning	planning	NOUN
fcis-10198	37	33	problem	problem	NOUN
fcis-10198	37	34	.	.	PUNCT
fcis-10198	38	1	this	this	DET
fcis-10198	38	2	paper	paper	NOUN
fcis-10198	38	3	presents	present	VERB
fcis-10198	38	4	a	a	DET
fcis-10198	38	5	deep	deep	ADJ
fcis-10198	38	6	learning	learning	NOUN
fcis-10198	38	7	enhancement	enhancement	NOUN
fcis-10198	38	8	for	for	ADP
fcis-10198	38	9	an	an	DET
fcis-10198	38	10	optimization	optimization	NOUN
fcis-10198	38	11	-	-	PUNCT
fcis-10198	38	12	based	base	VERB
fcis-10198	38	13	planner	planner	NOUN
fcis-10198	38	14	in	in	ADP
fcis-10198	38	15	random	random	ADJ
fcis-10198	38	16	environments	environment	NOUN
fcis-10198	38	17	with	with	ADP
fcis-10198	38	18	complex	complex	ADJ
fcis-10198	38	19	obstacle	obstacle	NOUN
fcis-10198	38	20	geometries	geometry	NOUN
fcis-10198	38	21	.	.	PUNCT
fcis-10198	39	1	to	to	PART
fcis-10198	39	2	sum	sum	VERB
fcis-10198	39	3	up	up	ADP
fcis-10198	39	4	,	,	PUNCT
fcis-10198	39	5	our	our	PRON
fcis-10198	39	6	main	main	ADJ
fcis-10198	39	7	contributions	contribution	NOUN
fcis-10198	39	8	are	be	AUX
fcis-10198	39	9	as	as	SCONJ
fcis-10198	39	10	follows	follow	VERB
fcis-10198	39	11	:	:	PUNCT
fcis-10198	39	12			ADJ
fcis-10198	39	13	concatenation	concatenation	NOUN
fcis-10198	39	14	of	of	ADP
fcis-10198	39	15	the	the	DET
fcis-10198	39	16	neural	neural	ADJ
fcis-10198	39	17	network	network	NOUN
fcis-10198	39	18	and	and	CCONJ
fcis-10198	39	19	the	the	DET
fcis-10198	39	20	optimization	optimization	NOUN
fcis-10198	39	21	-	-	PUNCT
fcis-10198	39	22	based	base	VERB
fcis-10198	39	23	planner	planner	NOUN
fcis-10198	39	24	.	.	PUNCT
fcis-10198	40	1	the	the	DET
fcis-10198	40	2	gradients	gradient	NOUN
fcis-10198	40	3	of	of	ADP
fcis-10198	40	4	both	both	PRON
fcis-10198	40	5	can	can	AUX
fcis-10198	40	6	be	be	AUX
fcis-10198	40	7	58	58	NUM
fcis-10198	40	8	utilized	utilize	VERB
fcis-10198	40	9	together	together	ADV
fcis-10198	40	10	to	to	PART
fcis-10198	40	11	further	far	ADV
fcis-10198	40	12	improve	improve	VERB
fcis-10198	40	13	the	the	DET
fcis-10198	40	14	predicted	predict	VERB
fcis-10198	40	15	path	path	NOUN
fcis-10198	40	16	of	of	ADP
fcis-10198	40	17	motion	motion	NOUN
fcis-10198	40	18	planning	planning	NOUN
fcis-10198	40	19	.	.	PUNCT
fcis-10198	41	1			ADJ
fcis-10198	41	2	three	three	NUM
fcis-10198	41	3	kinds	kind	NOUN
fcis-10198	41	4	of	of	ADP
fcis-10198	41	5	path	path	NOUN
fcis-10198	41	6	representation	representation	NOUN
fcis-10198	41	7	are	be	AUX
fcis-10198	41	8	applied	apply	VERB
fcis-10198	41	9	,	,	PUNCT
fcis-10198	41	10	namely	namely	ADV
fcis-10198	41	11	the	the	DET
fcis-10198	41	12	global	global	ADJ
fcis-10198	41	13	path	path	NOUN
fcis-10198	41	14	,	,	PUNCT
fcis-10198	41	15	the	the	DET
fcis-10198	41	16	relative	relative	ADJ
fcis-10198	41	17	path	path	NOUN
fcis-10198	41	18	,	,	PUNCT
fcis-10198	41	19	and	and	CCONJ
fcis-10198	41	20	the	the	DET
fcis-10198	41	21	non	non	ADJ
fcis-10198	41	22	-	-	ADJ
fcis-10198	41	23	uniform	uniform	ADJ
fcis-10198	41	24	rational	rational	ADJ
fcis-10198	41	25	b	b	NOUN
fcis-10198	41	26	-	-	NOUN
fcis-10198	41	27	spline	spline	NOUN
fcis-10198	41	28	.	.	PUNCT
fcis-10198	42	1	they	they	PRON
fcis-10198	42	2	have	have	VERB
fcis-10198	42	3	their	their	PRON
fcis-10198	42	4	own	own	ADJ
fcis-10198	42	5	characteristics	characteristic	NOUN
fcis-10198	42	6	and	and	CCONJ
fcis-10198	42	7	properties	property	NOUN
fcis-10198	42	8	in	in	ADP
fcis-10198	42	9	different	different	ADJ
fcis-10198	42	10	cases	case	NOUN
fcis-10198	42	11	.	.	PUNCT
fcis-10198	43	1			ADJ
fcis-10198	43	2	different	different	ADJ
fcis-10198	43	3	world	world	NOUN
fcis-10198	43	4	representations	representation	NOUN
fcis-10198	43	5	are	be	AUX
fcis-10198	43	6	also	also	ADV
fcis-10198	43	7	tried	try	VERB
fcis-10198	43	8	in	in	ADP
fcis-10198	43	9	our	our	PRON
fcis-10198	43	10	study	study	NOUN
fcis-10198	43	11	.	.	PUNCT
fcis-10198	44	1	the	the	DET
fcis-10198	44	2	binary	binary	ADJ
fcis-10198	44	3	occupancy	occupancy	NOUN
fcis-10198	44	4	grid	grid	NOUN
fcis-10198	44	5	and	and	CCONJ
fcis-10198	44	6	the	the	DET
fcis-10198	44	7	signed	sign	VERB
fcis-10198	44	8	distance	distance	NOUN
fcis-10198	44	9	field	field	NOUN
fcis-10198	44	10	are	be	AUX
fcis-10198	44	11	used	use	VERB
fcis-10198	44	12	to	to	PART
fcis-10198	44	13	represent	represent	VERB
fcis-10198	44	14	the	the	DET
fcis-10198	44	15	environments	environment	NOUN
fcis-10198	44	16	.	.	PUNCT
fcis-10198	45	1	the	the	DET
fcis-10198	45	2	latter	latter	ADJ
fcis-10198	45	3	is	be	AUX
fcis-10198	45	4	more	more	ADV
fcis-10198	45	5	beneficial	beneficial	ADJ
fcis-10198	45	6	for	for	ADP
fcis-10198	45	7	motion	motion	NOUN
fcis-10198	45	8	planning	planning	NOUN
fcis-10198	45	9	tasks	task	NOUN
fcis-10198	45	10	as	as	SCONJ
fcis-10198	45	11	it	it	PRON
fcis-10198	45	12	contains	contain	VERB
fcis-10198	45	13	more	more	ADJ
fcis-10198	45	14	position	position	NOUN
fcis-10198	45	15	and	and	CCONJ
fcis-10198	45	16	distance	distance	NOUN
fcis-10198	45	17	information	information	NOUN
fcis-10198	45	18	.	.	PUNCT
fcis-10198	46	1			ADJ
fcis-10198	46	2	two	two	NUM
fcis-10198	46	3	kinds	kind	NOUN
fcis-10198	46	4	of	of	ADP
fcis-10198	46	5	robots	robot	NOUN
fcis-10198	46	6	are	be	AUX
fcis-10198	46	7	tested	test	VERB
fcis-10198	46	8	in	in	ADP
fcis-10198	46	9	our	our	PRON
fcis-10198	46	10	experiments	experiment	NOUN
fcis-10198	46	11	,	,	PUNCT
fcis-10198	46	12	the	the	DET
fcis-10198	46	13	sphere	sphere	NOUN
fcis-10198	46	14	robot	robot	NOUN
fcis-10198	46	15	and	and	CCONJ
fcis-10198	46	16	the	the	DET
fcis-10198	46	17	static	static	ADJ
fcis-10198	46	18	arm	arm	NOUN
fcis-10198	46	19	robot	robot	NOUN
fcis-10198	46	20	respectively	respectively	ADV
fcis-10198	46	21	.	.	PUNCT
fcis-10198	47	1	this	this	PRON
fcis-10198	47	2	can	can	AUX
fcis-10198	47	3	make	make	VERB
fcis-10198	47	4	our	our	PRON
fcis-10198	47	5	experimental	experimental	ADJ
fcis-10198	47	6	results	result	NOUN
fcis-10198	47	7	more	more	ADV
fcis-10198	47	8	convincing	convincing	ADJ
fcis-10198	47	9	.	.	PUNCT
fcis-10198	48	1	2	2	X
fcis-10198	48	2	.	.	X
fcis-10198	48	3	method	method	VERB
fcis-10198	48	4	the	the	DET
fcis-10198	48	5	motion	motion	NOUN
fcis-10198	48	6	planning	planning	NOUN
fcis-10198	48	7	problem	problem	NOUN
fcis-10198	48	8	is	be	AUX
fcis-10198	48	9	described	describe	VERB
fcis-10198	48	10	in	in	ADP
fcis-10198	48	11	fig	fig	NOUN
fcis-10198	48	12	.	.	PUNCT
fcis-10198	49	1	1	1	NUM
fcis-10198	49	2	by	by	ADP
fcis-10198	49	3	the	the	DET
fcis-10198	49	4	world	world	NOUN
fcis-10198	49	5	(	(	PUNCT
fcis-10198	49	6	hatched	hatched	ADJ
fcis-10198	49	7	)	)	PUNCT
fcis-10198	49	8	,	,	PUNCT
fcis-10198	49	9	the	the	DET
fcis-10198	49	10	start	start	NOUN
fcis-10198	49	11	configuration	configuration	NOUN
fcis-10198	49	12	(	(	PUNCT
fcis-10198	49	13	green	green	ADJ
fcis-10198	49	14	)	)	PUNCT
fcis-10198	49	15	,	,	PUNCT
fcis-10198	49	16	and	and	CCONJ
fcis-10198	49	17	the	the	DET
fcis-10198	49	18	goal	goal	NOUN
fcis-10198	49	19	configuration	configuration	NOUN
fcis-10198	49	20	(	(	PUNCT
fcis-10198	49	21	red	red	ADJ
fcis-10198	49	22	)	)	PUNCT
fcis-10198	49	23	.	.	PUNCT
fcis-10198	50	1	the	the	DET
fcis-10198	50	2	trajectory	trajectory	NOUN
fcis-10198	50	3	,	,	PUNCT
fcis-10198	50	4	which	which	PRON
fcis-10198	50	5	should	should	AUX
fcis-10198	50	6	be	be	AUX
fcis-10198	50	7	the	the	DET
fcis-10198	50	8	short	short	ADJ
fcis-10198	50	9	and	and	CCONJ
fcis-10198	50	10	feasible	feasible	ADJ
fcis-10198	50	11	path	path	NOUN
fcis-10198	50	12	from	from	ADP
fcis-10198	50	13	start	start	NOUN
fcis-10198	50	14	to	to	ADP
fcis-10198	50	15	goal	goal	NOUN
fcis-10198	50	16	,	,	PUNCT
fcis-10198	50	17	is	be	AUX
fcis-10198	50	18	drawn	draw	VERB
fcis-10198	50	19	in	in	ADP
fcis-10198	50	20	blue	blue	ADJ
fcis-10198	50	21	.	.	PUNCT
fcis-10198	51	1	two	two	NUM
fcis-10198	51	2	different	different	ADJ
fcis-10198	51	3	robots	robot	NOUN
fcis-10198	51	4	will	will	AUX
fcis-10198	51	5	be	be	AUX
fcis-10198	51	6	tested	test	VERB
fcis-10198	51	7	in	in	ADP
fcis-10198	51	8	random	random	ADJ
fcis-10198	51	9	2d	2d	NUM
fcis-10198	51	10	environments	environment	NOUN
fcis-10198	51	11	,	,	PUNCT
fcis-10198	51	12	generated	generate	VERB
fcis-10198	51	13	with	with	ADP
fcis-10198	51	14	simplex	simplex	NOUN
fcis-10198	51	15	noise	noise	NOUN
fcis-10198	51	16	.	.	PUNCT
fcis-10198	52	1	the	the	DET
fcis-10198	52	2	first	first	ADJ
fcis-10198	52	3	robot	robot	NOUN
fcis-10198	52	4	is	be	AUX
fcis-10198	52	5	the	the	DET
fcis-10198	52	6	sphere	sphere	NOUN
fcis-10198	52	7	bot	bot	NOUN
fcis-10198	52	8	,	,	PUNCT
fcis-10198	52	9	and	and	CCONJ
fcis-10198	52	10	the	the	DET
fcis-10198	52	11	second	second	ADJ
fcis-10198	52	12	one	one	NOUN
fcis-10198	52	13	is	be	AUX
fcis-10198	52	14	the	the	DET
fcis-10198	52	15	static	static	ADJ
fcis-10198	52	16	arm	arm	NOUN
fcis-10198	52	17	robot	robot	NOUN
fcis-10198	52	18	with	with	ADP
fcis-10198	52	19	3	3	NUM
fcis-10198	52	20	joints	joint	NOUN
fcis-10198	52	21	.	.	PUNCT
fcis-10198	53	1	fig	fig	NOUN
fcis-10198	53	2	1	1	NUM
fcis-10198	53	3	.	.	PUNCT
fcis-10198	53	4	demonstration	demonstration	NOUN
fcis-10198	53	5	of	of	ADP
fcis-10198	53	6	motion	motion	NOUN
fcis-10198	53	7	planning	planning	NOUN
fcis-10198	53	8	task	task	NOUN
fcis-10198	53	9	the	the	DET
fcis-10198	53	10	sampled	sampled	ADJ
fcis-10198	53	11	non	non	ADJ
fcis-10198	53	12	-	-	ADJ
fcis-10198	53	13	collided	collided	ADJ
fcis-10198	53	14	start	start	NOUN
fcis-10198	53	15	and	and	CCONJ
fcis-10198	53	16	end	end	NOUN
fcis-10198	53	17	point	point	NOUN
fcis-10198	53	18	pairs	pair	NOUN
fcis-10198	53	19	are	be	AUX
fcis-10198	53	20	fed	feed	VERB
fcis-10198	53	21	into	into	ADP
fcis-10198	53	22	the	the	DET
fcis-10198	53	23	neural	neural	ADJ
fcis-10198	53	24	network	network	NOUN
fcis-10198	53	25	to	to	PART
fcis-10198	53	26	generate	generate	VERB
fcis-10198	53	27	and	and	CCONJ
fcis-10198	53	28	optimize	optimize	VERB
fcis-10198	53	29	a	a	DET
fcis-10198	53	30	path	path	NOUN
fcis-10198	53	31	that	that	PRON
fcis-10198	53	32	can	can	AUX
fcis-10198	53	33	minimize	minimize	VERB
fcis-10198	53	34	the	the	DET
fcis-10198	53	35	objective	objective	ADJ
fcis-10198	53	36	function	function	NOUN
fcis-10198	53	37	,	,	PUNCT
fcis-10198	53	38	namely	namely	ADV
fcis-10198	53	39	the	the	DET
fcis-10198	53	40	sum	sum	NOUN
fcis-10198	53	41	of	of	ADP
fcis-10198	53	42	the	the	DET
fcis-10198	53	43	weighted	weight	VERB
fcis-10198	53	44	length	length	NOUN
fcis-10198	53	45	and	and	CCONJ
fcis-10198	53	46	collision	collision	NOUN
fcis-10198	53	47	loss	loss	NOUN
fcis-10198	53	48	.	.	PUNCT
fcis-10198	54	1	the	the	DET
fcis-10198	54	2	red	red	ADJ
fcis-10198	54	3	points	point	NOUN
fcis-10198	54	4	in	in	ADP
fcis-10198	54	5	fig	fig	NOUN
fcis-10198	54	6	.	.	PUNCT
fcis-10198	55	1	2	2	NUM
fcis-10198	55	2	are	be	AUX
fcis-10198	55	3	the	the	DET
fcis-10198	55	4	points	point	NOUN
fcis-10198	55	5	colliding	collide	VERB
fcis-10198	55	6	with	with	ADP
fcis-10198	55	7	obstacles	obstacle	NOUN
fcis-10198	55	8	,	,	PUNCT
fcis-10198	55	9	which	which	PRON
fcis-10198	55	10	are	be	AUX
fcis-10198	55	11	not	not	PART
fcis-10198	55	12	qualified	qualified	ADJ
fcis-10198	55	13	start	start	NOUN
fcis-10198	55	14	and	and	CCONJ
fcis-10198	55	15	end	end	VERB
fcis-10198	55	16	points	point	NOUN
fcis-10198	55	17	,	,	PUNCT
fcis-10198	55	18	and	and	CCONJ
fcis-10198	55	19	the	the	DET
fcis-10198	55	20	blue	blue	ADJ
fcis-10198	55	21	points	point	NOUN
fcis-10198	55	22	are	be	AUX
fcis-10198	55	23	the	the	DET
fcis-10198	55	24	ones	one	NOUN
fcis-10198	55	25	that	that	PRON
fcis-10198	55	26	meet	meet	VERB
fcis-10198	55	27	the	the	DET
fcis-10198	55	28	requirement	requirement	NOUN
fcis-10198	55	29	.	.	PUNCT
fcis-10198	56	1	fig	fig	NOUN
fcis-10198	56	2	2	2	NUM
fcis-10198	56	3	.	.	PUNCT
fcis-10198	56	4	sample	sample	NOUN
fcis-10198	56	5	points	point	NOUN
fcis-10198	56	6	colliding	collide	VERB
fcis-10198	56	7	and	and	CCONJ
fcis-10198	56	8	not	not	PART
fcis-10198	56	9	colliding	collide	VERB
fcis-10198	56	10	with	with	ADP
fcis-10198	56	11	obstacles	obstacle	NOUN
fcis-10198	56	12	we	we	PRON
fcis-10198	56	13	formulate	formulate	VERB
fcis-10198	56	14	the	the	DET
fcis-10198	56	15	motion	motion	NOUN
fcis-10198	56	16	planning	planning	NOUN
fcis-10198	56	17	task	task	NOUN
fcis-10198	56	18	of	of	ADP
fcis-10198	56	19	getting	get	VERB
fcis-10198	56	20	from	from	ADP
fcis-10198	56	21	point	point	NOUN
fcis-10198	56	22	a	a	PRON
fcis-10198	56	23	to	to	PART
fcis-10198	56	24	point	point	VERB
fcis-10198	56	25	b	b	PROPN
fcis-10198	56	26	as	as	ADP
fcis-10198	56	27	an	an	DET
fcis-10198	56	28	optimization	optimization	NOUN
fcis-10198	56	29	problem	problem	NOUN
fcis-10198	56	30	with	with	ADP
fcis-10198	56	31	the	the	DET
fcis-10198	56	32	desired	desire	VERB
fcis-10198	56	33	path	path	NOUN
fcis-10198	56	34	as	as	ADP
fcis-10198	56	35	the	the	DET
fcis-10198	56	36	optimum	optimum	NOUN
fcis-10198	56	37	.	.	PUNCT
fcis-10198	57	1	the	the	DET
fcis-10198	57	2	path	path	NOUN
fcis-10198	57	3	q	q	ADV
fcis-10198	57	4	consists	consist	VERB
fcis-10198	57	5	of	of	ADP
fcis-10198	57	6	a	a	DET
fcis-10198	57	7	discrete	discrete	ADJ
fcis-10198	57	8	set	set	NOUN
fcis-10198	57	9	of	of	ADP
fcis-10198	57	10	waypoints	waypoint	NOUN
fcis-10198	57	11	of	of	ADP
fcis-10198	57	12	joint	joint	ADJ
fcis-10198	57	13	configurations	configuration	NOUN
fcis-10198	57	14	.	.	PUNCT
fcis-10198	58	1	the	the	DET
fcis-10198	58	2	task	task	NOUN
fcis-10198	58	3	is	be	AUX
fcis-10198	58	4	encoded	encode	VERB
fcis-10198	58	5	by	by	ADP
fcis-10198	58	6	an	an	DET
fcis-10198	58	7	objective	objective	ADJ
fcis-10198	58	8	function	function	NOUN
fcis-10198	58	9	o(q	o(q	VERB
fcis-10198	58	10	)	)	PUNCT
fcis-10198	58	11	in	in	ADP
fcis-10198	58	12	eq	eq	NOUN
fcis-10198	58	13	.	.	PROPN
fcis-10198	58	14	1	1	NUM
fcis-10198	58	15	measuring	measure	VERB
fcis-10198	58	16	the	the	DET
fcis-10198	58	17	quality	quality	NOUN
fcis-10198	58	18	of	of	ADP
fcis-10198	58	19	a	a	DET
fcis-10198	58	20	given	give	VERB
fcis-10198	58	21	path	path	NOUN
fcis-10198	58	22	.	.	PUNCT
fcis-10198	59	1	this	this	DET
fcis-10198	59	2	specific	specific	ADJ
fcis-10198	59	3	objective	objective	NOUN
fcis-10198	59	4	is	be	AUX
fcis-10198	59	5	composed	compose	VERB
fcis-10198	59	6	of	of	ADP
fcis-10198	59	7	two	two	NUM
fcis-10198	59	8	relevant	relevant	ADJ
fcis-10198	59	9	terms	term	NOUN
fcis-10198	59	10	,	,	PUNCT
fcis-10198	59	11	length	length	NOUN
fcis-10198	59	12	cost	cost	NOUN
fcis-10198	59	13	and	and	CCONJ
fcis-10198	59	14	collision	collision	NOUN
fcis-10198	59	15	cost	cost	NOUN
fcis-10198	59	16	respectively	respectively	ADV
fcis-10198	59	17	.	.	PUNCT
fcis-10198	60	1	the	the	DET
fcis-10198	60	2	length	length	NOUN
fcis-10198	60	3	cost	cost	NOUN
fcis-10198	60	4	and	and	CCONJ
fcis-10198	60	5	collision	collision	NOUN
fcis-10198	60	6	cost	cost	NOUN
fcis-10198	60	7	are	be	AUX
fcis-10198	60	8	defined	define	VERB
fcis-10198	60	9	in	in	ADP
fcis-10198	60	10	[	[	X
fcis-10198	60	11	3	3	NUM
fcis-10198	60	12	]	]	PUNCT
fcis-10198	60	13	.	.	PUNCT
fcis-10198	61	1	(	(	PUNCT
fcis-10198	61	2	1	1	X
fcis-10198	61	3	)	)	PUNCT
fcis-10198	61	4	here	here	ADV
fcis-10198	61	5	is	be	AUX
fcis-10198	61	6	a	a	DET
fcis-10198	61	7	variable	variable	NOUN
fcis-10198	61	8	that	that	PRON
fcis-10198	61	9	measures	measure	VERB
fcis-10198	61	10	the	the	DET
fcis-10198	61	11	importance	importance	NOUN
fcis-10198	61	12	of	of	ADP
fcis-10198	61	13	collision	collision	NOUN
fcis-10198	61	14	cost	cost	NOUN
fcis-10198	61	15	.	.	PUNCT
fcis-10198	62	1	the	the	DET
fcis-10198	62	2	larger	large	ADJ
fcis-10198	62	3	means	mean	VERB
fcis-10198	62	4	that	that	SCONJ
fcis-10198	62	5	the	the	DET
fcis-10198	62	6	objective	objective	NOUN
fcis-10198	62	7	pays	pay	VERB
fcis-10198	62	8	more	more	ADJ
fcis-10198	62	9	attention	attention	NOUN
fcis-10198	62	10	to	to	ADP
fcis-10198	62	11	avoiding	avoid	VERB
fcis-10198	62	12	collisions	collision	NOUN
fcis-10198	62	13	.	.	PUNCT
fcis-10198	63	1	then	then	ADV
fcis-10198	63	2	the	the	DET
fcis-10198	63	3	trajectory	trajectory	NOUN
fcis-10198	63	4	could	could	AUX
fcis-10198	63	5	be	be	AUX
fcis-10198	63	6	not	not	PART
fcis-10198	63	7	so	so	ADV
fcis-10198	63	8	short	short	ADJ
fcis-10198	63	9	.	.	PUNCT
fcis-10198	64	1	in	in	ADP
fcis-10198	64	2	this	this	DET
fcis-10198	64	3	paper	paper	NOUN
fcis-10198	64	4	,	,	PUNCT
fcis-10198	64	5	we	we	PRON
fcis-10198	64	6	want	want	VERB
fcis-10198	64	7	to	to	PART
fcis-10198	64	8	combine	combine	VERB
fcis-10198	64	9	the	the	DET
fcis-10198	64	10	existing	exist	VERB
fcis-10198	64	11	optimization	optimization	NOUN
fcis-10198	64	12	-	-	PUNCT
fcis-10198	64	13	based	base	VERB
fcis-10198	64	14	chomp	chomp	NOUN
fcis-10198	65	1	[	[	X
fcis-10198	65	2	3	3	X
fcis-10198	65	3	]	]	PUNCT
fcis-10198	65	4	with	with	ADP
fcis-10198	65	5	a	a	DET
fcis-10198	65	6	neural	neural	ADJ
fcis-10198	65	7	network	network	NOUN
fcis-10198	65	8	to	to	PART
fcis-10198	65	9	predict	predict	VERB
fcis-10198	65	10	a	a	DET
fcis-10198	65	11	short	short	ADJ
fcis-10198	65	12	and	and	CCONJ
fcis-10198	65	13	collision	collision	NOUN
fcis-10198	65	14	-	-	PUNCT
fcis-10198	65	15	free	free	ADJ
fcis-10198	65	16	path	path	NOUN
fcis-10198	65	17	for	for	ADP
fcis-10198	65	18	robots	robot	NOUN
fcis-10198	65	19	.	.	PUNCT
fcis-10198	66	1	the	the	DET
fcis-10198	66	2	pipeline	pipeline	NOUN
fcis-10198	66	3	is	be	AUX
fcis-10198	66	4	shown	show	VERB
fcis-10198	66	5	in	in	ADP
fcis-10198	66	6	fig	fig	NOUN
fcis-10198	66	7	.	.	PUNCT
fcis-10198	67	1	3	3	X
fcis-10198	67	2	.	.	X
fcis-10198	67	3	omp	omp	PROPN
fcis-10198	67	4	itself	itself	PRON
fcis-10198	67	5	can	can	AUX
fcis-10198	67	6	iteratively	iteratively	ADV
fcis-10198	67	7	obtain	obtain	VERB
fcis-10198	67	8	a	a	DET
fcis-10198	67	9	better	well	ADJ
fcis-10198	67	10	path	path	NOUN
fcis-10198	67	11	by	by	ADP
fcis-10198	67	12	updating	update	VERB
fcis-10198	67	13	the	the	DET
fcis-10198	67	14	gradient	gradient	NOUN
fcis-10198	67	15	,	,	PUNCT
fcis-10198	67	16	and	and	CCONJ
fcis-10198	67	17	the	the	DET
fcis-10198	67	18	neural	neural	ADJ
fcis-10198	67	19	network	network	NOUN
fcis-10198	67	20	also	also	ADV
fcis-10198	67	21	has	have	VERB
fcis-10198	67	22	the	the	DET
fcis-10198	67	23	ability	ability	NOUN
fcis-10198	67	24	to	to	PART
fcis-10198	67	25	learn	learn	VERB
fcis-10198	67	26	a	a	DET
fcis-10198	67	27	better	well	ADJ
fcis-10198	67	28	path	path	NOUN
fcis-10198	67	29	after	after	ADP
fcis-10198	67	30	training	training	NOUN
fcis-10198	67	31	.	.	PUNCT
fcis-10198	68	1	concatenating	concatenate	VERB
fcis-10198	68	2	them	they	PRON
fcis-10198	68	3	both	both	PRON
fcis-10198	68	4	will	will	AUX
fcis-10198	68	5	easily	easily	ADV
fcis-10198	68	6	result	result	VERB
fcis-10198	68	7	in	in	ADP
fcis-10198	68	8	a	a	DET
fcis-10198	68	9	better	well	ADJ
fcis-10198	68	10	path	path	NOUN
fcis-10198	68	11	.	.	PUNCT
fcis-10198	69	1	fig	fig	NOUN
fcis-10198	69	2	3	3	NUM
fcis-10198	69	3	.	.	PUNCT
fcis-10198	70	1	concatenation	concatenation	NOUN
fcis-10198	70	2	of	of	ADP
fcis-10198	70	3	the	the	DET
fcis-10198	70	4	neural	neural	ADJ
fcis-10198	70	5	network	network	NOUN
fcis-10198	70	6	with	with	ADP
fcis-10198	70	7	the	the	DET
fcis-10198	70	8	optimizationbased	optimizationbased	ADJ
fcis-10198	70	9	algorithm	algorithm	NOUN
fcis-10198	70	10	during	during	ADP
fcis-10198	70	11	backpropagation	backpropagation	NOUN
fcis-10198	70	12	,	,	PUNCT
fcis-10198	70	13	the	the	DET
fcis-10198	70	14	full	full	ADJ
fcis-10198	70	15	gradient	gradient	NOUN
fcis-10198	70	16	=	=	PUNCT
fcis-10198	70	17	is	be	AUX
fcis-10198	70	18	used	use	VERB
fcis-10198	70	19	to	to	PART
fcis-10198	70	20	update	update	VERB
fcis-10198	70	21	the	the	DET
fcis-10198	70	22	weights	weight	NOUN
fcis-10198	70	23	of	of	ADP
fcis-10198	70	24	our	our	PRON
fcis-10198	70	25	neural	neural	ADJ
fcis-10198	70	26	network	network	NOUN
fcis-10198	70	27	.	.	PUNCT
fcis-10198	71	1	the	the	DET
fcis-10198	71	2	first	first	ADJ
fcis-10198	71	3	part	part	NOUN
fcis-10198	71	4	can	can	AUX
fcis-10198	71	5	be	be	AUX
fcis-10198	71	6	calculated	calculate	VERB
fcis-10198	71	7	from	from	ADP
fcis-10198	71	8	the	the	DET
fcis-10198	71	9	objective	objective	ADJ
fcis-10198	71	10	function	function	NOUN
fcis-10198	71	11	from	from	ADP
fcis-10198	71	12	chomp	chomp	NOUN
fcis-10198	71	13	and	and	CCONJ
fcis-10198	71	14	the	the	DET
fcis-10198	71	15	second	second	ADJ
fcis-10198	71	16	part	part	NOUN
fcis-10198	71	17	can	can	AUX
fcis-10198	71	18	be	be	AUX
fcis-10198	71	19	obtained	obtain	VERB
fcis-10198	71	20	from	from	ADP
fcis-10198	71	21	pytorch	pytorch	NOUN
fcis-10198	71	22	automatic	automatic	ADJ
fcis-10198	71	23	differentiation	differentiation	NOUN
fcis-10198	71	24	engine	engine	NOUN
fcis-10198	71	25	.	.	PUNCT
fcis-10198	72	1	we	we	PRON
fcis-10198	72	2	focus	focus	VERB
fcis-10198	72	3	on	on	ADP
fcis-10198	72	4	different	different	ADJ
fcis-10198	72	5	path	path	NOUN
fcis-10198	72	6	representations	representation	NOUN
fcis-10198	72	7	in	in	ADP
fcis-10198	72	8	order	order	NOUN
fcis-10198	72	9	to	to	PART
fcis-10198	72	10	get	get	VERB
fcis-10198	72	11	a	a	DET
fcis-10198	72	12	better	well	ADJ
fcis-10198	72	13	result	result	NOUN
fcis-10198	72	14	and	and	CCONJ
fcis-10198	72	15	then	then	ADV
fcis-10198	72	16	world	world	NOUN
fcis-10198	72	17	representations	representation	NOUN
fcis-10198	72	18	to	to	PART
fcis-10198	72	19	make	make	VERB
fcis-10198	72	20	problems	problem	NOUN
fcis-10198	72	21	solvable	solvable	ADJ
fcis-10198	72	22	in	in	ADP
fcis-10198	72	23	multiple	multiple	ADJ
fcis-10198	72	24	worlds	world	NOUN
fcis-10198	72	25	.	.	PUNCT
fcis-10198	73	1	in	in	ADP
fcis-10198	73	2	ii	ii	PROPN
fcis-10198	73	3	-	-	PUNCT
fcis-10198	73	4	a	a	PRON
fcis-10198	73	5	,	,	PUNCT
fcis-10198	73	6	ii	ii	NOUN
fcis-10198	73	7	-	-	PUNCT
fcis-10198	73	8	b	b	PROPN
fcis-10198	73	9	,	,	PUNCT
fcis-10198	73	10	and	and	CCONJ
fcis-10198	73	11	ii	ii	X
fcis-10198	73	12	-	-	PUNCT
fcis-10198	73	13	c	c	VERB
fcis-10198	73	14	we	we	PRON
fcis-10198	73	15	will	will	AUX
fcis-10198	73	16	discuss	discuss	VERB
fcis-10198	73	17	different	different	ADJ
fcis-10198	73	18	path	path	NOUN
fcis-10198	73	19	representations	representation	NOUN
fcis-10198	73	20	and	and	CCONJ
fcis-10198	73	21	world	world	NOUN
fcis-10198	73	22	representations	representation	NOUN
fcis-10198	73	23	.	.	PUNCT
fcis-10198	74	1	2.1	2.1	NUM
fcis-10198	74	2	.	.	PUNCT
fcis-10198	75	1	path	path	NOUN
fcis-10198	75	2	representations	representation	NOUN
fcis-10198	75	3	for	for	ADP
fcis-10198	75	4	a	a	DET
fcis-10198	75	5	sphere	sphere	NOUN
fcis-10198	75	6	robot	robot	NOUN
fcis-10198	75	7	the	the	DET
fcis-10198	75	8	simplest	simple	ADJ
fcis-10198	75	9	and	and	CCONJ
fcis-10198	75	10	most	most	ADV
fcis-10198	75	11	intuitive	intuitive	ADJ
fcis-10198	75	12	path	path	NOUN
fcis-10198	75	13	representation	representation	NOUN
fcis-10198	75	14	for	for	ADP
fcis-10198	75	15	a	a	DET
fcis-10198	75	16	sphere	sphere	NOUN
fcis-10198	75	17	robot	robot	NOUN
fcis-10198	75	18	is	be	AUX
fcis-10198	75	19	the	the	DET
fcis-10198	75	20	global	global	ADJ
fcis-10198	75	21	coordinates	coordinate	NOUN
fcis-10198	75	22	of	of	ADP
fcis-10198	75	23	the	the	DET
fcis-10198	75	24	waypoints	waypoint	NOUN
fcis-10198	75	25	from	from	ADP
fcis-10198	75	26	start	start	NOUN
fcis-10198	75	27	to	to	ADP
fcis-10198	75	28	end	end	NOUN
fcis-10198	75	29	(	(	PUNCT
fcis-10198	75	30	hereinafter	hereinafter	NOUN
fcis-10198	75	31	called	call	VERB
fcis-10198	75	32	"	"	PUNCT
fcis-10198	75	33	global	global	ADJ
fcis-10198	75	34	"	"	PUNCT
fcis-10198	75	35	)	)	PUNCT
fcis-10198	75	36	,	,	PUNCT
fcis-10198	75	37	as	as	SCONJ
fcis-10198	75	38	shown	show	VERB
fcis-10198	75	39	in	in	ADP
fcis-10198	75	40	fig	fig	NOUN
fcis-10198	75	41	.	.	PUNCT
fcis-10198	76	1	4	4	NUM
fcis-10198	76	2	(	(	PUNCT
fcis-10198	76	3	a	a	NOUN
fcis-10198	76	4	)	)	PUNCT
fcis-10198	76	5	.	.	PUNCT
fcis-10198	77	1	the	the	DET
fcis-10198	77	2	second	second	ADJ
fcis-10198	77	3	representation	representation	NOUN
fcis-10198	77	4	is	be	AUX
fcis-10198	77	5	similar	similar	ADJ
fcis-10198	77	6	but	but	CCONJ
fcis-10198	77	7	with	with	ADP
fcis-10198	77	8	different	different	ADJ
fcis-10198	77	9	initialization	initialization	NOUN
fcis-10198	77	10	.	.	PUNCT
fcis-10198	78	1	we	we	PRON
fcis-10198	78	2	first	first	ADV
fcis-10198	78	3	connect	connect	VERB
fcis-10198	78	4	start	start	VERB
fcis-10198	78	5	and	and	CCONJ
fcis-10198	78	6	end	end	VERB
fcis-10198	78	7	points	point	NOUN
fcis-10198	78	8	and	and	CCONJ
fcis-10198	78	9	interpolate	interpolate	VERB
fcis-10198	78	10	to	to	PART
fcis-10198	78	11	get	get	VERB
fcis-10198	78	12	the	the	DET
fcis-10198	78	13	uniformly	uniformly	ADV
fcis-10198	78	14	distributed	distribute	VERB
fcis-10198	78	15	points	point	NOUN
fcis-10198	78	16	in	in	ADP
fcis-10198	78	17	the	the	DET
fcis-10198	78	18	connecting	connect	VERB
fcis-10198	78	19	line	line	NOUN
fcis-10198	78	20	,	,	PUNCT
fcis-10198	78	21	then	then	ADV
fcis-10198	78	22	the	the	DET
fcis-10198	78	23	path	path	NOUN
fcis-10198	78	24	can	can	AUX
fcis-10198	78	25	be	be	AUX
fcis-10198	78	26	represented	represent	VERB
fcis-10198	78	27	as	as	ADP
fcis-10198	78	28	the	the	DET
fcis-10198	78	29	relative	relative	ADJ
fcis-10198	78	30	coordinates	coordinate	NOUN
fcis-10198	78	31	to	to	ADP
fcis-10198	78	32	the	the	DET
fcis-10198	78	33	previous	previous	ADJ
fcis-10198	78	34	points	point	NOUN
fcis-10198	78	35	(	(	PUNCT
fcis-10198	78	36	hereinafter	hereinafter	NOUN
fcis-10198	78	37	called	call	VERB
fcis-10198	78	38	"	"	PUNCT
fcis-10198	78	39	relative	relative	ADJ
fcis-10198	78	40	"	"	PUNCT
fcis-10198	78	41	)	)	PUNCT
fcis-10198	78	42	as	as	ADP
fcis-10198	78	43	fig	fig	NOUN
fcis-10198	78	44	.	.	PUNCT
fcis-10198	79	1	4	4	NUM
fcis-10198	79	2	(	(	PUNCT
fcis-10198	79	3	b	b	NOUN
fcis-10198	79	4	)	)	PUNCT
fcis-10198	79	5	.	.	PUNCT
fcis-10198	80	1	the	the	DET
fcis-10198	80	2	last	last	ADJ
fcis-10198	80	3	way	way	NOUN
fcis-10198	80	4	is	be	AUX
fcis-10198	80	5	the	the	DET
fcis-10198	80	6	non	non	ADJ
fcis-10198	80	7	-	-	ADJ
fcis-10198	80	8	uniform	uniform	ADJ
fcis-10198	80	9	rational	rational	ADJ
fcis-10198	80	10	b	b	NOUN
fcis-10198	80	11	-	-	NOUN
fcis-10198	80	12	spline	spline	NOUN
fcis-10198	80	13	.	.	PUNCT
fcis-10198	81	1	basically	basically	ADV
fcis-10198	81	2	,	,	PUNCT
fcis-10198	81	3	it	it	PRON
fcis-10198	81	4	uses	use	VERB
fcis-10198	81	5	control	control	NOUN
fcis-10198	81	6	points	point	NOUN
fcis-10198	81	7	to	to	PART
fcis-10198	81	8	form	form	VERB
fcis-10198	81	9	a	a	DET
fcis-10198	81	10	very	very	ADV
fcis-10198	81	11	smooth	smooth	ADJ
fcis-10198	81	12	spline	spline	NOUN
fcis-10198	81	13	and	and	CCONJ
fcis-10198	81	14	the	the	DET
fcis-10198	81	15	waypoints	waypoint	NOUN
fcis-10198	81	16	of	of	ADP
fcis-10198	81	17	the	the	DET
fcis-10198	81	18	path	path	NOUN
fcis-10198	81	19	can	can	AUX
fcis-10198	81	20	then	then	ADV
fcis-10198	81	21	be	be	AUX
fcis-10198	81	22	sampled	sample	VERB
fcis-10198	81	23	from	from	ADP
fcis-10198	81	24	it	it	PRON
fcis-10198	81	25	(	(	PUNCT
fcis-10198	81	26	hereinafter	hereinafter	NOUN
fcis-10198	81	27	called	call	VERB
fcis-10198	81	28	"	"	PUNCT
fcis-10198	81	29	nurbs	nurb	NOUN
fcis-10198	81	30	"	"	PUNCT
fcis-10198	81	31	)	)	PUNCT
fcis-10198	81	32	as	as	ADP
fcis-10198	81	33	fig	fig	NOUN
fcis-10198	81	34	.	.	PUNCT
fcis-10198	82	1	4	4	NUM
fcis-10198	82	2	(	(	PUNCT
fcis-10198	82	3	c	c	NOUN
fcis-10198	82	4	)	)	PUNCT
fcis-10198	82	5	.	.	PUNCT
fcis-10198	83	1	fig	fig	NOUN
fcis-10198	83	2	4	4	NUM
fcis-10198	83	3	.	.	PUNCT
fcis-10198	84	1	path	path	NOUN
fcis-10198	84	2	representations	representation	NOUN
fcis-10198	84	3	to	to	PART
fcis-10198	84	4	make	make	VERB
fcis-10198	84	5	things	thing	NOUN
fcis-10198	84	6	much	much	ADV
fcis-10198	84	7	easier	easy	ADJ
fcis-10198	84	8	for	for	ADP
fcis-10198	84	9	the	the	DET
fcis-10198	84	10	network	network	NOUN
fcis-10198	84	11	,	,	PUNCT
fcis-10198	84	12	the	the	DET
fcis-10198	84	13	world	world	NOUN
fcis-10198	84	14	59	59	NUM
fcis-10198	84	15	coordinates	coordinate	NOUN
fcis-10198	84	16	are	be	AUX
fcis-10198	84	17	normalized	normalize	VERB
fcis-10198	84	18	to	to	ADP
fcis-10198	84	19	[	[	NOUN
fcis-10198	84	20	-1	-1	INTJ
fcis-10198	84	21	,	,	PUNCT
fcis-10198	84	22	1	1	NUM
fcis-10198	84	23	]	]	PUNCT
fcis-10198	84	24	with	with	ADP
fcis-10198	84	25	the	the	DET
fcis-10198	84	26	center	center	NOUN
fcis-10198	84	27	coordinate	coordinate	NOUN
fcis-10198	84	28	[	[	X
fcis-10198	84	29	0	0	NUM
fcis-10198	84	30	,	,	PUNCT
fcis-10198	84	31	0	0	NUM
fcis-10198	84	32	]	]	PUNCT
fcis-10198	84	33	.	.	PUNCT
fcis-10198	85	1	2.2	2.2	NUM
fcis-10198	85	2	.	.	PUNCT
fcis-10198	86	1	path	path	NOUN
fcis-10198	86	2	representations	representation	NOUN
fcis-10198	86	3	for	for	ADP
fcis-10198	86	4	a	a	DET
fcis-10198	86	5	static	static	ADJ
fcis-10198	86	6	arm	arm	NOUN
fcis-10198	86	7	robot	robot	NOUN
fcis-10198	86	8	the	the	DET
fcis-10198	86	9	static	static	ADJ
fcis-10198	86	10	arm	arm	NOUN
fcis-10198	86	11	robot	robot	NOUN
fcis-10198	86	12	is	be	AUX
fcis-10198	86	13	a	a	DET
fcis-10198	86	14	robot	robot	NOUN
fcis-10198	86	15	whose	whose	DET
fcis-10198	86	16	base	base	NOUN
fcis-10198	86	17	point	point	NOUN
fcis-10198	86	18	is	be	AUX
fcis-10198	86	19	fixed	fix	VERB
fcis-10198	86	20	at	at	ADP
fcis-10198	86	21	the	the	DET
fcis-10198	86	22	center	center	NOUN
fcis-10198	86	23	of	of	ADP
fcis-10198	86	24	the	the	DET
fcis-10198	86	25	world	world	NOUN
fcis-10198	86	26	and	and	CCONJ
fcis-10198	86	27	has	have	VERB
fcis-10198	86	28	multiple	multiple	ADJ
fcis-10198	86	29	joints	joint	NOUN
fcis-10198	86	30	,	,	PUNCT
fcis-10198	86	31	as	as	SCONJ
fcis-10198	86	32	shown	show	VERB
fcis-10198	86	33	in	in	ADP
fcis-10198	86	34	fig	fig	NOUN
fcis-10198	86	35	.	.	PUNCT
fcis-10198	87	1	5	5	X
fcis-10198	87	2	.	.	X
fcis-10198	87	3	in	in	ADP
fcis-10198	87	4	our	our	PRON
fcis-10198	87	5	study	study	NOUN
fcis-10198	87	6	,	,	PUNCT
fcis-10198	87	7	we	we	PRON
fcis-10198	87	8	choose	choose	VERB
fcis-10198	87	9	the	the	DET
fcis-10198	87	10	robot	robot	NOUN
fcis-10198	87	11	with	with	ADP
fcis-10198	87	12	3	3	NUM
fcis-10198	87	13	joints	joint	NOUN
fcis-10198	87	14	.	.	PUNCT
fcis-10198	88	1	fig	fig	NOUN
fcis-10198	88	2	5	5	NUM
fcis-10198	88	3	.	.	PUNCT
fcis-10198	88	4	evenly	evenly	ADV
fcis-10198	88	5	divided	divide	VERB
fcis-10198	88	6	waypoints	waypoint	NOUN
fcis-10198	88	7	of	of	ADP
fcis-10198	88	8	the	the	DET
fcis-10198	88	9	static	static	ADJ
fcis-10198	88	10	arm	arm	NOUN
fcis-10198	88	11	robot	robot	NOUN
fcis-10198	88	12	the	the	DET
fcis-10198	88	13	first	first	ADJ
fcis-10198	88	14	path	path	NOUN
fcis-10198	88	15	representation	representation	NOUN
fcis-10198	88	16	is	be	AUX
fcis-10198	88	17	the	the	DET
fcis-10198	88	18	global	global	ADJ
fcis-10198	88	19	path	path	NOUN
fcis-10198	88	20	as	as	ADV
fcis-10198	88	21	well	well	ADV
fcis-10198	88	22	.	.	PUNCT
fcis-10198	89	1	the	the	DET
fcis-10198	89	2	global	global	ADJ
fcis-10198	89	3	coordinates	coordinate	NOUN
fcis-10198	89	4	of	of	ADP
fcis-10198	89	5	the	the	DET
fcis-10198	89	6	robot	robot	NOUN
fcis-10198	89	7	are	be	AUX
fcis-10198	89	8	represented	represent	VERB
fcis-10198	89	9	by	by	ADP
fcis-10198	89	10	the	the	DET
fcis-10198	89	11	rotation	rotation	NOUN
fcis-10198	89	12	angles	angle	NOUN
fcis-10198	89	13	of	of	ADP
fcis-10198	89	14	its	its	PRON
fcis-10198	89	15	joints	joint	NOUN
fcis-10198	89	16	,	,	PUNCT
fcis-10198	89	17	ranging	range	VERB
fcis-10198	89	18	from	from	ADP
fcis-10198	89	19	to	to	ADP
fcis-10198	89	20	.	.	PUNCT
fcis-10198	90	1	the	the	DET
fcis-10198	90	2	robotic	robotic	ADJ
fcis-10198	90	3	arms	arm	NOUN
fcis-10198	90	4	with	with	ADP
fcis-10198	90	5	red	red	ADJ
fcis-10198	90	6	outlines	outline	NOUN
fcis-10198	90	7	in	in	ADP
fcis-10198	90	8	fig	fig	NOUN
fcis-10198	90	9	.	.	PUNCT
fcis-10198	91	1	5	5	NUM
fcis-10198	91	2	are	be	AUX
fcis-10198	91	3	the	the	DET
fcis-10198	91	4	start	start	NOUN
fcis-10198	91	5	and	and	CCONJ
fcis-10198	91	6	end	end	VERB
fcis-10198	91	7	states	state	NOUN
fcis-10198	91	8	,	,	PUNCT
fcis-10198	91	9	with	with	ADP
fcis-10198	91	10	six	six	NUM
fcis-10198	91	11	waypoints	waypoint	NOUN
fcis-10198	91	12	in	in	ADP
fcis-10198	91	13	between	between	ADP
fcis-10198	91	14	.	.	PUNCT
fcis-10198	92	1	an	an	DET
fcis-10198	92	2	example	example	NOUN
fcis-10198	92	3	of	of	ADP
fcis-10198	92	4	the	the	DET
fcis-10198	92	5	waypoint	waypoint	NOUN
fcis-10198	92	6	coordinates	coordinate	NOUN
fcis-10198	92	7	in	in	ADP
fcis-10198	92	8	fig	fig	NOUN
fcis-10198	92	9	.	.	PUNCT
fcis-10198	93	1	5	5	NUM
fcis-10198	93	2	is	be	AUX
fcis-10198	93	3	(	(	PUNCT
fcis-10198	93	4	,	,	PUNCT
fcis-10198	93	5	,	,	PUNCT
fcis-10198	93	6	)	)	PUNCT
fcis-10198	93	7	and	and	CCONJ
fcis-10198	93	8	corresponds	correspond	VERB
fcis-10198	93	9	to	to	ADP
fcis-10198	93	10	.	.	PUNCT
fcis-10198	94	1	the	the	DET
fcis-10198	94	2	second	second	ADJ
fcis-10198	94	3	one	one	NOUN
fcis-10198	94	4	is	be	AUX
fcis-10198	94	5	the	the	DET
fcis-10198	94	6	relative	relative	ADJ
fcis-10198	94	7	path	path	NOUN
fcis-10198	94	8	.	.	PUNCT
fcis-10198	95	1	the	the	DET
fcis-10198	95	2	relative	relative	ADJ
fcis-10198	95	3	coordinates	coordinate	NOUN
fcis-10198	95	4	are	be	AUX
fcis-10198	95	5	the	the	DET
fcis-10198	95	6	differences	difference	NOUN
fcis-10198	95	7	between	between	ADP
fcis-10198	95	8	the	the	DET
fcis-10198	95	9	angles	angle	NOUN
fcis-10198	95	10	of	of	ADP
fcis-10198	95	11	the	the	DET
fcis-10198	95	12	actual	actual	ADJ
fcis-10198	95	13	waypoints	waypoint	NOUN
fcis-10198	95	14	and	and	CCONJ
fcis-10198	95	15	the	the	DET
fcis-10198	95	16	evenly	evenly	ADV
fcis-10198	95	17	divided	divide	VERB
fcis-10198	95	18	waypoints	waypoint	NOUN
fcis-10198	95	19	.	.	PUNCT
fcis-10198	96	1	fig	fig	NOUN
fcis-10198	96	2	.	.	PUNCT
fcis-10198	97	1	5	5	NUM
fcis-10198	97	2	shows	show	VERB
fcis-10198	97	3	the	the	DET
fcis-10198	97	4	state	state	NOUN
fcis-10198	97	5	of	of	ADP
fcis-10198	97	6	each	each	DET
fcis-10198	97	7	waypoint	waypoint	NOUN
fcis-10198	97	8	in	in	ADP
fcis-10198	97	9	the	the	DET
fcis-10198	97	10	initial	initial	ADJ
fcis-10198	97	11	unlearned	unlearned	ADJ
fcis-10198	97	12	state	state	NOUN
fcis-10198	97	13	.	.	PUNCT
fcis-10198	98	1	if	if	SCONJ
fcis-10198	98	2	the	the	DET
fcis-10198	98	3	second	second	ADJ
fcis-10198	98	4	joint	joint	NOUN
fcis-10198	98	5	is	be	AUX
fcis-10198	98	6	at	at	ADP
fcis-10198	98	7	the	the	DET
fcis-10198	98	8	position	position	NOUN
fcis-10198	98	9	of	of	ADP
fcis-10198	98	10	the	the	DET
fcis-10198	98	11	thick	thick	ADJ
fcis-10198	98	12	green	green	ADJ
fcis-10198	98	13	line	line	NOUN
fcis-10198	98	14	,	,	PUNCT
fcis-10198	98	15	the	the	DET
fcis-10198	98	16	angle	angle	NOUN
fcis-10198	98	17	difference	difference	NOUN
fcis-10198	98	18	would	would	AUX
fcis-10198	98	19	be	be	AUX
fcis-10198	98	20	.	.	PUNCT
fcis-10198	99	1	the	the	DET
fcis-10198	99	2	differences	difference	NOUN
fcis-10198	99	3	would	would	AUX
fcis-10198	99	4	be	be	AUX
fcis-10198	99	5	learned	learn	VERB
fcis-10198	99	6	in	in	ADP
fcis-10198	99	7	the	the	DET
fcis-10198	99	8	model	model	NOUN
fcis-10198	99	9	during	during	ADP
fcis-10198	99	10	training	training	NOUN
fcis-10198	99	11	.	.	PUNCT
fcis-10198	100	1	nurbs	nurb	NOUN
fcis-10198	100	2	can	can	AUX
fcis-10198	100	3	not	not	PART
fcis-10198	100	4	be	be	AUX
fcis-10198	100	5	used	use	VERB
fcis-10198	100	6	here	here	ADV
fcis-10198	100	7	because	because	SCONJ
fcis-10198	100	8	the	the	DET
fcis-10198	100	9	paths	path	NOUN
fcis-10198	100	10	will	will	AUX
fcis-10198	100	11	not	not	PART
fcis-10198	100	12	be	be	AUX
fcis-10198	100	13	smoother	smooth	ADJ
fcis-10198	100	14	by	by	ADP
fcis-10198	100	15	using	use	VERB
fcis-10198	100	16	control	control	NOUN
fcis-10198	100	17	points	point	NOUN
fcis-10198	100	18	in	in	ADP
fcis-10198	100	19	the	the	DET
fcis-10198	100	20	2d	2d	NUM
fcis-10198	100	21	world	world	NOUN
fcis-10198	100	22	.	.	PUNCT
fcis-10198	101	1	in	in	ADP
fcis-10198	101	2	the	the	DET
fcis-10198	101	3	future	future	NOUN
fcis-10198	101	4	,	,	PUNCT
fcis-10198	101	5	if	if	SCONJ
fcis-10198	101	6	the	the	DET
fcis-10198	101	7	motion	motion	NOUN
fcis-10198	101	8	planning	planning	NOUN
fcis-10198	101	9	task	task	NOUN
fcis-10198	101	10	of	of	ADP
fcis-10198	101	11	the	the	DET
fcis-10198	101	12	robotic	robotic	ADJ
fcis-10198	101	13	arm	arm	NOUN
fcis-10198	101	14	in	in	ADP
fcis-10198	101	15	3d	3d	NUM
fcis-10198	101	16	space	space	NOUN
fcis-10198	101	17	needs	need	VERB
fcis-10198	101	18	to	to	PART
fcis-10198	101	19	be	be	AUX
fcis-10198	101	20	solved	solve	VERB
fcis-10198	101	21	,	,	PUNCT
fcis-10198	101	22	nurbs	nurb	NOUN
fcis-10198	101	23	would	would	AUX
fcis-10198	101	24	be	be	AUX
fcis-10198	101	25	useful	useful	ADJ
fcis-10198	101	26	.	.	PUNCT
fcis-10198	102	1	2.3	2.3	NUM
fcis-10198	102	2	.	.	PUNCT
fcis-10198	103	1	world	world	NOUN
fcis-10198	103	2	representations	representation	NOUN
fcis-10198	103	3	there	there	PRON
fcis-10198	103	4	are	be	VERB
fcis-10198	103	5	two	two	NUM
fcis-10198	103	6	kinds	kind	NOUN
fcis-10198	103	7	of	of	ADP
fcis-10198	103	8	images	image	NOUN
fcis-10198	103	9	to	to	PART
fcis-10198	103	10	represent	represent	VERB
fcis-10198	103	11	the	the	DET
fcis-10198	103	12	world	world	NOUN
fcis-10198	103	13	.	.	PUNCT
fcis-10198	104	1	one	one	NUM
fcis-10198	104	2	is	be	AUX
fcis-10198	104	3	the	the	DET
fcis-10198	104	4	binary	binary	ADJ
fcis-10198	104	5	occupancy	occupancy	NOUN
fcis-10198	104	6	grid	grid	NOUN
fcis-10198	104	7	in	in	ADP
fcis-10198	104	8	fig	fig	NOUN
fcis-10198	104	9	.	.	PUNCT
fcis-10198	105	1	6	6	NUM
fcis-10198	105	2	,	,	PUNCT
fcis-10198	105	3	the	the	DET
fcis-10198	105	4	black	black	ADJ
fcis-10198	105	5	and	and	CCONJ
fcis-10198	105	6	white	white	ADJ
fcis-10198	105	7	figure	figure	NOUN
fcis-10198	105	8	(	(	PUNCT
fcis-10198	105	9	hereinafter	hereinafter	NOUN
fcis-10198	105	10	called	call	VERB
fcis-10198	105	11	"	"	PUNCT
fcis-10198	105	12	binary	binary	NOUN
fcis-10198	105	13	"	"	PUNCT
fcis-10198	105	14	)	)	PUNCT
fcis-10198	105	15	.	.	PUNCT
fcis-10198	106	1	the	the	DET
fcis-10198	106	2	other	other	ADJ
fcis-10198	106	3	is	be	AUX
fcis-10198	106	4	the	the	DET
fcis-10198	106	5	signed	sign	VERB
fcis-10198	106	6	distance	distance	NOUN
fcis-10198	106	7	field	field	NOUN
fcis-10198	106	8	in	in	ADP
fcis-10198	106	9	fig	fig	NOUN
fcis-10198	106	10	.	.	PUNCT
fcis-10198	107	1	7	7	NUM
fcis-10198	107	2	(	(	PUNCT
fcis-10198	107	3	hereinafter	hereinafter	NOUN
fcis-10198	107	4	called	call	VERB
fcis-10198	107	5	"	"	PUNCT
fcis-10198	107	6	sdf	sdf	NOUN
fcis-10198	107	7	"	"	PUNCT
fcis-10198	107	8	)	)	PUNCT
fcis-10198	107	9	.	.	PUNCT
fcis-10198	108	1	on	on	ADP
fcis-10198	108	2	the	the	DET
fcis-10198	108	3	boundary	boundary	NOUN
fcis-10198	108	4	of	of	ADP
fcis-10198	108	5	each	each	DET
fcis-10198	108	6	obstacle	obstacle	NOUN
fcis-10198	108	7	,	,	PUNCT
fcis-10198	108	8	the	the	DET
fcis-10198	108	9	distance	distance	NOUN
fcis-10198	108	10	value	value	NOUN
fcis-10198	108	11	is	be	AUX
fcis-10198	108	12	zero	zero	NUM
fcis-10198	108	13	,	,	PUNCT
fcis-10198	108	14	inside	inside	ADP
fcis-10198	108	15	the	the	DET
fcis-10198	108	16	obstacles	obstacle	NOUN
fcis-10198	108	17	the	the	DET
fcis-10198	108	18	value	value	NOUN
fcis-10198	108	19	is	be	AUX
fcis-10198	108	20	negative	negative	ADJ
fcis-10198	108	21	,	,	PUNCT
fcis-10198	108	22	and	and	CCONJ
fcis-10198	108	23	outside	outside	ADP
fcis-10198	108	24	positive	positive	ADJ
fcis-10198	108	25	.	.	PUNCT
fcis-10198	109	1	fig	fig	NOUN
fcis-10198	109	2	6	6	NUM
fcis-10198	109	3	.	.	PUNCT
fcis-10198	110	1	binary	binary	ADJ
fcis-10198	110	2	occupancy	occupancy	NOUN
fcis-10198	110	3	grid	grid	PROPN
fcis-10198	110	4	fig	fig	NOUN
fcis-10198	110	5	7	7	NUM
fcis-10198	110	6	.	.	PUNCT
fcis-10198	110	7	signed	sign	VERB
fcis-10198	110	8	distance	distance	NOUN
fcis-10198	110	9	field	field	NOUN
fcis-10198	110	10	we	we	PRON
fcis-10198	110	11	use	use	VERB
fcis-10198	110	12	cnn	cnn	PROPN
fcis-10198	110	13	to	to	PART
fcis-10198	110	14	process	process	VERB
fcis-10198	110	15	the	the	DET
fcis-10198	110	16	black	black	ADJ
fcis-10198	110	17	and	and	CCONJ
fcis-10198	110	18	white	white	ADJ
fcis-10198	110	19	figures	figure	NOUN
fcis-10198	110	20	and	and	CCONJ
fcis-10198	110	21	use	use	VERB
fcis-10198	110	22	the	the	DET
fcis-10198	110	23	multi	multi	ADJ
fcis-10198	110	24	-	-	ADJ
fcis-10198	110	25	layer	layer	ADJ
fcis-10198	110	26	perceptron	perceptron	NOUN
fcis-10198	110	27	(	(	PUNCT
fcis-10198	110	28	mlp	mlp	PROPN
fcis-10198	110	29	)	)	PUNCT
fcis-10198	110	30	network	network	NOUN
fcis-10198	110	31	to	to	PART
fcis-10198	110	32	process	process	VERB
fcis-10198	110	33	the	the	DET
fcis-10198	110	34	downsampled	downsample	VERB
fcis-10198	110	35	and	and	CCONJ
fcis-10198	110	36	flattened	flatten	VERB
fcis-10198	110	37	sdf	sdf	NOUN
fcis-10198	110	38	.	.	PUNCT
fcis-10198	111	1	the	the	DET
fcis-10198	111	2	whole	whole	ADJ
fcis-10198	111	3	structure	structure	NOUN
fcis-10198	111	4	looks	look	VERB
fcis-10198	111	5	like	like	ADP
fcis-10198	111	6	fig	fig	NOUN
fcis-10198	111	7	.	.	PUNCT
fcis-10198	112	1	8	8	NUM
fcis-10198	112	2	.	.	PUNCT
fcis-10198	113	1	the	the	DET
fcis-10198	113	2	pairs	pair	NOUN
fcis-10198	113	3	and	and	CCONJ
fcis-10198	113	4	worlds	world	NOUN
fcis-10198	113	5	are	be	AUX
fcis-10198	113	6	processed	process	VERB
fcis-10198	113	7	respectively	respectively	ADV
fcis-10198	113	8	and	and	CCONJ
fcis-10198	113	9	then	then	ADV
fcis-10198	113	10	merged	merge	VERB
fcis-10198	113	11	together	together	ADV
fcis-10198	113	12	to	to	PART
fcis-10198	113	13	be	be	AUX
fcis-10198	113	14	further	far	ADV
fcis-10198	113	15	processed	process	VERB
fcis-10198	113	16	by	by	ADP
fcis-10198	113	17	another	another	DET
fcis-10198	113	18	mlp	mlp	NOUN
fcis-10198	113	19	network	network	NOUN
fcis-10198	113	20	,	,	PUNCT
fcis-10198	113	21	which	which	PRON
fcis-10198	113	22	will	will	AUX
fcis-10198	113	23	regress	regress	VERB
fcis-10198	113	24	the	the	DET
fcis-10198	113	25	coordinates	coordinate	NOUN
fcis-10198	113	26	of	of	ADP
fcis-10198	113	27	the	the	DET
fcis-10198	113	28	trajectory	trajectory	NOUN
fcis-10198	113	29	result	result	NOUN
fcis-10198	113	30	.	.	PUNCT
fcis-10198	114	1	fig	fig	NOUN
fcis-10198	114	2	8	8	NUM
fcis-10198	114	3	.	.	PUNCT
fcis-10198	115	1	network	network	NOUN
fcis-10198	115	2	structure	structure	NOUN
fcis-10198	115	3	to	to	PART
fcis-10198	115	4	match	match	VERB
fcis-10198	115	5	worlds	world	NOUN
fcis-10198	115	6	and	and	CCONJ
fcis-10198	115	7	pairs	pair	NOUN
fcis-10198	115	8	,	,	PUNCT
fcis-10198	115	9	the	the	DET
fcis-10198	115	10	vector	vector	NOUN
fcis-10198	115	11	that	that	PRON
fcis-10198	115	12	encodes	encode	VERB
fcis-10198	115	13	world	world	NOUN
fcis-10198	115	14	information	information	NOUN
fcis-10198	115	15	should	should	AUX
fcis-10198	115	16	be	be	AUX
fcis-10198	115	17	copied	copy	VERB
fcis-10198	115	18	as	as	ADV
fcis-10198	115	19	many	many	ADJ
fcis-10198	115	20	times	time	NOUN
fcis-10198	115	21	as	as	ADP
fcis-10198	115	22	the	the	DET
fcis-10198	115	23	number	number	NOUN
fcis-10198	115	24	of	of	ADP
fcis-10198	115	25	the	the	DET
fcis-10198	115	26	pairs	pair	NOUN
fcis-10198	115	27	in	in	ADP
fcis-10198	115	28	the	the	DET
fcis-10198	115	29	world	world	NOUN
fcis-10198	115	30	and	and	CCONJ
fcis-10198	115	31	then	then	ADV
fcis-10198	115	32	be	be	AUX
fcis-10198	115	33	concatenated	concatenate	VERB
fcis-10198	115	34	to	to	ADP
fcis-10198	115	35	the	the	DET
fcis-10198	115	36	vector	vector	NOUN
fcis-10198	115	37	that	that	PRON
fcis-10198	115	38	encodes	encode	VERB
fcis-10198	115	39	the	the	DET
fcis-10198	115	40	single	single	ADJ
fcis-10198	115	41	pair	pair	NOUN
fcis-10198	115	42	.	.	PUNCT
fcis-10198	116	1	the	the	DET
fcis-10198	116	2	new	new	ADJ
fcis-10198	116	3	vector	vector	NOUN
fcis-10198	116	4	is	be	AUX
fcis-10198	116	5	then	then	ADV
fcis-10198	116	6	a	a	DET
fcis-10198	116	7	single	single	ADJ
fcis-10198	116	8	motion	motion	NOUN
fcis-10198	116	9	planning	planning	NOUN
fcis-10198	116	10	task	task	NOUN
fcis-10198	116	11	corresponding	correspond	VERB
fcis-10198	116	12	to	to	ADP
fcis-10198	116	13	a	a	DET
fcis-10198	116	14	start	start	NOUN
fcis-10198	116	15	and	and	CCONJ
fcis-10198	116	16	end	end	VERB
fcis-10198	116	17	pair	pair	NOUN
fcis-10198	116	18	in	in	ADP
fcis-10198	116	19	a	a	DET
fcis-10198	116	20	specific	specific	ADJ
fcis-10198	116	21	world	world	NOUN
fcis-10198	116	22	.	.	PUNCT
fcis-10198	117	1	3	3	X
fcis-10198	117	2	.	.	X
fcis-10198	117	3	experiments	experiment	NOUN
fcis-10198	117	4	and	and	CCONJ
fcis-10198	117	5	results	result	NOUN
fcis-10198	117	6	firstly	firstly	ADV
fcis-10198	117	7	,	,	PUNCT
fcis-10198	117	8	we	we	PRON
fcis-10198	117	9	need	need	VERB
fcis-10198	117	10	to	to	PART
fcis-10198	117	11	determine	determine	VERB
fcis-10198	117	12	the	the	DET
fcis-10198	117	13	best	good	ADJ
fcis-10198	117	14	value	value	NOUN
fcis-10198	117	15	for	for	ADP
fcis-10198	117	16	the	the	DET
fcis-10198	117	17	parameter	parameter	NOUN
fcis-10198	117	18	.	.	PUNCT
fcis-10198	118	1	our	our	PRON
fcis-10198	118	2	experiment	experiment	NOUN
fcis-10198	118	3	is	be	AUX
fcis-10198	118	4	conditioned	condition	VERB
fcis-10198	118	5	on	on	ADP
fcis-10198	118	6	a	a	DET
fcis-10198	118	7	single	single	ADJ
fcis-10198	118	8	twodimensional	twodimensional	ADJ
fcis-10198	118	9	world	world	NOUN
fcis-10198	118	10	with	with	ADP
fcis-10198	118	11	random	random	ADJ
fcis-10198	118	12	rectangular	rectangular	ADJ
fcis-10198	118	13	obstacles	obstacle	NOUN
fcis-10198	118	14	.	.	PUNCT
fcis-10198	119	1	we	we	PRON
fcis-10198	119	2	use	use	VERB
fcis-10198	119	3	three	three	NUM
fcis-10198	119	4	different	different	ADJ
fcis-10198	119	5	cost	cost	NOUN
fcis-10198	119	6	weighting	weighting	NOUN
fcis-10198	119	7	between	between	ADP
fcis-10198	119	8	length	length	NOUN
fcis-10198	119	9	and	and	CCONJ
fcis-10198	119	10	collision	collision	NOUN
fcis-10198	119	11	(	(	PUNCT
fcis-10198	119	12	1:1	1:1	NUM
fcis-10198	119	13	,	,	PUNCT
fcis-10198	119	14	1:5	1:5	NUM
fcis-10198	119	15	and	and	CCONJ
fcis-10198	119	16	1:10	1:10	NUM
fcis-10198	119	17	)	)	PUNCT
fcis-10198	119	18	,	,	PUNCT
fcis-10198	119	19	hence	hence	ADV
fcis-10198	119	20	different	different	ADJ
fcis-10198	119	21	objective	objective	ADJ
fcis-10198	119	22	functions	function	NOUN
fcis-10198	119	23	to	to	PART
fcis-10198	119	24	train	train	VERB
fcis-10198	119	25	the	the	DET
fcis-10198	119	26	neural	neural	ADJ
fcis-10198	119	27	network	network	NOUN
fcis-10198	119	28	and	and	CCONJ
fcis-10198	119	29	then	then	ADV
fcis-10198	119	30	track	track	VERB
fcis-10198	119	31	the	the	DET
fcis-10198	119	32	feasibility	feasibility	NOUN
fcis-10198	119	33	rate	rate	NOUN
fcis-10198	119	34	of	of	ADP
fcis-10198	119	35	the	the	DET
fcis-10198	119	36	predicted	predict	VERB
fcis-10198	119	37	paths	path	NOUN
fcis-10198	119	38	for	for	ADP
fcis-10198	119	39	the	the	DET
fcis-10198	119	40	test	test	NOUN
fcis-10198	119	41	dataset	dataset	NOUN
fcis-10198	119	42	.	.	PUNCT
fcis-10198	120	1	the	the	DET
fcis-10198	120	2	feasibility	feasibility	NOUN
fcis-10198	120	3	results	result	NOUN
fcis-10198	120	4	are	be	AUX
fcis-10198	120	5	shown	show	VERB
fcis-10198	120	6	in	in	ADP
fcis-10198	120	7	fig	fig	NOUN
fcis-10198	120	8	.	.	PUNCT
fcis-10198	121	1	9	9	NUM
fcis-10198	121	2	and	and	CCONJ
fcis-10198	121	3	the	the	DET
fcis-10198	121	4	planned	plan	VERB
fcis-10198	121	5	paths	path	NOUN
fcis-10198	121	6	are	be	AUX
fcis-10198	121	7	shown	show	VERB
fcis-10198	121	8	in	in	ADP
fcis-10198	121	9	fig	fig	NOUN
fcis-10198	121	10	.	.	PUNCT
fcis-10198	122	1	10	10	NUM
fcis-10198	122	2	.	.	X
fcis-10198	122	3	fig	fig	NOUN
fcis-10198	122	4	9	9	NUM
fcis-10198	122	5	.	.	PUNCT
fcis-10198	123	1	test	test	NOUN
fcis-10198	123	2	feasibility	feasibility	NOUN
fcis-10198	123	3	using	use	VERB
fcis-10198	123	4	different	different	ADJ
fcis-10198	123	5	length	length	NOUN
fcis-10198	123	6	and	and	CCONJ
fcis-10198	123	7	obstacle	obstacle	NOUN
fcis-10198	123	8	collision	collision	NOUN
fcis-10198	123	9	weighting	weight	VERB
fcis-10198	123	10	60	60	NUM
fcis-10198	123	11	fig	fig	NOUN
fcis-10198	123	12	10	10	NUM
fcis-10198	123	13	.	.	PUNCT
fcis-10198	124	1	training	training	NOUN
fcis-10198	124	2	results	result	NOUN
fcis-10198	124	3	using	use	VERB
fcis-10198	124	4	different	different	ADJ
fcis-10198	124	5	length	length	NOUN
fcis-10198	124	6	and	and	CCONJ
fcis-10198	124	7	collision	collision	NOUN
fcis-10198	124	8	weighting	weight	VERB
fcis-10198	124	9	when	when	SCONJ
fcis-10198	124	10	the	the	DET
fcis-10198	124	11	ratio	ratio	NOUN
fcis-10198	124	12	is	be	AUX
fcis-10198	124	13	1:1	1:1	NUM
fcis-10198	124	14	,	,	PUNCT
fcis-10198	124	15	the	the	DET
fcis-10198	124	16	feasibility	feasibility	NOUN
fcis-10198	124	17	rate	rate	NOUN
fcis-10198	124	18	is	be	AUX
fcis-10198	124	19	about	about	ADP
fcis-10198	124	20	0.6	0.6	NUM
fcis-10198	124	21	.	.	PUNCT
fcis-10198	125	1	the	the	DET
fcis-10198	125	2	network	network	NOUN
fcis-10198	125	3	will	will	AUX
fcis-10198	125	4	give	give	VERB
fcis-10198	125	5	the	the	DET
fcis-10198	125	6	same	same	ADJ
fcis-10198	125	7	attention	attention	NOUN
fcis-10198	125	8	to	to	ADP
fcis-10198	125	9	length	length	NOUN
fcis-10198	125	10	and	and	CCONJ
fcis-10198	125	11	noncollision	noncollision	NOUN
fcis-10198	125	12	.	.	PUNCT
fcis-10198	126	1	after	after	ADP
fcis-10198	126	2	training	training	NOUN
fcis-10198	126	3	,	,	PUNCT
fcis-10198	126	4	the	the	DET
fcis-10198	126	5	green	green	ADJ
fcis-10198	126	6	path	path	NOUN
fcis-10198	126	7	in	in	ADP
fcis-10198	126	8	fig	fig	NOUN
fcis-10198	126	9	.	.	PUNCT
fcis-10198	127	1	9	9	NUM
fcis-10198	127	2	(	(	PUNCT
fcis-10198	127	3	a	a	X
fcis-10198	127	4	)	)	PUNCT
fcis-10198	127	5	can	can	AUX
fcis-10198	127	6	not	not	PART
fcis-10198	127	7	bypass	bypass	VERB
fcis-10198	127	8	the	the	DET
fcis-10198	127	9	square	square	ADJ
fcis-10198	127	10	obstacle	obstacle	NOUN
fcis-10198	127	11	in	in	ADP
fcis-10198	127	12	the	the	DET
fcis-10198	127	13	middle	middle	NOUN
fcis-10198	127	14	in	in	ADP
fcis-10198	127	15	order	order	NOUN
fcis-10198	127	16	to	to	PART
fcis-10198	127	17	keep	keep	VERB
fcis-10198	127	18	itself	itself	PRON
fcis-10198	127	19	short	short	ADJ
fcis-10198	127	20	.	.	PUNCT
fcis-10198	128	1	when	when	SCONJ
fcis-10198	128	2	the	the	DET
fcis-10198	128	3	ratio	ratio	NOUN
fcis-10198	128	4	is	be	AUX
fcis-10198	128	5	1:5	1:5	NUM
fcis-10198	128	6	,	,	PUNCT
fcis-10198	128	7	the	the	DET
fcis-10198	128	8	network	network	NOUN
fcis-10198	128	9	has	have	VERB
fcis-10198	128	10	a	a	DET
fcis-10198	128	11	higher	high	ADJ
fcis-10198	128	12	test	test	NOUN
fcis-10198	128	13	feasibility	feasibility	NOUN
fcis-10198	128	14	rate	rate	NOUN
fcis-10198	128	15	which	which	PRON
fcis-10198	128	16	is	be	AUX
fcis-10198	128	17	about	about	ADV
fcis-10198	128	18	0.8	0.8	NUM
fcis-10198	128	19	because	because	SCONJ
fcis-10198	128	20	it	it	PRON
fcis-10198	128	21	focuses	focus	VERB
fcis-10198	128	22	more	more	ADJ
fcis-10198	128	23	on	on	ADP
fcis-10198	128	24	a	a	DET
fcis-10198	128	25	collision	collision	NOUN
fcis-10198	128	26	-	-	PUNCT
fcis-10198	128	27	free	free	ADJ
fcis-10198	128	28	path	path	NOUN
fcis-10198	128	29	.	.	PUNCT
fcis-10198	129	1	the	the	DET
fcis-10198	129	2	green	green	ADJ
fcis-10198	129	3	path	path	NOUN
fcis-10198	129	4	now	now	ADV
fcis-10198	129	5	can	can	AUX
fcis-10198	129	6	bypass	bypass	VERB
fcis-10198	129	7	the	the	DET
fcis-10198	129	8	square	square	ADJ
fcis-10198	129	9	obstacle	obstacle	NOUN
fcis-10198	129	10	in	in	ADP
fcis-10198	129	11	fig	fig	NOUN
fcis-10198	129	12	.	.	PUNCT
fcis-10198	130	1	9	9	NUM
fcis-10198	130	2	(	(	PUNCT
fcis-10198	130	3	b	b	NOUN
fcis-10198	130	4	)	)	PUNCT
fcis-10198	130	5	.	.	PUNCT
fcis-10198	131	1	when	when	SCONJ
fcis-10198	131	2	the	the	DET
fcis-10198	131	3	ratio	ratio	NOUN
fcis-10198	131	4	is	be	AUX
fcis-10198	131	5	1:10	1:10	NUM
fcis-10198	131	6	,	,	PUNCT
fcis-10198	131	7	the	the	DET
fcis-10198	131	8	feasibility	feasibility	NOUN
fcis-10198	131	9	rate	rate	NOUN
fcis-10198	131	10	can	can	AUX
fcis-10198	131	11	be	be	AUX
fcis-10198	131	12	even	even	ADV
fcis-10198	131	13	higher	high	ADJ
fcis-10198	131	14	,	,	PUNCT
fcis-10198	131	15	but	but	CCONJ
fcis-10198	131	16	the	the	DET
fcis-10198	131	17	predicted	predict	VERB
fcis-10198	131	18	paths	path	NOUN
fcis-10198	131	19	tend	tend	VERB
fcis-10198	131	20	to	to	PART
fcis-10198	131	21	detour	detour	VERB
fcis-10198	131	22	to	to	PART
fcis-10198	131	23	be	be	AUX
fcis-10198	131	24	safer	safe	ADJ
fcis-10198	131	25	.	.	PUNCT
fcis-10198	132	1	compared	compare	VERB
fcis-10198	132	2	to	to	ADP
fcis-10198	132	3	the	the	DET
fcis-10198	132	4	short	short	ADJ
fcis-10198	132	5	and	and	CCONJ
fcis-10198	132	6	collision	collision	NOUN
fcis-10198	132	7	-	-	PUNCT
fcis-10198	132	8	free	free	ADJ
fcis-10198	132	9	paths	path	NOUN
fcis-10198	132	10	going	go	VERB
fcis-10198	132	11	through	through	ADP
fcis-10198	132	12	the	the	DET
fcis-10198	132	13	obstacles	obstacle	NOUN
fcis-10198	132	14	,	,	PUNCT
fcis-10198	132	15	the	the	DET
fcis-10198	132	16	network	network	NOUN
fcis-10198	132	17	prefers	prefer	VERB
fcis-10198	132	18	much	much	ADV
fcis-10198	132	19	safer	safe	ADJ
fcis-10198	132	20	but	but	CCONJ
fcis-10198	132	21	longer	long	ADJ
fcis-10198	132	22	paths	path	NOUN
fcis-10198	132	23	,	,	PUNCT
fcis-10198	132	24	as	as	ADP
fcis-10198	132	25	the	the	DET
fcis-10198	132	26	blue	blue	ADJ
fcis-10198	132	27	and	and	CCONJ
fcis-10198	132	28	purple	purple	ADJ
fcis-10198	132	29	paths	path	NOUN
fcis-10198	132	30	in	in	ADP
fcis-10198	132	31	fig	fig	NOUN
fcis-10198	132	32	.	.	PUNCT
fcis-10198	133	1	9	9	NUM
fcis-10198	133	2	(	(	PUNCT
fcis-10198	133	3	c	c	NOUN
fcis-10198	133	4	)	)	PUNCT
fcis-10198	133	5	.	.	PUNCT
fcis-10198	134	1	in	in	ADP
fcis-10198	134	2	summary	summary	NOUN
fcis-10198	134	3	,	,	PUNCT
fcis-10198	134	4	we	we	PRON
fcis-10198	134	5	will	will	AUX
fcis-10198	134	6	choose	choose	VERB
fcis-10198	134	7	as	as	ADP
fcis-10198	134	8	5	5	NUM
fcis-10198	134	9	for	for	ADP
fcis-10198	134	10	our	our	PRON
fcis-10198	134	11	latter	latter	ADJ
fcis-10198	134	12	experiments	experiment	NOUN
fcis-10198	134	13	.	.	PUNCT
fcis-10198	135	1	based	base	VERB
fcis-10198	135	2	on	on	ADP
fcis-10198	135	3	the	the	DET
fcis-10198	135	4	different	different	ADJ
fcis-10198	135	5	path	path	NOUN
fcis-10198	135	6	and	and	CCONJ
fcis-10198	135	7	world	world	NOUN
fcis-10198	135	8	representations	representation	NOUN
fcis-10198	135	9	,	,	PUNCT
fcis-10198	135	10	we	we	PRON
fcis-10198	135	11	first	first	ADV
fcis-10198	135	12	compared	compare	VERB
fcis-10198	135	13	different	different	ADJ
fcis-10198	135	14	path	path	NOUN
fcis-10198	135	15	representations	representation	NOUN
fcis-10198	135	16	in	in	ADP
fcis-10198	135	17	a	a	DET
fcis-10198	135	18	single	single	ADJ
fcis-10198	135	19	2d	2d	NUM
fcis-10198	135	20	world	world	NOUN
fcis-10198	135	21	for	for	ADP
fcis-10198	135	22	a	a	DET
fcis-10198	135	23	sphere	sphere	NOUN
fcis-10198	135	24	robot	robot	NOUN
fcis-10198	135	25	(	(	PUNCT
fcis-10198	135	26	section	section	NOUN
fcis-10198	135	27	iii	iii	PROPN
fcis-10198	135	28	-	-	PUNCT
fcis-10198	135	29	a	a	NOUN
fcis-10198	135	30	)	)	PUNCT
fcis-10198	135	31	,	,	PUNCT
fcis-10198	135	32	then	then	ADV
fcis-10198	135	33	we	we	PRON
fcis-10198	135	34	compared	compare	VERB
fcis-10198	135	35	different	different	ADJ
fcis-10198	135	36	combinations	combination	NOUN
fcis-10198	135	37	of	of	ADP
fcis-10198	135	38	path	path	NOUN
fcis-10198	135	39	and	and	CCONJ
fcis-10198	135	40	world	world	NOUN
fcis-10198	135	41	representations	representation	NOUN
fcis-10198	135	42	in	in	ADP
fcis-10198	135	43	multiple	multiple	ADJ
fcis-10198	135	44	worlds	world	NOUN
fcis-10198	135	45	(	(	PUNCT
fcis-10198	135	46	section	section	NOUN
fcis-10198	135	47	iii	iii	PROPN
fcis-10198	135	48	-	-	PUNCT
fcis-10198	135	49	b	b	NOUN
fcis-10198	135	50	)	)	PUNCT
fcis-10198	135	51	.	.	PUNCT
fcis-10198	136	1	after	after	ADP
fcis-10198	136	2	that	that	PRON
fcis-10198	136	3	,	,	PUNCT
fcis-10198	136	4	we	we	PRON
fcis-10198	136	5	extended	extend	VERB
fcis-10198	136	6	the	the	DET
fcis-10198	136	7	motion	motion	NOUN
fcis-10198	136	8	planning	planning	NOUN
fcis-10198	136	9	task	task	NOUN
fcis-10198	136	10	from	from	ADP
fcis-10198	136	11	a	a	DET
fcis-10198	136	12	simple	simple	ADJ
fcis-10198	136	13	sphere	sphere	NOUN
fcis-10198	136	14	robot	robot	NOUN
fcis-10198	136	15	to	to	ADP
fcis-10198	136	16	a	a	DET
fcis-10198	136	17	more	more	ADV
fcis-10198	136	18	complex	complex	ADJ
fcis-10198	136	19	static	static	ADJ
fcis-10198	136	20	arm	arm	NOUN
fcis-10198	136	21	robot	robot	NOUN
fcis-10198	136	22	(	(	PUNCT
fcis-10198	136	23	section	section	NOUN
fcis-10198	136	24	iii	iii	PROPN
fcis-10198	136	25	-	-	PUNCT
fcis-10198	136	26	c	c	NOUN
fcis-10198	136	27	and	and	CCONJ
fcis-10198	136	28	section	section	PROPN
fcis-10198	136	29	iii	iii	PROPN
fcis-10198	136	30	-	-	PROPN
fcis-10198	136	31	d	d	NOUN
fcis-10198	136	32	)	)	PUNCT
fcis-10198	136	33	.	.	PUNCT
fcis-10198	137	1	3.1	3.1	NUM
fcis-10198	137	2	.	.	PUNCT
fcis-10198	137	3	sphere	sphere	NOUN
fcis-10198	137	4	robot	robot	NOUN
fcis-10198	137	5	in	in	ADP
fcis-10198	137	6	a	a	DET
fcis-10198	137	7	single	single	ADJ
fcis-10198	137	8	world	world	NOUN
fcis-10198	137	9	the	the	DET
fcis-10198	137	10	settings	setting	NOUN
fcis-10198	137	11	of	of	ADP
fcis-10198	137	12	the	the	DET
fcis-10198	137	13	experiment	experiment	NOUN
fcis-10198	137	14	are	be	AUX
fcis-10198	137	15	as	as	SCONJ
fcis-10198	137	16	follows	follow	VERB
fcis-10198	137	17	:	:	PUNCT
fcis-10198	137	18			ADJ
fcis-10198	137	19	dataset	dataset	NOUN
fcis-10198	137	20	:	:	PUNCT
fcis-10198	137	21	2000	2000	NUM
fcis-10198	137	22	training	training	NOUN
fcis-10198	137	23	pairs	pair	NOUN
fcis-10198	137	24	,	,	PUNCT
fcis-10198	137	25	500	500	NUM
fcis-10198	137	26	test	test	NOUN
fcis-10198	137	27	pairs	pair	NOUN
fcis-10198	137	28			ADJ
fcis-10198	137	29	model	model	NOUN
fcis-10198	137	30	:	:	PUNCT
fcis-10198	137	31	8	8	NUM
fcis-10198	137	32	-	-	PUNCT
fcis-10198	137	33	layer	layer	NOUN
fcis-10198	137	34	mlp	mlp	NOUN
fcis-10198	137	35	with	with	ADP
fcis-10198	137	36	relu	relu	NOUN
fcis-10198	137	37	,	,	PUNCT
fcis-10198	137	38	batchnorm	batchnorm	NOUN
fcis-10198	137	39			ADJ
fcis-10198	137	40	optimizer	optimizer	NOUN
fcis-10198	137	41	:	:	PUNCT
fcis-10198	137	42	sgd	sgd	VERB
fcis-10198	137	43	with	with	ADP
fcis-10198	137	44	lr	lr	PROPN
fcis-10198	137	45	0.001	0.001	NUM
fcis-10198	137	46	and	and	CCONJ
fcis-10198	137	47	momentum	momentum	NOUN
fcis-10198	137	48	0.9	0.9	NUM
fcis-10198	137	49			ADJ
fcis-10198	137	50	objective	objective	ADJ
fcis-10198	137	51	function	function	NOUN
fcis-10198	137	52	:	:	PUNCT
fcis-10198	138	1	length	length	NOUN
fcis-10198	138	2	:	:	PUNCT
fcis-10198	138	3	collision	collision	NOUN
fcis-10198	138	4	=	=	PUNCT
fcis-10198	139	1	1	1	NUM
fcis-10198	139	2	:	:	SYM
fcis-10198	139	3	5	5	NUM
fcis-10198	139	4	the	the	DET
fcis-10198	139	5	output	output	NOUN
fcis-10198	139	6	paths	path	NOUN
fcis-10198	139	7	at	at	ADP
fcis-10198	139	8	the	the	DET
fcis-10198	139	9	first	first	ADJ
fcis-10198	139	10	epoch	epoch	NOUN
fcis-10198	139	11	can	can	AUX
fcis-10198	139	12	be	be	AUX
fcis-10198	139	13	seen	see	VERB
fcis-10198	139	14	as	as	ADP
fcis-10198	139	15	the	the	DET
fcis-10198	139	16	initial	initial	ADJ
fcis-10198	139	17	guess	guess	NOUN
fcis-10198	139	18	of	of	ADP
fcis-10198	139	19	the	the	DET
fcis-10198	139	20	network	network	NOUN
fcis-10198	139	21	based	base	VERB
fcis-10198	139	22	on	on	ADP
fcis-10198	139	23	different	different	ADJ
fcis-10198	139	24	path	path	NOUN
fcis-10198	139	25	representations	representation	NOUN
fcis-10198	139	26	,	,	PUNCT
fcis-10198	139	27	as	as	SCONJ
fcis-10198	139	28	shown	show	VERB
fcis-10198	139	29	in	in	ADP
fcis-10198	139	30	fig	fig	NOUN
fcis-10198	139	31	.	.	PUNCT
fcis-10198	140	1	11	11	NUM
fcis-10198	140	2	.	.	PUNCT
fcis-10198	141	1	all	all	DET
fcis-10198	141	2	waypoints	waypoint	NOUN
fcis-10198	141	3	cluster	cluster	VERB
fcis-10198	141	4	around	around	ADP
fcis-10198	141	5	the	the	DET
fcis-10198	141	6	origin	origin	NOUN
fcis-10198	141	7	as	as	ADP
fcis-10198	141	8	the	the	DET
fcis-10198	141	9	result	result	NOUN
fcis-10198	141	10	of	of	ADP
fcis-10198	141	11	the	the	DET
fcis-10198	141	12	global	global	ADJ
fcis-10198	141	13	representation	representation	NOUN
fcis-10198	141	14	.	.	PUNCT
fcis-10198	142	1	for	for	ADP
fcis-10198	142	2	relative	relative	ADJ
fcis-10198	142	3	,	,	PUNCT
fcis-10198	142	4	the	the	DET
fcis-10198	142	5	path	path	NOUN
fcis-10198	142	6	has	have	VERB
fcis-10198	142	7	a	a	DET
fcis-10198	142	8	zigzag	zigzag	NOUN
fcis-10198	142	9	but	but	CCONJ
fcis-10198	142	10	basically	basically	ADV
fcis-10198	142	11	follows	follow	VERB
fcis-10198	142	12	a	a	DET
fcis-10198	142	13	straight	straight	ADJ
fcis-10198	142	14	connecting	connect	VERB
fcis-10198	142	15	line	line	NOUN
fcis-10198	142	16	.	.	PUNCT
fcis-10198	143	1	the	the	DET
fcis-10198	143	2	predicted	predict	VERB
fcis-10198	143	3	paths	path	NOUN
fcis-10198	143	4	of	of	ADP
fcis-10198	143	5	nurbs	nurb	NOUN
fcis-10198	143	6	are	be	AUX
fcis-10198	143	7	smooth	smooth	ADJ
fcis-10198	143	8	straight	straight	ADJ
fcis-10198	143	9	lines	line	NOUN
fcis-10198	143	10	.	.	PUNCT
fcis-10198	144	1	fig	fig	NOUN
fcis-10198	144	2	11	11	NUM
fcis-10198	144	3	.	.	PUNCT
fcis-10198	145	1	predicted	predict	VERB
fcis-10198	145	2	paths	path	NOUN
fcis-10198	145	3	in	in	ADP
fcis-10198	145	4	the	the	DET
fcis-10198	145	5	first	first	ADJ
fcis-10198	145	6	epoch	epoch	NOUN
fcis-10198	145	7	after	after	ADP
fcis-10198	145	8	training	training	NOUN
fcis-10198	145	9	,	,	PUNCT
fcis-10198	145	10	the	the	DET
fcis-10198	145	11	behavior	behavior	NOUN
fcis-10198	145	12	of	of	ADP
fcis-10198	145	13	the	the	DET
fcis-10198	145	14	predicted	predict	VERB
fcis-10198	145	15	paths	path	NOUN
fcis-10198	145	16	can	can	AUX
fcis-10198	145	17	be	be	AUX
fcis-10198	145	18	different	different	ADJ
fcis-10198	145	19	for	for	ADP
fcis-10198	145	20	the	the	DET
fcis-10198	145	21	same	same	ADJ
fcis-10198	145	22	start	start	NOUN
fcis-10198	145	23	and	and	CCONJ
fcis-10198	145	24	end	end	VERB
fcis-10198	145	25	pairs	pair	NOUN
fcis-10198	145	26	based	base	VERB
fcis-10198	145	27	on	on	ADP
fcis-10198	145	28	different	different	ADJ
fcis-10198	145	29	initialization	initialization	NOUN
fcis-10198	145	30	.	.	PUNCT
fcis-10198	146	1	for	for	ADP
fcis-10198	146	2	example	example	NOUN
fcis-10198	146	3	,	,	PUNCT
fcis-10198	146	4	the	the	DET
fcis-10198	146	5	yellow	yellow	ADJ
fcis-10198	146	6	path	path	NOUN
fcis-10198	146	7	in	in	ADP
fcis-10198	146	8	fig	fig	NOUN
fcis-10198	146	9	.	.	PUNCT
fcis-10198	147	1	12	12	NUM
fcis-10198	147	2	(	(	PUNCT
fcis-10198	147	3	a	a	X
fcis-10198	147	4	)	)	PUNCT
fcis-10198	147	5	is	be	AUX
fcis-10198	147	6	stuck	stick	VERB
fcis-10198	147	7	in	in	ADP
fcis-10198	147	8	a	a	DET
fcis-10198	147	9	suboptimal	suboptimal	ADJ
fcis-10198	147	10	solution	solution	NOUN
fcis-10198	147	11	but	but	CCONJ
fcis-10198	147	12	the	the	DET
fcis-10198	147	13	predictions	prediction	NOUN
fcis-10198	147	14	are	be	AUX
fcis-10198	147	15	better	well	ADJ
fcis-10198	147	16	in	in	ADP
fcis-10198	147	17	the	the	DET
fcis-10198	147	18	other	other	ADJ
fcis-10198	147	19	two	two	NUM
fcis-10198	147	20	cases	case	NOUN
fcis-10198	147	21	.	.	PUNCT
fcis-10198	148	1	and	and	CCONJ
fcis-10198	148	2	the	the	DET
fcis-10198	148	3	gray	gray	ADJ
fcis-10198	148	4	paths	path	NOUN
fcis-10198	148	5	in	in	ADP
fcis-10198	148	6	fig	fig	NOUN
fcis-10198	148	7	.	.	PUNCT
fcis-10198	149	1	12	12	NUM
fcis-10198	149	2	are	be	AUX
fcis-10198	149	3	all	all	ADV
fcis-10198	149	4	different	different	ADJ
fcis-10198	149	5	.	.	PUNCT
fcis-10198	150	1	fig	fig	NOUN
fcis-10198	150	2	12	12	NUM
fcis-10198	150	3	.	.	PUNCT
fcis-10198	151	1	predicted	predict	VERB
fcis-10198	151	2	paths	path	NOUN
fcis-10198	151	3	in	in	ADP
fcis-10198	151	4	the	the	DET
fcis-10198	151	5	last	last	ADJ
fcis-10198	151	6	epoch	epoch	NOUN
fcis-10198	151	7	all	all	DET
fcis-10198	151	8	methods	method	NOUN
fcis-10198	151	9	can	can	AUX
fcis-10198	151	10	work	work	VERB
fcis-10198	151	11	well	well	ADV
fcis-10198	151	12	for	for	ADP
fcis-10198	151	13	the	the	DET
fcis-10198	151	14	simple	simple	ADJ
fcis-10198	151	15	tasks	task	NOUN
fcis-10198	151	16	of	of	ADP
fcis-10198	151	17	which	which	PRON
fcis-10198	151	18	the	the	DET
fcis-10198	151	19	optimal	optimal	ADJ
fcis-10198	151	20	solution	solution	NOUN
fcis-10198	151	21	is	be	AUX
fcis-10198	151	22	the	the	DET
fcis-10198	151	23	interpolation	interpolation	NOUN
fcis-10198	151	24	of	of	ADP
fcis-10198	151	25	start	start	NOUN
fcis-10198	151	26	and	and	CCONJ
fcis-10198	151	27	end	end	VERB
fcis-10198	151	28	points	point	NOUN
fcis-10198	151	29	.	.	PUNCT
fcis-10198	152	1	nurbs	nurbs	PROPN
fcis-10198	152	2	works	work	VERB
fcis-10198	152	3	best	well	ADV
fcis-10198	152	4	in	in	ADP
fcis-10198	152	5	this	this	DET
fcis-10198	152	6	case	case	NOUN
fcis-10198	152	7	,	,	PUNCT
fcis-10198	152	8	but	but	CCONJ
fcis-10198	152	9	it	it	PRON
fcis-10198	152	10	is	be	AUX
fcis-10198	152	11	hard	hard	ADJ
fcis-10198	152	12	for	for	SCONJ
fcis-10198	152	13	it	it	PRON
fcis-10198	152	14	to	to	PART
fcis-10198	152	15	represent	represent	VERB
fcis-10198	152	16	a	a	DET
fcis-10198	152	17	winding	wind	VERB
fcis-10198	152	18	path	path	NOUN
fcis-10198	152	19	such	such	ADJ
fcis-10198	152	20	as	as	ADP
fcis-10198	152	21	the	the	DET
fcis-10198	152	22	orange	orange	NOUN
fcis-10198	152	23	one	one	NUM
fcis-10198	152	24	in	in	ADP
fcis-10198	152	25	fig	fig	NOUN
fcis-10198	152	26	.	.	PUNCT
fcis-10198	153	1	12	12	NUM
fcis-10198	153	2	(	(	PUNCT
fcis-10198	153	3	c	c	NOUN
fcis-10198	153	4	)	)	PUNCT
fcis-10198	153	5	to	to	PART
fcis-10198	153	6	avoid	avoid	VERB
fcis-10198	153	7	the	the	DET
fcis-10198	153	8	collision	collision	NOUN
fcis-10198	153	9	because	because	SCONJ
fcis-10198	153	10	of	of	ADP
fcis-10198	153	11	the	the	DET
fcis-10198	153	12	limited	limited	ADJ
fcis-10198	153	13	representation	representation	NOUN
fcis-10198	153	14	.	.	PUNCT
fcis-10198	154	1	the	the	DET
fcis-10198	154	2	validated	validate	VERB
fcis-10198	154	3	total	total	ADJ
fcis-10198	154	4	loss	loss	NOUN
fcis-10198	154	5	,	,	PUNCT
fcis-10198	154	6	feasible	feasible	ADJ
fcis-10198	154	7	rate	rate	NOUN
fcis-10198	154	8	,	,	PUNCT
fcis-10198	154	9	and	and	CCONJ
fcis-10198	154	10	the	the	DET
fcis-10198	154	11	average	average	ADJ
fcis-10198	154	12	length	length	NOUN
fcis-10198	154	13	loss	loss	NOUN
fcis-10198	154	14	of	of	ADP
fcis-10198	154	15	the	the	DET
fcis-10198	154	16	feasible	feasible	ADJ
fcis-10198	154	17	paths	path	NOUN
fcis-10198	154	18	are	be	AUX
fcis-10198	154	19	tracked	track	VERB
fcis-10198	154	20	during	during	ADP
fcis-10198	154	21	training	training	NOUN
fcis-10198	154	22	,	,	PUNCT
fcis-10198	154	23	as	as	SCONJ
fcis-10198	154	24	shown	show	VERB
fcis-10198	154	25	in	in	ADP
fcis-10198	154	26	fig	fig	NOUN
fcis-10198	154	27	.	.	PUNCT
fcis-10198	155	1	13	13	NUM
fcis-10198	155	2	.	.	PUNCT
fcis-10198	155	3	global	global	ADJ
fcis-10198	155	4	representation	representation	NOUN
fcis-10198	155	5	has	have	VERB
fcis-10198	155	6	the	the	DET
fcis-10198	155	7	best	good	ADJ
fcis-10198	155	8	feasible	feasible	ADJ
fcis-10198	155	9	rate	rate	NOUN
fcis-10198	155	10	above	above	ADP
fcis-10198	155	11	80	80	NUM
fcis-10198	155	12	%	%	NOUN
fcis-10198	155	13	because	because	SCONJ
fcis-10198	155	14	it	it	PRON
fcis-10198	155	15	is	be	AUX
fcis-10198	155	16	flexible	flexible	ADJ
fcis-10198	155	17	enough	enough	ADV
fcis-10198	155	18	to	to	PART
fcis-10198	155	19	predict	predict	VERB
fcis-10198	155	20	collision	collision	NOUN
fcis-10198	155	21	-	-	PUNCT
fcis-10198	155	22	free	free	ADJ
fcis-10198	155	23	paths	path	NOUN
fcis-10198	155	24	.	.	PUNCT
fcis-10198	156	1	nurbs	nurb	NOUN
fcis-10198	156	2	predicts	predict	VERB
fcis-10198	156	3	the	the	DET
fcis-10198	156	4	shortest	short	ADJ
fcis-10198	156	5	path	path	NOUN
fcis-10198	156	6	because	because	SCONJ
fcis-10198	156	7	it	it	PRON
fcis-10198	156	8	has	have	VERB
fcis-10198	156	9	a	a	DET
fcis-10198	156	10	straight	straight	ADJ
fcis-10198	156	11	line	line	NOUN
fcis-10198	156	12	as	as	ADP
fcis-10198	156	13	a	a	DET
fcis-10198	156	14	very	very	ADV
fcis-10198	156	15	good	good	ADJ
fcis-10198	156	16	initialization	initialization	NOUN
fcis-10198	156	17	.	.	PUNCT
fcis-10198	157	1	overall	overall	ADJ
fcis-10198	157	2	,	,	PUNCT
fcis-10198	157	3	global	global	ADJ
fcis-10198	157	4	is	be	AUX
fcis-10198	157	5	the	the	DET
fcis-10198	157	6	best	good	ADJ
fcis-10198	157	7	path	path	NOUN
fcis-10198	157	8	representation	representation	NOUN
fcis-10198	157	9	in	in	ADP
fcis-10198	157	10	this	this	DET
fcis-10198	157	11	experiment	experiment	NOUN
fcis-10198	157	12	.	.	PUNCT
fcis-10198	158	1	the	the	DET
fcis-10198	158	2	relative	relative	NOUN
fcis-10198	158	3	has	have	VERB
fcis-10198	158	4	the	the	DET
fcis-10198	158	5	worst	bad	ADJ
fcis-10198	158	6	performance	performance	NOUN
fcis-10198	158	7	despite	despite	SCONJ
fcis-10198	158	8	the	the	DET
fcis-10198	158	9	flexibility	flexibility	NOUN
fcis-10198	158	10	and	and	CCONJ
fcis-10198	158	11	the	the	DET
fcis-10198	158	12	good	good	PROPN
fcis-10198	158	13	initialization	initialization	NOUN
fcis-10198	158	14	,	,	PUNCT
fcis-10198	158	15	because	because	SCONJ
fcis-10198	158	16	it	it	PRON
fcis-10198	158	17	lacks	lack	VERB
fcis-10198	158	18	global	global	ADJ
fcis-10198	158	19	information	information	NOUN
fcis-10198	158	20	about	about	ADP
fcis-10198	158	21	the	the	DET
fcis-10198	158	22	obstacles	obstacle	NOUN
fcis-10198	158	23	and	and	CCONJ
fcis-10198	158	24	we	we	PRON
fcis-10198	158	25	do	do	AUX
fcis-10198	158	26	n’t	not	PART
fcis-10198	158	27	explicitly	explicitly	ADV
fcis-10198	158	28	feed	feed	VERB
fcis-10198	158	29	it	it	PRON
fcis-10198	158	30	in	in	ADP
fcis-10198	158	31	the	the	DET
fcis-10198	158	32	single	single	ADJ
fcis-10198	158	33	world	world	NOUN
fcis-10198	158	34	.	.	PUNCT
fcis-10198	159	1	fig	fig	NOUN
fcis-10198	159	2	13	13	NUM
fcis-10198	159	3	.	.	PUNCT
fcis-10198	160	1	results	result	NOUN
fcis-10198	160	2	of	of	ADP
fcis-10198	160	3	the	the	DET
fcis-10198	160	4	first	first	ADJ
fcis-10198	160	5	experiment	experiment	NOUN
fcis-10198	160	6	3.2	3.2	NUM
fcis-10198	160	7	.	.	PUNCT
fcis-10198	161	1	sphere	sphere	NOUN
fcis-10198	161	2	robot	robot	NOUN
fcis-10198	161	3	in	in	ADP
fcis-10198	161	4	multiple	multiple	ADJ
fcis-10198	161	5	worlds	world	NOUN
fcis-10198	161	6	to	to	PART
fcis-10198	161	7	compare	compare	VERB
fcis-10198	161	8	different	different	ADJ
fcis-10198	161	9	combinations	combination	NOUN
fcis-10198	161	10	of	of	ADP
fcis-10198	161	11	path	path	NOUN
fcis-10198	161	12	and	and	CCONJ
fcis-10198	161	13	world	world	NOUN
fcis-10198	161	14	representation	representation	NOUN
fcis-10198	161	15	in	in	ADP
fcis-10198	161	16	multiple	multiple	ADJ
fcis-10198	161	17	worlds	world	NOUN
fcis-10198	161	18	,	,	PUNCT
fcis-10198	161	19	500	500	NUM
fcis-10198	161	20	worlds	world	NOUN
fcis-10198	161	21	and	and	CCONJ
fcis-10198	161	22	500	500	NUM
fcis-10198	161	23	pairs	pair	NOUN
fcis-10198	161	24	per	per	ADP
fcis-10198	161	25	world	world	NOUN
fcis-10198	161	26	are	be	AUX
fcis-10198	161	27	used	use	VERB
fcis-10198	161	28	for	for	ADP
fcis-10198	161	29	training	training	NOUN
fcis-10198	161	30	while	while	SCONJ
fcis-10198	161	31	100	100	NUM
fcis-10198	161	32	worlds	world	NOUN
fcis-10198	161	33	and	and	CCONJ
fcis-10198	161	34	100	100	NUM
fcis-10198	161	35	pairs	pair	NOUN
fcis-10198	161	36	for	for	ADP
fcis-10198	161	37	the	the	DET
fcis-10198	161	38	test	test	NOUN
fcis-10198	161	39	.	.	PUNCT
fcis-10198	162	1	the	the	DET
fcis-10198	162	2	other	other	ADJ
fcis-10198	162	3	settings	setting	NOUN
fcis-10198	162	4	keep	keep	VERB
fcis-10198	162	5	the	the	DET
fcis-10198	162	6	same	same	ADJ
fcis-10198	162	7	as	as	ADP
fcis-10198	162	8	the	the	DET
fcis-10198	162	9	first	first	ADJ
fcis-10198	162	10	experiment	experiment	NOUN
fcis-10198	162	11	except	except	SCONJ
fcis-10198	162	12	that	that	SCONJ
fcis-10198	162	13	the	the	DET
fcis-10198	162	14	network	network	NOUN
fcis-10198	162	15	architecture	architecture	NOUN
fcis-10198	162	16	is	be	AUX
fcis-10198	162	17	changed	change	VERB
fcis-10198	162	18	according	accord	VERB
fcis-10198	162	19	to	to	ADP
fcis-10198	162	20	section	section	PROPN
fcis-10198	162	21	ii	ii	PROPN
fcis-10198	162	22	-	-	PROPN
fcis-10198	162	23	c.	c.	PROPN
fcis-10198	162	24	the	the	DET
fcis-10198	162	25	results	result	NOUN
fcis-10198	162	26	are	be	AUX
fcis-10198	162	27	shown	show	VERB
fcis-10198	162	28	in	in	ADP
fcis-10198	162	29	table	table	NOUN
fcis-10198	162	30	i.	i.	NOUN
fcis-10198	162	31	table	table	NOUN
fcis-10198	163	1	1	1	NUM
fcis-10198	163	2	.	.	PUNCT
fcis-10198	163	3	results	result	NOUN
fcis-10198	163	4	of	of	ADP
fcis-10198	163	5	the	the	DET
fcis-10198	163	6	second	second	ADJ
fcis-10198	163	7	experiment	experiment	NOUN
fcis-10198	163	8	compared	compare	VERB
fcis-10198	163	9	with	with	ADP
fcis-10198	163	10	binary	binary	ADJ
fcis-10198	163	11	worlds	world	NOUN
fcis-10198	164	1	,	,	PUNCT
fcis-10198	164	2	sdf	sdf	PROPN
fcis-10198	164	3	has	have	VERB
fcis-10198	164	4	slightly	slightly	ADV
fcis-10198	164	5	better	well	ADJ
fcis-10198	164	6	results	result	NOUN
fcis-10198	164	7	with	with	ADP
fcis-10198	164	8	a	a	DET
fcis-10198	164	9	lower	low	ADJ
fcis-10198	164	10	length	length	NOUN
fcis-10198	164	11	loss	loss	NOUN
fcis-10198	164	12	and	and	CCONJ
fcis-10198	164	13	a	a	DET
fcis-10198	164	14	higher	high	ADJ
fcis-10198	164	15	feasible	feasible	ADJ
fcis-10198	164	16	rate	rate	NOUN
fcis-10198	164	17	.	.	PUNCT
fcis-10198	165	1	it	it	PRON
fcis-10198	165	2	is	be	AUX
fcis-10198	165	3	easy	easy	ADJ
fcis-10198	165	4	to	to	PART
fcis-10198	165	5	imagine	imagine	VERB
fcis-10198	165	6	because	because	SCONJ
fcis-10198	165	7	the	the	DET
fcis-10198	165	8	signed	sign	VERB
fcis-10198	165	9	distance	distance	NOUN
fcis-10198	165	10	field	field	NOUN
fcis-10198	165	11	has	have	VERB
fcis-10198	165	12	additional	additional	ADJ
fcis-10198	165	13	distance	distance	NOUN
fcis-10198	165	14	information	information	NOUN
fcis-10198	165	15	relative	relative	ADJ
fcis-10198	165	16	to	to	ADP
fcis-10198	165	17	the	the	DET
fcis-10198	165	18	nearest	near	ADJ
fcis-10198	165	19	obstacles	obstacle	NOUN
fcis-10198	165	20	compared	compare	VERB
fcis-10198	165	21	with	with	ADP
fcis-10198	165	22	the	the	DET
fcis-10198	165	23	binary	binary	ADJ
fcis-10198	165	24	world	world	NOUN
fcis-10198	165	25	.	.	PUNCT
fcis-10198	166	1	with	with	ADP
fcis-10198	166	2	respect	respect	NOUN
fcis-10198	166	3	to	to	ADP
fcis-10198	166	4	path	path	NOUN
fcis-10198	166	5	representation	representation	NOUN
fcis-10198	166	6	,	,	PUNCT
fcis-10198	166	7	relative	relative	ADJ
fcis-10198	166	8	works	work	VERB
fcis-10198	166	9	better	well	ADV
fcis-10198	166	10	for	for	ADP
fcis-10198	166	11	short	short	ADJ
fcis-10198	166	12	paths	path	NOUN
fcis-10198	166	13	as	as	ADP
fcis-10198	166	14	before	before	ADV
fcis-10198	166	15	,	,	PUNCT
fcis-10198	166	16	due	due	ADP
fcis-10198	166	17	to	to	ADP
fcis-10198	166	18	the	the	DET
fcis-10198	166	19	good	good	PROPN
fcis-10198	166	20	initialization	initialization	NOUN
fcis-10198	166	21	,	,	PUNCT
fcis-10198	166	22	and	and	CCONJ
fcis-10198	166	23	now	now	ADV
fcis-10198	166	24	also	also	ADV
fcis-10198	166	25	works	work	VERB
fcis-10198	166	26	well	well	ADV
fcis-10198	166	27	61	61	NUM
fcis-10198	166	28	for	for	ADP
fcis-10198	166	29	non	non	ADJ
fcis-10198	166	30	-	-	ADJ
fcis-10198	166	31	collision	collision	ADJ
fcis-10198	166	32	paths	path	NOUN
fcis-10198	166	33	.	.	PUNCT
fcis-10198	167	1	because	because	SCONJ
fcis-10198	167	2	the	the	DET
fcis-10198	167	3	global	global	ADJ
fcis-10198	167	4	information	information	NOUN
fcis-10198	167	5	of	of	ADP
fcis-10198	167	6	multiple	multiple	ADJ
fcis-10198	167	7	worlds	world	NOUN
fcis-10198	167	8	is	be	AUX
fcis-10198	167	9	now	now	ADV
fcis-10198	167	10	available	available	ADJ
fcis-10198	167	11	for	for	ADP
fcis-10198	167	12	the	the	DET
fcis-10198	167	13	network	network	NOUN
fcis-10198	167	14	.	.	PUNCT
fcis-10198	168	1	for	for	ADP
fcis-10198	168	2	a	a	DET
fcis-10198	168	3	sphere	sphere	NOUN
fcis-10198	168	4	robot	robot	NOUN
fcis-10198	168	5	in	in	ADP
fcis-10198	168	6	multiple	multiple	ADJ
fcis-10198	168	7	worlds	world	NOUN
fcis-10198	168	8	,	,	PUNCT
fcis-10198	168	9	the	the	DET
fcis-10198	168	10	combination	combination	NOUN
fcis-10198	168	11	of	of	ADP
fcis-10198	168	12	sdf	sdf	NOUN
fcis-10198	168	13	and	and	CCONJ
fcis-10198	168	14	relative	relative	NOUN
fcis-10198	168	15	is	be	AUX
fcis-10198	168	16	the	the	DET
fcis-10198	168	17	best	good	ADJ
fcis-10198	168	18	.	.	PUNCT
fcis-10198	169	1	we	we	PRON
fcis-10198	169	2	do	do	AUX
fcis-10198	169	3	not	not	PART
fcis-10198	169	4	use	use	VERB
fcis-10198	169	5	nurbs	nurb	NOUN
fcis-10198	169	6	in	in	ADP
fcis-10198	169	7	multiple	multiple	ADJ
fcis-10198	169	8	worlds	world	NOUN
fcis-10198	169	9	because	because	SCONJ
fcis-10198	169	10	it	it	PRON
fcis-10198	169	11	lacks	lack	VERB
fcis-10198	169	12	flexibility	flexibility	NOUN
fcis-10198	169	13	and	and	CCONJ
fcis-10198	169	14	can	can	AUX
fcis-10198	169	15	only	only	ADV
fcis-10198	169	16	get	get	VERB
fcis-10198	169	17	a	a	DET
fcis-10198	169	18	poor	poor	ADJ
fcis-10198	169	19	result	result	NOUN
fcis-10198	169	20	.	.	PUNCT
fcis-10198	170	1	3.3	3.3	NUM
fcis-10198	170	2	.	.	PUNCT
fcis-10198	170	3	static	static	ADJ
fcis-10198	170	4	arm	arm	NOUN
fcis-10198	170	5	robot	robot	NOUN
fcis-10198	170	6	in	in	ADP
fcis-10198	170	7	a	a	DET
fcis-10198	170	8	single	single	ADJ
fcis-10198	170	9	world	world	NOUN
fcis-10198	170	10	the	the	DET
fcis-10198	170	11	experiment	experiment	NOUN
fcis-10198	170	12	setting	setting	NOUN
fcis-10198	170	13	of	of	ADP
fcis-10198	170	14	the	the	DET
fcis-10198	170	15	static	static	ADJ
fcis-10198	170	16	arm	arm	NOUN
fcis-10198	170	17	robot	robot	NOUN
fcis-10198	170	18	is	be	AUX
fcis-10198	170	19	similar	similar	ADJ
fcis-10198	170	20	to	to	ADP
fcis-10198	170	21	section	section	NOUN
fcis-10198	170	22	iii	iii	NOUN
fcis-10198	170	23	-	-	PUNCT
fcis-10198	170	24	a	a	NOUN
fcis-10198	170	25	,	,	PUNCT
fcis-10198	170	26	except	except	SCONJ
fcis-10198	170	27	that	that	PRON
fcis-10198	170	28	:	:	PUNCT
fcis-10198	170	29			X
fcis-10198	170	30	dataset	dataset	NOUN
fcis-10198	170	31	:	:	PUNCT
fcis-10198	170	32	3000	3000	NUM
fcis-10198	170	33	training	training	NOUN
fcis-10198	170	34	pairs	pair	NOUN
fcis-10198	170	35	,	,	PUNCT
fcis-10198	170	36	1000	1000	NUM
fcis-10198	170	37	test	test	NOUN
fcis-10198	170	38	pairs	pair	NOUN
fcis-10198	170	39			ADJ
fcis-10198	170	40	model	model	NOUN
fcis-10198	170	41	:	:	PUNCT
fcis-10198	170	42	mlp	mlp	PROPN
fcis-10198	170	43	,	,	PUNCT
fcis-10198	170	44	highway	highway	NOUN
fcis-10198	170	45	,	,	PUNCT
fcis-10198	170	46	batchnorm	batchnorm	NOUN
fcis-10198	170	47			ADJ
fcis-10198	170	48	objective	objective	ADJ
fcis-10198	170	49	function	function	NOUN
fcis-10198	170	50	:	:	PUNCT
fcis-10198	170	51	length	length	NOUN
fcis-10198	170	52	:	:	PUNCT
fcis-10198	170	53	collision	collision	NOUN
fcis-10198	170	54	=	=	PUNCT
fcis-10198	170	55	1	1	NUM
fcis-10198	170	56	:	:	SYM
fcis-10198	170	57	1	1	NUM
fcis-10198	170	58	it	it	PRON
fcis-10198	170	59	is	be	AUX
fcis-10198	170	60	obvious	obvious	ADJ
fcis-10198	170	61	that	that	SCONJ
fcis-10198	170	62	the	the	DET
fcis-10198	170	63	global	global	ADJ
fcis-10198	170	64	path	path	NOUN
fcis-10198	170	65	in	in	ADP
fcis-10198	170	66	fig	fig	NOUN
fcis-10198	170	67	.	.	PUNCT
fcis-10198	171	1	14	14	NUM
fcis-10198	171	2	(	(	PUNCT
fcis-10198	171	3	a	a	NOUN
fcis-10198	171	4	)	)	PUNCT
fcis-10198	171	5	is	be	AUX
fcis-10198	171	6	relatively	relatively	ADV
fcis-10198	171	7	better	well	ADJ
fcis-10198	171	8	at	at	ADP
fcis-10198	171	9	avoiding	avoid	VERB
fcis-10198	171	10	obstacles	obstacle	NOUN
fcis-10198	171	11	.	.	PUNCT
fcis-10198	172	1	the	the	DET
fcis-10198	172	2	third	third	ADJ
fcis-10198	172	3	joint	joint	NOUN
fcis-10198	172	4	of	of	ADP
fcis-10198	172	5	the	the	DET
fcis-10198	172	6	robotic	robotic	ADJ
fcis-10198	172	7	arm	arm	NOUN
fcis-10198	172	8	can	can	AUX
fcis-10198	172	9	consciously	consciously	ADV
fcis-10198	172	10	avoid	avoid	VERB
fcis-10198	172	11	nearby	nearby	ADJ
fcis-10198	172	12	obstacles	obstacle	NOUN
fcis-10198	172	13	.	.	PUNCT
fcis-10198	173	1	in	in	ADP
fcis-10198	173	2	contrast	contrast	NOUN
fcis-10198	173	3	,	,	PUNCT
fcis-10198	173	4	in	in	ADP
fcis-10198	173	5	the	the	DET
fcis-10198	173	6	relative	relative	ADJ
fcis-10198	173	7	path	path	NOUN
fcis-10198	173	8	,	,	PUNCT
fcis-10198	173	9	the	the	DET
fcis-10198	173	10	robotic	robotic	ADJ
fcis-10198	173	11	arm	arm	NOUN
fcis-10198	173	12	simply	simply	ADV
fcis-10198	173	13	moves	move	VERB
fcis-10198	173	14	from	from	ADP
fcis-10198	173	15	the	the	DET
fcis-10198	173	16	starting	starting	NOUN
fcis-10198	173	17	position	position	NOUN
fcis-10198	173	18	to	to	ADP
fcis-10198	173	19	the	the	DET
fcis-10198	173	20	end	end	NOUN
fcis-10198	173	21	with	with	ADP
fcis-10198	173	22	a	a	DET
fcis-10198	173	23	uniform	uniform	ADJ
fcis-10198	173	24	change	change	NOUN
fcis-10198	173	25	in	in	ADP
fcis-10198	173	26	the	the	DET
fcis-10198	173	27	angles	angle	NOUN
fcis-10198	173	28	of	of	ADP
fcis-10198	173	29	the	the	DET
fcis-10198	173	30	joints	joint	NOUN
fcis-10198	173	31	.	.	PUNCT
fcis-10198	174	1	the	the	DET
fcis-10198	174	2	feasible	feasible	ADJ
fcis-10198	174	3	rate	rate	NOUN
fcis-10198	174	4	and	and	CCONJ
fcis-10198	174	5	loss	loss	NOUN
fcis-10198	174	6	of	of	ADP
fcis-10198	174	7	the	the	DET
fcis-10198	174	8	global	global	ADJ
fcis-10198	174	9	path	path	NOUN
fcis-10198	174	10	are	be	AUX
fcis-10198	174	11	70.3	70.3	NUM
fcis-10198	174	12	%	%	NOUN
fcis-10198	174	13	and	and	CCONJ
fcis-10198	174	14	0.87	0.87	NUM
fcis-10198	174	15	,	,	PUNCT
fcis-10198	174	16	which	which	PRON
fcis-10198	174	17	are	be	AUX
fcis-10198	174	18	both	both	ADV
fcis-10198	174	19	better	well	ADJ
fcis-10198	174	20	than	than	ADP
fcis-10198	174	21	that	that	PRON
fcis-10198	174	22	of	of	ADP
fcis-10198	174	23	the	the	DET
fcis-10198	174	24	relative	relative	ADJ
fcis-10198	174	25	path	path	NOUN
fcis-10198	174	26	,	,	PUNCT
fcis-10198	174	27	65.8	65.8	NUM
fcis-10198	174	28	%	%	NOUN
fcis-10198	174	29	and	and	CCONJ
fcis-10198	174	30	1.26	1.26	NUM
fcis-10198	174	31	.	.	PUNCT
fcis-10198	175	1	this	this	PRON
fcis-10198	175	2	helps	help	VERB
fcis-10198	175	3	to	to	PART
fcis-10198	175	4	verify	verify	VERB
fcis-10198	175	5	from	from	ADP
fcis-10198	175	6	another	another	DET
fcis-10198	175	7	aspect	aspect	NOUN
fcis-10198	175	8	that	that	SCONJ
fcis-10198	175	9	in	in	ADP
fcis-10198	175	10	the	the	DET
fcis-10198	175	11	single	single	ADJ
fcis-10198	175	12	world	world	NOUN
fcis-10198	175	13	,	,	PUNCT
fcis-10198	175	14	the	the	DET
fcis-10198	175	15	global	global	ADJ
fcis-10198	175	16	path	path	NOUN
fcis-10198	175	17	performs	perform	VERB
fcis-10198	175	18	better	well	ADV
fcis-10198	175	19	.	.	PUNCT
fcis-10198	176	1	fig	fig	NOUN
fcis-10198	176	2	14	14	NUM
fcis-10198	176	3	.	.	PUNCT
fcis-10198	177	1	predicted	predict	VERB
fcis-10198	177	2	paths	path	NOUN
fcis-10198	177	3	for	for	ADP
fcis-10198	177	4	a	a	DET
fcis-10198	177	5	static	static	ADJ
fcis-10198	177	6	arm	arm	NOUN
fcis-10198	177	7	robot	robot	NOUN
fcis-10198	177	8	in	in	ADP
fcis-10198	177	9	the	the	DET
fcis-10198	177	10	last	last	ADJ
fcis-10198	177	11	epoch	epoch	NOUN
fcis-10198	177	12	3.4	3.4	NUM
fcis-10198	177	13	.	.	PUNCT
fcis-10198	178	1	static	static	ADJ
fcis-10198	178	2	arm	arm	NOUN
fcis-10198	178	3	robot	robot	NOUN
fcis-10198	178	4	in	in	ADP
fcis-10198	178	5	multiple	multiple	ADJ
fcis-10198	178	6	worlds	world	NOUN
fcis-10198	178	7	in	in	ADP
fcis-10198	178	8	the	the	DET
fcis-10198	178	9	last	last	ADJ
fcis-10198	178	10	experiment	experiment	NOUN
fcis-10198	178	11	,	,	PUNCT
fcis-10198	178	12	four	four	NUM
fcis-10198	178	13	combinations	combination	NOUN
fcis-10198	178	14	in	in	ADP
fcis-10198	178	15	total	total	NOUN
fcis-10198	178	16	are	be	AUX
fcis-10198	178	17	compared	compare	VERB
fcis-10198	178	18	for	for	ADP
fcis-10198	178	19	a	a	DET
fcis-10198	178	20	static	static	ADJ
fcis-10198	178	21	arm	arm	NOUN
fcis-10198	178	22	robot	robot	NOUN
fcis-10198	178	23	in	in	ADP
fcis-10198	178	24	multiple	multiple	ADJ
fcis-10198	178	25	worlds	world	NOUN
fcis-10198	178	26	.	.	PUNCT
fcis-10198	179	1	the	the	DET
fcis-10198	179	2	neural	neural	ADJ
fcis-10198	179	3	network	network	NOUN
fcis-10198	179	4	used	use	VERB
fcis-10198	179	5	here	here	ADV
fcis-10198	179	6	is	be	AUX
fcis-10198	179	7	changed	change	VERB
fcis-10198	179	8	according	accord	VERB
fcis-10198	179	9	to	to	ADP
fcis-10198	179	10	section	section	PROPN
fcis-10198	179	11	ii	ii	PROPN
fcis-10198	179	12	-	-	PROPN
fcis-10198	179	13	c.	c.	PROPN
fcis-10198	179	14	there	there	PRON
fcis-10198	179	15	are	be	VERB
fcis-10198	179	16	40	40	NUM
fcis-10198	179	17	worlds	world	NOUN
fcis-10198	179	18	and	and	CCONJ
fcis-10198	179	19	3000	3000	NUM
fcis-10198	179	20	pairs	pair	NOUN
fcis-10198	179	21	per	per	ADP
fcis-10198	179	22	world	world	NOUN
fcis-10198	179	23	are	be	AUX
fcis-10198	179	24	used	use	VERB
fcis-10198	179	25	for	for	ADP
fcis-10198	179	26	training	training	NOUN
fcis-10198	179	27	and	and	CCONJ
fcis-10198	179	28	8	8	NUM
fcis-10198	179	29	worlds	world	NOUN
fcis-10198	179	30	and	and	CCONJ
fcis-10198	179	31	1000	1000	NUM
fcis-10198	179	32	pairs	pair	NOUN
fcis-10198	179	33	for	for	ADP
fcis-10198	179	34	testing	testing	NOUN
fcis-10198	179	35	.	.	PUNCT
fcis-10198	180	1	other	other	ADJ
fcis-10198	180	2	parameters	parameter	NOUN
fcis-10198	180	3	keep	keep	VERB
fcis-10198	180	4	the	the	DET
fcis-10198	180	5	same	same	ADJ
fcis-10198	180	6	as	as	ADP
fcis-10198	180	7	section	section	NOUN
fcis-10198	180	8	iii	iii	PROPN
fcis-10198	180	9	-	-	NOUN
fcis-10198	180	10	c.	c.	NOUN
fcis-10198	180	11	we	we	PRON
fcis-10198	180	12	first	first	ADV
fcis-10198	180	13	combine	combine	VERB
fcis-10198	180	14	and	and	CCONJ
fcis-10198	180	15	compare	compare	VERB
fcis-10198	180	16	the	the	DET
fcis-10198	180	17	global	global	ADJ
fcis-10198	180	18	path	path	NOUN
fcis-10198	180	19	with	with	ADP
fcis-10198	180	20	the	the	DET
fcis-10198	180	21	binary	binary	ADJ
fcis-10198	180	22	and	and	CCONJ
fcis-10198	180	23	sdf	sdf	PROPN
fcis-10198	180	24	world	world	NOUN
fcis-10198	180	25	respectively	respectively	ADV
fcis-10198	180	26	.	.	PUNCT
fcis-10198	181	1	in	in	ADP
fcis-10198	181	2	the	the	DET
fcis-10198	181	3	unlearned	unlearned	ADJ
fcis-10198	181	4	state	state	NOUN
fcis-10198	181	5	,	,	PUNCT
fcis-10198	181	6	the	the	DET
fcis-10198	181	7	robotic	robotic	ADJ
fcis-10198	181	8	arm	arm	NOUN
fcis-10198	181	9	tends	tend	VERB
fcis-10198	181	10	to	to	PART
fcis-10198	181	11	choose	choose	VERB
fcis-10198	181	12	a	a	DET
fcis-10198	181	13	simple	simple	ADJ
fcis-10198	181	14	and	and	CCONJ
fcis-10198	181	15	direct	direct	ADJ
fcis-10198	181	16	movement	movement	NOUN
fcis-10198	181	17	,	,	PUNCT
fcis-10198	181	18	uniformly	uniformly	ADV
fcis-10198	181	19	moving	move	VERB
fcis-10198	181	20	from	from	ADP
fcis-10198	181	21	above	above	ADV
fcis-10198	181	22	,	,	PUNCT
fcis-10198	181	23	which	which	PRON
fcis-10198	181	24	is	be	AUX
fcis-10198	181	25	similar	similar	ADJ
fcis-10198	181	26	to	to	ADP
fcis-10198	181	27	the	the	DET
fcis-10198	181	28	scenario	scenario	NOUN
fcis-10198	181	29	in	in	ADP
fcis-10198	181	30	fig	fig	NOUN
fcis-10198	181	31	.	.	PUNCT
fcis-10198	182	1	15	15	NUM
fcis-10198	182	2	(	(	PUNCT
fcis-10198	182	3	a	a	NOUN
fcis-10198	182	4	)	)	PUNCT
fcis-10198	182	5	.	.	PUNCT
fcis-10198	183	1	the	the	DET
fcis-10198	183	2	collision	collision	NOUN
fcis-10198	183	3	with	with	ADP
fcis-10198	183	4	obstacles	obstacle	NOUN
fcis-10198	183	5	will	will	AUX
fcis-10198	183	6	push	push	VERB
fcis-10198	183	7	the	the	DET
fcis-10198	183	8	model	model	NOUN
fcis-10198	183	9	to	to	PART
fcis-10198	183	10	learn	learn	VERB
fcis-10198	183	11	a	a	DET
fcis-10198	183	12	better	well	ADJ
fcis-10198	183	13	path	path	NOUN
fcis-10198	183	14	.	.	PUNCT
fcis-10198	184	1	after	after	ADP
fcis-10198	184	2	training	training	NOUN
fcis-10198	184	3	,	,	PUNCT
fcis-10198	184	4	the	the	DET
fcis-10198	184	5	robotic	robotic	ADJ
fcis-10198	184	6	arm	arm	NOUN
fcis-10198	184	7	will	will	AUX
fcis-10198	184	8	finally	finally	ADV
fcis-10198	184	9	choose	choose	VERB
fcis-10198	184	10	to	to	PART
fcis-10198	184	11	move	move	VERB
fcis-10198	184	12	from	from	ADP
fcis-10198	184	13	below	below	ADV
fcis-10198	184	14	.	.	PUNCT
fcis-10198	185	1	it	it	PRON
fcis-10198	185	2	curls	curl	VERB
fcis-10198	185	3	up	up	ADP
fcis-10198	185	4	and	and	CCONJ
fcis-10198	185	5	then	then	ADV
fcis-10198	185	6	stretches	stretch	VERB
fcis-10198	185	7	itself	itself	PRON
fcis-10198	185	8	.	.	PUNCT
fcis-10198	186	1	during	during	ADP
fcis-10198	186	2	the	the	DET
fcis-10198	186	3	training	training	NOUN
fcis-10198	186	4	,	,	PUNCT
fcis-10198	186	5	the	the	DET
fcis-10198	186	6	network	network	NOUN
fcis-10198	186	7	with	with	ADP
fcis-10198	186	8	sdf	sdf	PROPN
fcis-10198	186	9	world	world	PROPN
fcis-10198	186	10	representation	representation	NOUN
fcis-10198	186	11	would	would	AUX
fcis-10198	186	12	be	be	AUX
fcis-10198	186	13	adjusted	adjust	VERB
fcis-10198	186	14	faster	fast	ADV
fcis-10198	186	15	to	to	PART
fcis-10198	186	16	reach	reach	VERB
fcis-10198	186	17	the	the	DET
fcis-10198	186	18	desired	desire	VERB
fcis-10198	186	19	state	state	NOUN
fcis-10198	186	20	.	.	PUNCT
fcis-10198	187	1	this	this	PRON
fcis-10198	187	2	is	be	AUX
fcis-10198	187	3	clearly	clearly	ADV
fcis-10198	187	4	shown	show	VERB
fcis-10198	187	5	in	in	ADP
fcis-10198	187	6	fig	fig	NOUN
fcis-10198	187	7	.	.	PUNCT
fcis-10198	188	1	15	15	NUM
fcis-10198	188	2	which	which	PRON
fcis-10198	188	3	records	record	VERB
fcis-10198	188	4	the	the	DET
fcis-10198	188	5	states	state	NOUN
fcis-10198	188	6	of	of	ADP
fcis-10198	188	7	binary	binary	NOUN
fcis-10198	188	8	and	and	CCONJ
fcis-10198	188	9	sdf	sdf	NOUN
fcis-10198	188	10	in	in	ADP
fcis-10198	188	11	the	the	DET
fcis-10198	188	12	60th	60th	ADJ
fcis-10198	188	13	epoch	epoch	NOUN
fcis-10198	188	14	.	.	PUNCT
fcis-10198	189	1	but	but	CCONJ
fcis-10198	189	2	in	in	ADP
fcis-10198	189	3	the	the	DET
fcis-10198	189	4	last	last	ADJ
fcis-10198	189	5	epoch	epoch	NOUN
fcis-10198	189	6	,	,	PUNCT
fcis-10198	189	7	the	the	DET
fcis-10198	189	8	movement	movement	NOUN
fcis-10198	189	9	of	of	ADP
fcis-10198	189	10	binary	binary	PROPN
fcis-10198	189	11	and	and	CCONJ
fcis-10198	189	12	sdf	sdf	PROPN
fcis-10198	189	13	has	have	VERB
fcis-10198	189	14	no	no	DET
fcis-10198	189	15	discernible	discernible	ADJ
fcis-10198	189	16	difference	difference	NOUN
fcis-10198	189	17	.	.	PUNCT
fcis-10198	190	1	for	for	ADP
fcis-10198	190	2	the	the	DET
fcis-10198	190	3	relative	relative	ADJ
fcis-10198	190	4	path	path	NOUN
fcis-10198	190	5	,	,	PUNCT
fcis-10198	190	6	the	the	DET
fcis-10198	190	7	results	result	NOUN
fcis-10198	190	8	are	be	AUX
fcis-10198	190	9	similar	similar	ADJ
fcis-10198	190	10	.	.	PUNCT
fcis-10198	191	1	fig	fig	NOUN
fcis-10198	191	2	15	15	NUM
fcis-10198	191	3	.	.	PUNCT
fcis-10198	192	1	states	state	NOUN
fcis-10198	192	2	in	in	ADP
fcis-10198	192	3	the	the	DET
fcis-10198	192	4	60th	60th	ADJ
fcis-10198	192	5	epoch	epoch	NOUN
fcis-10198	192	6	of	of	ADP
fcis-10198	192	7	binary	binary	NOUN
fcis-10198	192	8	and	and	CCONJ
fcis-10198	192	9	sdf	sdf	PROPN
fcis-10198	192	10	representation	representation	NOUN
fcis-10198	192	11	in	in	ADP
fcis-10198	192	12	order	order	NOUN
fcis-10198	192	13	to	to	PART
fcis-10198	192	14	explain	explain	VERB
fcis-10198	192	15	our	our	PRON
fcis-10198	192	16	first	first	ADJ
fcis-10198	192	17	conclusion	conclusion	NOUN
fcis-10198	192	18	above	above	ADP
fcis-10198	192	19	more	more	ADV
fcis-10198	192	20	intuitively	intuitively	ADV
fcis-10198	192	21	and	and	CCONJ
fcis-10198	192	22	systematically	systematically	ADV
fcis-10198	192	23	,	,	PUNCT
fcis-10198	192	24	four	four	NUM
fcis-10198	192	25	diagrams	diagram	NOUN
fcis-10198	192	26	in	in	ADP
fcis-10198	192	27	fig	fig	NOUN
fcis-10198	192	28	.	.	PUNCT
fcis-10198	193	1	16	16	NUM
fcis-10198	193	2	are	be	AUX
fcis-10198	193	3	used	use	VERB
fcis-10198	193	4	to	to	PART
fcis-10198	193	5	demonstrate	demonstrate	VERB
fcis-10198	193	6	them	they	PRON
fcis-10198	193	7	.	.	PUNCT
fcis-10198	194	1	fig	fig	PROPN
fcis-10198	194	2	16	16	NUM
fcis-10198	194	3	.	.	PUNCT
fcis-10198	195	1	comparison	comparison	NOUN
fcis-10198	195	2	of	of	ADP
fcis-10198	195	3	different	different	ADJ
fcis-10198	195	4	path	path	NOUN
fcis-10198	195	5	and	and	CCONJ
fcis-10198	195	6	world	world	NOUN
fcis-10198	195	7	representations	representation	NOUN
fcis-10198	195	8	overall	overall	ADV
fcis-10198	195	9	,	,	PUNCT
fcis-10198	195	10	as	as	SCONJ
fcis-10198	195	11	shown	show	VERB
fcis-10198	195	12	in	in	ADP
fcis-10198	195	13	fig	fig	NOUN
fcis-10198	195	14	.	.	PUNCT
fcis-10198	196	1	16	16	NUM
fcis-10198	196	2	and	and	CCONJ
fcis-10198	196	3	table	table	NOUN
fcis-10198	196	4	ii	ii	PROPN
fcis-10198	196	5	,	,	PUNCT
fcis-10198	196	6	the	the	DET
fcis-10198	196	7	sdf	sdf	PROPN
fcis-10198	196	8	world	world	PROPN
fcis-10198	196	9	representation	representation	NOUN
fcis-10198	196	10	leads	lead	VERB
fcis-10198	196	11	to	to	ADP
fcis-10198	196	12	a	a	DET
fcis-10198	196	13	higher	high	ADJ
fcis-10198	196	14	feasible	feasible	ADJ
fcis-10198	196	15	rate	rate	NOUN
fcis-10198	196	16	and	and	CCONJ
fcis-10198	196	17	a	a	DET
fcis-10198	196	18	smaller	small	ADJ
fcis-10198	196	19	total	total	ADJ
fcis-10198	196	20	loss	loss	NOUN
fcis-10198	196	21	.	.	PUNCT
fcis-10198	197	1	in	in	ADP
fcis-10198	197	2	addition	addition	NOUN
fcis-10198	197	3	,	,	PUNCT
fcis-10198	197	4	sdf	sdf	PROPN
fcis-10198	197	5	can	can	AUX
fcis-10198	197	6	converge	converge	VERB
fcis-10198	197	7	more	more	ADV
fcis-10198	197	8	quickly	quickly	ADV
fcis-10198	197	9	.	.	PUNCT
fcis-10198	198	1	with	with	ADP
fcis-10198	198	2	regard	regard	NOUN
fcis-10198	198	3	to	to	ADP
fcis-10198	198	4	path	path	NOUN
fcis-10198	198	5	representation	representation	NOUN
fcis-10198	198	6	,	,	PUNCT
fcis-10198	198	7	relative	relative	ADJ
fcis-10198	198	8	outperforms	outperform	NOUN
fcis-10198	198	9	global	global	ADJ
fcis-10198	198	10	in	in	ADP
fcis-10198	198	11	multiple	multiple	ADJ
fcis-10198	198	12	worlds	world	NOUN
fcis-10198	198	13	as	as	SCONJ
fcis-10198	198	14	expected	expect	VERB
fcis-10198	198	15	.	.	PUNCT
fcis-10198	199	1	the	the	DET
fcis-10198	199	2	characteristics	characteristic	NOUN
fcis-10198	199	3	exhibited	exhibit	VERB
fcis-10198	199	4	by	by	ADP
fcis-10198	199	5	the	the	DET
fcis-10198	199	6	movement	movement	NOUN
fcis-10198	199	7	of	of	ADP
fcis-10198	199	8	the	the	DET
fcis-10198	199	9	robotic	robotic	ADJ
fcis-10198	199	10	arm	arm	NOUN
fcis-10198	199	11	are	be	AUX
fcis-10198	199	12	verified	verify	VERB
fcis-10198	199	13	from	from	ADP
fcis-10198	199	14	the	the	DET
fcis-10198	199	15	curves	curve	NOUN
fcis-10198	199	16	,	,	PUNCT
fcis-10198	199	17	and	and	CCONJ
fcis-10198	199	18	the	the	DET
fcis-10198	199	19	sdf	sdf	PROPN
fcis-10198	199	20	model	model	NOUN
fcis-10198	199	21	outperforms	outperform	VERB
fcis-10198	199	22	the	the	DET
fcis-10198	199	23	binary	binary	PROPN
fcis-10198	199	24	model	model	PROPN
fcis-10198	199	25	.	.	PUNCT
fcis-10198	200	1	table	table	NOUN
fcis-10198	200	2	2	2	NUM
fcis-10198	200	3	.	.	PUNCT
fcis-10198	200	4	results	result	NOUN
fcis-10198	200	5	of	of	ADP
fcis-10198	200	6	the	the	DET
fcis-10198	200	7	fourth	fourth	ADJ
fcis-10198	200	8	experiment	experiment	NOUN
fcis-10198	200	9	from	from	ADP
fcis-10198	200	10	the	the	DET
fcis-10198	200	11	above	above	ADJ
fcis-10198	200	12	four	four	NUM
fcis-10198	200	13	experiments	experiment	NOUN
fcis-10198	200	14	,	,	PUNCT
fcis-10198	200	15	we	we	PRON
fcis-10198	200	16	can	can	AUX
fcis-10198	200	17	draw	draw	VERB
fcis-10198	200	18	the	the	DET
fcis-10198	200	19	conclusions	conclusion	NOUN
fcis-10198	200	20	:	:	PUNCT
fcis-10198	200	21			ADJ
fcis-10198	200	22	in	in	ADP
fcis-10198	200	23	a	a	DET
fcis-10198	200	24	single	single	ADJ
fcis-10198	200	25	world	world	NOUN
fcis-10198	200	26	,	,	PUNCT
fcis-10198	200	27	global	global	ADJ
fcis-10198	200	28	path	path	NOUN
fcis-10198	200	29	representation	representation	NOUN
fcis-10198	200	30	works	work	VERB
fcis-10198	200	31	62	62	NUM
fcis-10198	200	32	better	well	ADJ
fcis-10198	200	33	than	than	ADP
fcis-10198	200	34	relative	relative	ADJ
fcis-10198	200	35	.	.	PUNCT
fcis-10198	201	1	because	because	SCONJ
fcis-10198	201	2	the	the	DET
fcis-10198	201	3	world	world	NOUN
fcis-10198	201	4	information	information	NOUN
fcis-10198	201	5	is	be	AUX
fcis-10198	201	6	not	not	PART
fcis-10198	201	7	explicitly	explicitly	ADV
fcis-10198	201	8	fed	feed	VERB
fcis-10198	201	9	in	in	ADP
fcis-10198	201	10	,	,	PUNCT
fcis-10198	201	11	the	the	DET
fcis-10198	201	12	relative	relative	ADJ
fcis-10198	201	13	path	path	NOUN
fcis-10198	201	14	has	have	VERB
fcis-10198	201	15	no	no	DET
fcis-10198	201	16	access	access	NOUN
fcis-10198	201	17	to	to	ADP
fcis-10198	201	18	the	the	DET
fcis-10198	201	19	global	global	ADJ
fcis-10198	201	20	information	information	NOUN
fcis-10198	201	21	about	about	ADP
fcis-10198	201	22	the	the	DET
fcis-10198	201	23	obstacles	obstacle	NOUN
fcis-10198	201	24	.	.	PUNCT
fcis-10198	202	1			VERB
fcis-10198	202	2	nurbs	nurbs	PROPN
fcis-10198	202	3	works	work	VERB
fcis-10198	202	4	best	good	ADJ
fcis-10198	202	5	for	for	ADP
fcis-10198	202	6	the	the	DET
fcis-10198	202	7	simple	simple	ADJ
fcis-10198	202	8	task	task	NOUN
fcis-10198	202	9	in	in	ADP
fcis-10198	202	10	the	the	DET
fcis-10198	202	11	2d	2d	NUM
fcis-10198	202	12	world	world	NOUN
fcis-10198	202	13	,	,	PUNCT
fcis-10198	202	14	hence	hence	ADV
fcis-10198	202	15	is	be	AUX
fcis-10198	202	16	suitable	suitable	ADJ
fcis-10198	202	17	in	in	ADP
fcis-10198	202	18	worlds	world	NOUN
fcis-10198	202	19	with	with	ADP
fcis-10198	202	20	few	few	ADJ
fcis-10198	202	21	obstacles	obstacle	NOUN
fcis-10198	202	22	.	.	PUNCT
fcis-10198	203	1	but	but	CCONJ
fcis-10198	203	2	the	the	DET
fcis-10198	203	3	path	path	NOUN
fcis-10198	203	4	representation	representation	NOUN
fcis-10198	203	5	is	be	AUX
fcis-10198	203	6	not	not	PART
fcis-10198	203	7	as	as	ADV
fcis-10198	203	8	flexible	flexible	ADJ
fcis-10198	203	9	as	as	ADP
fcis-10198	203	10	the	the	DET
fcis-10198	203	11	others	other	NOUN
fcis-10198	203	12	and	and	CCONJ
fcis-10198	203	13	hard	hard	ADJ
fcis-10198	203	14	to	to	PART
fcis-10198	203	15	generalize	generalize	VERB
fcis-10198	203	16	to	to	ADP
fcis-10198	203	17	other	other	ADJ
fcis-10198	203	18	cases	case	NOUN
fcis-10198	203	19	.	.	PUNCT
fcis-10198	204	1			VERB
fcis-10198	204	2	in	in	ADP
fcis-10198	204	3	multiple	multiple	ADJ
fcis-10198	204	4	worlds	world	NOUN
fcis-10198	204	5	,	,	PUNCT
fcis-10198	204	6	world	world	NOUN
fcis-10198	204	7	representation	representation	NOUN
fcis-10198	204	8	sdf	sdf	PROPN
fcis-10198	204	9	works	work	VERB
fcis-10198	204	10	better	well	ADV
fcis-10198	204	11	,	,	PUNCT
fcis-10198	204	12	because	because	SCONJ
fcis-10198	204	13	it	it	PRON
fcis-10198	204	14	has	have	VERB
fcis-10198	204	15	the	the	DET
fcis-10198	204	16	distance	distance	NOUN
fcis-10198	204	17	information	information	NOUN
fcis-10198	204	18	to	to	ADP
fcis-10198	204	19	the	the	DET
fcis-10198	204	20	nearest	near	ADJ
fcis-10198	204	21	obstacles	obstacle	NOUN
fcis-10198	204	22	.	.	PUNCT
fcis-10198	205	1	path	path	NOUN
fcis-10198	205	2	representation	representation	NOUN
fcis-10198	205	3	relative	relative	NOUN
fcis-10198	205	4	then	then	ADV
fcis-10198	205	5	outperforms	outperform	VERB
fcis-10198	205	6	global	global	ADJ
fcis-10198	205	7	due	due	ADP
fcis-10198	205	8	to	to	ADP
fcis-10198	205	9	its	its	PRON
fcis-10198	205	10	good	good	ADJ
fcis-10198	205	11	initialization	initialization	NOUN
fcis-10198	205	12	.	.	PUNCT
fcis-10198	206	1	4	4	X
fcis-10198	206	2	.	.	X
fcis-10198	206	3	conclusion	conclusion	VERB
fcis-10198	206	4	the	the	DET
fcis-10198	206	5	key	key	ADJ
fcis-10198	206	6	innovative	innovative	ADJ
fcis-10198	206	7	trick	trick	NOUN
fcis-10198	206	8	of	of	ADP
fcis-10198	206	9	our	our	PRON
fcis-10198	206	10	project	project	NOUN
fcis-10198	206	11	is	be	AUX
fcis-10198	206	12	the	the	DET
fcis-10198	206	13	cascade	cascade	NOUN
fcis-10198	206	14	of	of	ADP
fcis-10198	206	15	the	the	DET
fcis-10198	206	16	classical	classical	ADJ
fcis-10198	206	17	optimization	optimization	NOUN
fcis-10198	206	18	-	-	PUNCT
fcis-10198	206	19	based	base	VERB
fcis-10198	206	20	algorithm	algorithm	NOUN
fcis-10198	206	21	and	and	CCONJ
fcis-10198	206	22	the	the	DET
fcis-10198	206	23	neural	neural	ADJ
fcis-10198	206	24	network	network	NOUN
fcis-10198	206	25	.	.	PUNCT
fcis-10198	207	1	it	it	PRON
fcis-10198	207	2	can	can	AUX
fcis-10198	207	3	further	far	ADV
fcis-10198	207	4	improve	improve	VERB
fcis-10198	207	5	the	the	DET
fcis-10198	207	6	performance	performance	NOUN
fcis-10198	207	7	of	of	ADP
fcis-10198	207	8	the	the	DET
fcis-10198	207	9	model	model	NOUN
fcis-10198	207	10	.	.	PUNCT
fcis-10198	208	1	a	a	DET
fcis-10198	208	2	lot	lot	NOUN
fcis-10198	208	3	of	of	ADP
fcis-10198	208	4	experiments	experiment	NOUN
fcis-10198	208	5	are	be	AUX
fcis-10198	208	6	investigated	investigate	VERB
fcis-10198	208	7	including	include	VERB
fcis-10198	208	8	two	two	NUM
fcis-10198	208	9	robots	robot	NOUN
fcis-10198	208	10	,	,	PUNCT
fcis-10198	208	11	three	three	NUM
fcis-10198	208	12	path	path	NOUN
fcis-10198	208	13	representations	representation	NOUN
fcis-10198	208	14	,	,	PUNCT
fcis-10198	208	15	and	and	CCONJ
fcis-10198	208	16	two	two	NUM
fcis-10198	208	17	world	world	NOUN
fcis-10198	208	18	representations	representation	NOUN
fcis-10198	208	19	.	.	PUNCT
fcis-10198	209	1	in	in	ADP
fcis-10198	209	2	general	general	ADJ
fcis-10198	209	3	,	,	PUNCT
fcis-10198	209	4	we	we	PRON
fcis-10198	209	5	have	have	VERB
fcis-10198	209	6	to	to	PART
fcis-10198	209	7	balance	balance	VERB
fcis-10198	209	8	flexibility	flexibility	NOUN
fcis-10198	209	9	and	and	CCONJ
fcis-10198	209	10	smoothness	smoothness	NOUN
fcis-10198	209	11	and	and	CCONJ
fcis-10198	209	12	should	should	AUX
fcis-10198	209	13	choose	choose	VERB
fcis-10198	209	14	the	the	DET
fcis-10198	209	15	proper	proper	ADJ
fcis-10198	209	16	representation	representation	NOUN
fcis-10198	209	17	in	in	ADP
fcis-10198	209	18	a	a	DET
fcis-10198	209	19	specific	specific	ADJ
fcis-10198	209	20	setting	setting	NOUN
fcis-10198	209	21	.	.	PUNCT
fcis-10198	210	1	however	however	ADV
fcis-10198	210	2	,	,	PUNCT
fcis-10198	210	3	the	the	DET
fcis-10198	210	4	results	result	NOUN
fcis-10198	210	5	in	in	ADP
fcis-10198	210	6	the	the	DET
fcis-10198	210	7	case	case	NOUN
fcis-10198	210	8	of	of	ADP
fcis-10198	210	9	multiple	multiple	ADJ
fcis-10198	210	10	worlds	world	NOUN
fcis-10198	210	11	can	can	AUX
fcis-10198	210	12	be	be	AUX
fcis-10198	210	13	further	far	ADV
fcis-10198	210	14	improved	improve	VERB
fcis-10198	210	15	since	since	SCONJ
fcis-10198	210	16	the	the	DET
fcis-10198	210	17	test	test	NOUN
fcis-10198	210	18	feasible	feasible	ADJ
fcis-10198	210	19	rates	rate	NOUN
fcis-10198	210	20	are	be	AUX
fcis-10198	210	21	only	only	ADV
fcis-10198	210	22	about	about	ADV
fcis-10198	210	23	60	60	NUM
fcis-10198	210	24	%	%	NOUN
fcis-10198	210	25	.	.	PUNCT
fcis-10198	211	1	one	one	NUM
fcis-10198	211	2	possible	possible	ADJ
fcis-10198	211	3	reason	reason	NOUN
fcis-10198	211	4	is	be	AUX
fcis-10198	211	5	that	that	SCONJ
fcis-10198	211	6	if	if	SCONJ
fcis-10198	211	7	one	one	NUM
fcis-10198	211	8	of	of	ADP
fcis-10198	211	9	the	the	DET
fcis-10198	211	10	robotic	robotic	ADJ
fcis-10198	211	11	arm	arm	NOUN
fcis-10198	211	12	's	's	PART
fcis-10198	211	13	waypoints	waypoint	NOUN
fcis-10198	211	14	touches	touch	VERB
fcis-10198	211	15	an	an	DET
fcis-10198	211	16	obstacle	obstacle	NOUN
fcis-10198	211	17	,	,	PUNCT
fcis-10198	211	18	the	the	DET
fcis-10198	211	19	path	path	NOUN
fcis-10198	211	20	will	will	AUX
fcis-10198	211	21	be	be	AUX
fcis-10198	211	22	judged	judge	VERB
fcis-10198	211	23	as	as	ADP
fcis-10198	211	24	infeasible	infeasible	ADJ
fcis-10198	211	25	,	,	PUNCT
fcis-10198	211	26	even	even	ADV
fcis-10198	211	27	though	though	SCONJ
fcis-10198	211	28	its	its	PRON
fcis-10198	211	29	movement	movement	NOUN
fcis-10198	211	30	seems	seem	VERB
fcis-10198	211	31	appropriate	appropriate	ADJ
fcis-10198	211	32	.	.	PUNCT
fcis-10198	212	1	there	there	PRON
fcis-10198	212	2	could	could	AUX
fcis-10198	212	3	be	be	AUX
fcis-10198	212	4	some	some	DET
fcis-10198	212	5	possible	possible	ADJ
fcis-10198	212	6	solutions	solution	NOUN
fcis-10198	212	7	.	.	PUNCT
fcis-10198	213	1	firstly	firstly	ADV
fcis-10198	213	2	,	,	PUNCT
fcis-10198	213	3	adding	add	VERB
fcis-10198	213	4	more	more	ADJ
fcis-10198	213	5	"	"	PUNCT
fcis-10198	213	6	hard	hard	ADJ
fcis-10198	213	7	"	"	PUNCT
fcis-10198	213	8	pairs	pair	NOUN
fcis-10198	213	9	to	to	PART
fcis-10198	213	10	train	train	VERB
fcis-10198	213	11	has	have	VERB
fcis-10198	213	12	the	the	DET
fcis-10198	213	13	potential	potential	NOUN
fcis-10198	213	14	to	to	PART
fcis-10198	213	15	get	get	VERB
fcis-10198	213	16	more	more	ADV
fcis-10198	213	17	useful	useful	ADJ
fcis-10198	213	18	information	information	NOUN
fcis-10198	213	19	about	about	ADP
fcis-10198	213	20	the	the	DET
fcis-10198	213	21	obstacles	obstacle	NOUN
fcis-10198	213	22	and	and	CCONJ
fcis-10198	213	23	increase	increase	VERB
fcis-10198	213	24	the	the	DET
fcis-10198	213	25	feasible	feasible	ADJ
fcis-10198	213	26	rate	rate	NOUN
fcis-10198	213	27	.	.	PUNCT
fcis-10198	214	1	the	the	DET
fcis-10198	214	2	neural	neural	ADJ
fcis-10198	214	3	network	network	NOUN
fcis-10198	214	4	is	be	AUX
fcis-10198	214	5	easier	easy	ADJ
fcis-10198	214	6	to	to	PART
fcis-10198	214	7	predict	predict	VERB
fcis-10198	214	8	a	a	DET
fcis-10198	214	9	simple	simple	ADJ
fcis-10198	214	10	interpolation	interpolation	NOUN
fcis-10198	214	11	path	path	NOUN
fcis-10198	214	12	and	and	CCONJ
fcis-10198	214	13	get	get	VERB
fcis-10198	214	14	a	a	DET
fcis-10198	214	15	relatively	relatively	ADV
fcis-10198	214	16	good	good	ADJ
fcis-10198	214	17	result	result	NOUN
fcis-10198	214	18	if	if	SCONJ
fcis-10198	214	19	the	the	DET
fcis-10198	214	20	dataset	dataset	NOUN
fcis-10198	214	21	contains	contain	VERB
fcis-10198	214	22	lots	lot	NOUN
fcis-10198	214	23	of	of	ADP
fcis-10198	214	24	"	"	PUNCT
fcis-10198	214	25	simple	simple	ADJ
fcis-10198	214	26	"	"	PUNCT
fcis-10198	214	27	tasks	task	NOUN
fcis-10198	214	28	of	of	ADP
fcis-10198	214	29	which	which	PRON
fcis-10198	214	30	the	the	DET
fcis-10198	214	31	optimal	optimal	ADJ
fcis-10198	214	32	solution	solution	NOUN
fcis-10198	214	33	is	be	AUX
fcis-10198	214	34	the	the	DET
fcis-10198	214	35	interpolation	interpolation	NOUN
fcis-10198	214	36	.	.	PUNCT
fcis-10198	215	1	secondly	secondly	ADV
fcis-10198	215	2	,	,	PUNCT
fcis-10198	215	3	we	we	PRON
fcis-10198	215	4	can	can	AUX
fcis-10198	215	5	find	find	VERB
fcis-10198	215	6	the	the	DET
fcis-10198	215	7	best	good	ADJ
fcis-10198	215	8	setting	setting	NOUN
fcis-10198	215	9	of	of	ADP
fcis-10198	215	10	the	the	DET
fcis-10198	215	11	relation	relation	NOUN
fcis-10198	215	12	between	between	ADP
fcis-10198	215	13	the	the	DET
fcis-10198	215	14	number	number	NOUN
fcis-10198	215	15	of	of	ADP
fcis-10198	215	16	worlds	world	NOUN
fcis-10198	215	17	and	and	CCONJ
fcis-10198	215	18	the	the	DET
fcis-10198	215	19	number	number	NOUN
fcis-10198	215	20	of	of	ADP
fcis-10198	215	21	pairs	pair	NOUN
fcis-10198	215	22	in	in	ADP
fcis-10198	215	23	each	each	DET
fcis-10198	215	24	world	world	NOUN
fcis-10198	215	25	.	.	PUNCT
fcis-10198	216	1	this	this	PRON
fcis-10198	216	2	might	might	AUX
fcis-10198	216	3	influence	influence	VERB
fcis-10198	216	4	the	the	DET
fcis-10198	216	5	network	network	NOUN
fcis-10198	216	6	to	to	PART
fcis-10198	216	7	focus	focus	VERB
fcis-10198	216	8	more	more	ADV
fcis-10198	216	9	on	on	ADP
fcis-10198	216	10	the	the	DET
fcis-10198	216	11	world	world	NOUN
fcis-10198	216	12	or	or	CCONJ
fcis-10198	216	13	focus	focus	VERB
fcis-10198	216	14	more	more	ADV
fcis-10198	216	15	on	on	ADP
fcis-10198	216	16	the	the	DET
fcis-10198	216	17	pairs	pair	NOUN
fcis-10198	216	18	.	.	PUNCT
fcis-10198	217	1	in	in	ADP
fcis-10198	217	2	the	the	DET
fcis-10198	217	3	future	future	NOUN
fcis-10198	217	4	,	,	PUNCT
fcis-10198	217	5	the	the	DET
fcis-10198	217	6	tasks	task	NOUN
fcis-10198	217	7	can	can	AUX
fcis-10198	217	8	be	be	AUX
fcis-10198	217	9	further	far	ADV
fcis-10198	217	10	extended	extend	VERB
fcis-10198	217	11	to	to	ADP
fcis-10198	217	12	3d	3d	NUM
fcis-10198	217	13	space	space	NOUN
fcis-10198	217	14	and	and	CCONJ
fcis-10198	217	15	other	other	ADJ
fcis-10198	217	16	robots	robot	NOUN
fcis-10198	217	17	.	.	PUNCT
fcis-10198	218	1	also	also	ADV
fcis-10198	218	2	,	,	PUNCT
fcis-10198	218	3	reinforcement	reinforcement	NOUN
fcis-10198	218	4	learning	learning	NOUN
fcis-10198	218	5	can	can	AUX
fcis-10198	218	6	be	be	AUX
fcis-10198	218	7	integrated	integrate	VERB
fcis-10198	218	8	to	to	PART
fcis-10198	218	9	learn	learn	VERB
fcis-10198	218	10	the	the	DET
fcis-10198	218	11	optimization	optimization	NOUN
fcis-10198	218	12	algorithm	algorithm	NOUN
fcis-10198	218	13	automatically	automatically	ADV
fcis-10198	218	14	and	and	CCONJ
fcis-10198	218	15	speed	speed	VERB
fcis-10198	218	16	up	up	ADP
fcis-10198	218	17	the	the	DET
fcis-10198	218	18	motion	motion	NOUN
fcis-10198	218	19	planning	planning	NOUN
fcis-10198	218	20	process	process	NOUN
fcis-10198	218	21	.	.	PUNCT
fcis-10198	219	1	references	reference	NOUN
fcis-10198	219	2	[	[	X
fcis-10198	219	3	1	1	X
fcis-10198	219	4	]	]	PUNCT
fcis-10198	219	5	s.	s.	PROPN
fcis-10198	219	6	m.	m.	PROPN
fcis-10198	219	7	lavalle	lavalle	PROPN
fcis-10198	219	8	et	et	PROPN
fcis-10198	219	9	al	al	PROPN
fcis-10198	219	10	.	.	PROPN
fcis-10198	219	11	,	,	PUNCT
fcis-10198	219	12	“	"	PUNCT
fcis-10198	219	13	rapidly	rapidly	ADV
fcis-10198	219	14	-	-	PUNCT
fcis-10198	219	15	exploring	explore	VERB
fcis-10198	219	16	random	random	ADJ
fcis-10198	219	17	trees	tree	NOUN
fcis-10198	219	18	:	:	PUNCT
fcis-10198	219	19	a	a	DET
fcis-10198	219	20	new	new	ADJ
fcis-10198	219	21	tool	tool	NOUN
fcis-10198	219	22	for	for	ADP
fcis-10198	219	23	path	path	NOUN
fcis-10198	219	24	planning	planning	NOUN
fcis-10198	219	25	,	,	PUNCT
fcis-10198	219	26	”	"	PUNCT
fcis-10198	219	27	1998	1998	NUM
fcis-10198	219	28	.	.	PUNCT
fcis-10198	220	1	[	[	X
fcis-10198	220	2	2	2	NUM
fcis-10198	220	3	]	]	PUNCT
fcis-10198	220	4	l.	l.	PROPN
fcis-10198	220	5	e.	e.	PROPN
fcis-10198	220	6	kavraki	kavraki	PROPN
fcis-10198	220	7	,	,	PUNCT
fcis-10198	220	8	p.	p.	NOUN
fcis-10198	220	9	svestka	svestka	ADJ
fcis-10198	220	10	,	,	PUNCT
fcis-10198	220	11	j.-c	j.-c	PROPN
fcis-10198	220	12	.	.	PUNCT
fcis-10198	221	1	latombe	latombe	NOUN
fcis-10198	221	2	,	,	PUNCT
fcis-10198	221	3	and	and	CCONJ
fcis-10198	221	4	m.	m.	PROPN
fcis-10198	221	5	h.	h.	PROPN
fcis-10198	221	6	overmars	overmars	PROPN
fcis-10198	221	7	,	,	PUNCT
fcis-10198	221	8	“	"	PUNCT
fcis-10198	221	9	probabilistic	probabilistic	ADJ
fcis-10198	221	10	roadmaps	roadmap	NOUN
fcis-10198	221	11	for	for	ADP
fcis-10198	221	12	path	path	NOUN
fcis-10198	221	13	planning	planning	NOUN
fcis-10198	221	14	in	in	ADP
fcis-10198	221	15	high	high	ADJ
fcis-10198	221	16	-	-	PUNCT
fcis-10198	221	17	dimensional	dimensional	ADJ
fcis-10198	221	18	configuration	configuration	NOUN
fcis-10198	221	19	spaces	space	NOUN
fcis-10198	221	20	,	,	PUNCT
fcis-10198	221	21	”	"	PUNCT
fcis-10198	221	22	ieee	ieee	NOUN
fcis-10198	221	23	transactions	transaction	NOUN
fcis-10198	221	24	on	on	ADP
fcis-10198	221	25	robotics	robotic	NOUN
fcis-10198	221	26	and	and	CCONJ
fcis-10198	221	27	automation	automation	NOUN
fcis-10198	221	28	,	,	PUNCT
fcis-10198	221	29	vol	vol	NOUN
fcis-10198	221	30	.	.	PROPN
fcis-10198	221	31	12	12	NUM
fcis-10198	221	32	,	,	PUNCT
fcis-10198	221	33	no	no	INTJ
fcis-10198	221	34	.	.	NOUN
fcis-10198	221	35	4	4	NUM
fcis-10198	221	36	,	,	PUNCT
fcis-10198	221	37	pp	pp	ADJ
fcis-10198	221	38	.	.	PUNCT
fcis-10198	222	1	566–580	566–580	NUM
fcis-10198	222	2	,	,	PUNCT
fcis-10198	222	3	1996	1996	NUM
fcis-10198	222	4	.	.	PUNCT
fcis-10198	223	1	[	[	X
fcis-10198	223	2	3	3	NUM
fcis-10198	223	3	]	]	X
fcis-10198	223	4	m.	m.	NOUN
fcis-10198	223	5	zucker	zucker	PROPN
fcis-10198	223	6	,	,	PUNCT
fcis-10198	223	7	n.	n.	PROPN
fcis-10198	223	8	ratliff	ratliff	PROPN
fcis-10198	223	9	,	,	PUNCT
fcis-10198	223	10	a.	a.	PROPN
fcis-10198	223	11	d.	d.	PROPN
fcis-10198	223	12	dragan	dragan	PROPN
fcis-10198	223	13	,	,	PUNCT
fcis-10198	223	14	m.	m.	NOUN
fcis-10198	223	15	pivtoraiko	pivtoraiko	NOUN
fcis-10198	223	16	,	,	PUNCT
fcis-10198	223	17	m.	m.	NOUN
fcis-10198	223	18	klingensmith	klingensmith	PROPN
fcis-10198	223	19	,	,	PUNCT
fcis-10198	223	20	c.	c.	PROPN
fcis-10198	223	21	m.	m.	PROPN
fcis-10198	223	22	dellin	dellin	PROPN
fcis-10198	223	23	,	,	PUNCT
fcis-10198	223	24	j.	j.	PROPN
fcis-10198	223	25	a.	a.	NOUN
fcis-10198	223	26	bagnell	bagnell	PROPN
fcis-10198	223	27	,	,	PUNCT
fcis-10198	223	28	and	and	CCONJ
fcis-10198	223	29	s.	s.	PROPN
fcis-10198	223	30	s.	s.	PROPN
fcis-10198	223	31	srinivasa	srinivasa	PROPN
fcis-10198	223	32	,	,	PUNCT
fcis-10198	223	33	“	"	PUNCT
fcis-10198	223	34	chomp	chomp	NOUN
fcis-10198	223	35	:	:	PUNCT
fcis-10198	223	36	covariant	covariant	ADJ
fcis-10198	223	37	hamiltonian	hamiltonian	ADJ
fcis-10198	223	38	optimization	optimization	NOUN
fcis-10198	223	39	for	for	ADP
fcis-10198	223	40	motion	motion	NOUN
fcis-10198	223	41	planning	planning	NOUN
fcis-10198	223	42	,	,	PUNCT
fcis-10198	223	43	”	"	PUNCT
fcis-10198	223	44	the	the	DET
fcis-10198	223	45	international	international	ADJ
fcis-10198	223	46	journal	journal	NOUN
fcis-10198	223	47	of	of	ADP
fcis-10198	223	48	robotics	robotic	NOUN
fcis-10198	223	49	research	research	NOUN
fcis-10198	223	50	,	,	PUNCT
fcis-10198	223	51	vol	vol	NOUN
fcis-10198	223	52	.	.	PROPN
fcis-10198	223	53	32	32	NUM
fcis-10198	223	54	,	,	PUNCT
fcis-10198	223	55	no	no	INTJ
fcis-10198	223	56	.	.	NOUN
fcis-10198	223	57	9	9	NUM
fcis-10198	223	58	-	-	SYM
fcis-10198	223	59	10	10	NUM
fcis-10198	223	60	,	,	PUNCT
fcis-10198	223	61	pp	pp	ADJ
fcis-10198	223	62	.	.	PUNCT
fcis-10198	223	63	1164–1193	1164–1193	NUM
fcis-10198	223	64	,	,	PUNCT
fcis-10198	223	65	2013	2013	NUM
fcis-10198	223	66	.	.	PUNCT
fcis-10198	224	1	[	[	X
fcis-10198	224	2	4	4	X
fcis-10198	224	3	]	]	PUNCT
fcis-10198	224	4	m.	m.	NOUN
fcis-10198	224	5	kalakrishnan	kalakrishnan	PROPN
fcis-10198	224	6	,	,	PUNCT
fcis-10198	224	7	s.	s.	PROPN
fcis-10198	224	8	chitta	chitta	PROPN
fcis-10198	224	9	,	,	PUNCT
fcis-10198	224	10	e.	e.	PROPN
fcis-10198	224	11	theodorou	theodorou	PROPN
fcis-10198	224	12	,	,	PUNCT
fcis-10198	224	13	p.	p.	NOUN
fcis-10198	224	14	pastor	pastor	NOUN
fcis-10198	224	15	,	,	PUNCT
fcis-10198	224	16	and	and	CCONJ
fcis-10198	224	17	s.	s.	PROPN
fcis-10198	224	18	schaal	schaal	PROPN
fcis-10198	224	19	,	,	PUNCT
fcis-10198	224	20	“	"	PUNCT
fcis-10198	224	21	stomp	stomp	NOUN
fcis-10198	224	22	:	:	PUNCT
fcis-10198	224	23	stochastic	stochastic	ADJ
fcis-10198	224	24	trajectory	trajectory	NOUN
fcis-10198	224	25	optimization	optimization	NOUN
fcis-10198	224	26	for	for	ADP
fcis-10198	224	27	motion	motion	NOUN
fcis-10198	224	28	planning	planning	NOUN
fcis-10198	224	29	,	,	PUNCT
fcis-10198	224	30	”	"	PUNCT
fcis-10198	224	31	in	in	ADP
fcis-10198	224	32	2011	2011	NUM
fcis-10198	224	33	ieee	ieee	NOUN
fcis-10198	224	34	international	international	ADJ
fcis-10198	224	35	conference	conference	NOUN
fcis-10198	224	36	on	on	ADP
fcis-10198	224	37	robotics	robotic	NOUN
fcis-10198	224	38	and	and	CCONJ
fcis-10198	224	39	automation	automation	NOUN
fcis-10198	224	40	.	.	PUNCT
fcis-10198	225	1	ieee	ieee	PROPN
fcis-10198	225	2	,	,	PUNCT
fcis-10198	225	3	2011	2011	NUM
fcis-10198	225	4	,	,	PUNCT
fcis-10198	225	5	pp	pp	ADJ
fcis-10198	225	6	.	.	PUNCT
fcis-10198	225	7	4569–4574	4569–4574	NUM
fcis-10198	225	8	.	.	PUNCT
fcis-10198	226	1	[	[	X
fcis-10198	226	2	5	5	X
fcis-10198	226	3	]	]	PUNCT
fcis-10198	226	4	j.	j.	PROPN
fcis-10198	226	5	schulman	schulman	PROPN
fcis-10198	226	6	,	,	PUNCT
fcis-10198	226	7	y.	y.	PROPN
fcis-10198	226	8	duan	duan	PROPN
fcis-10198	226	9	,	,	PUNCT
fcis-10198	226	10	j.	j.	PROPN
fcis-10198	226	11	ho	ho	PROPN
fcis-10198	226	12	,	,	PUNCT
fcis-10198	226	13	a.	a.	PROPN
fcis-10198	226	14	lee	lee	PROPN
fcis-10198	226	15	,	,	PUNCT
fcis-10198	226	16	i.	i.	PROPN
fcis-10198	226	17	awwal	awwal	PROPN
fcis-10198	226	18	,	,	PUNCT
fcis-10198	226	19	h.	h.	PROPN
fcis-10198	226	20	bradlow	bradlow	PROPN
fcis-10198	226	21	,	,	PUNCT
fcis-10198	226	22	j.	j.	PROPN
fcis-10198	226	23	pan	pan	PROPN
fcis-10198	226	24	,	,	PUNCT
fcis-10198	226	25	s.	s.	PROPN
fcis-10198	226	26	patil	patil	PROPN
fcis-10198	226	27	,	,	PUNCT
fcis-10198	226	28	k.	k.	PROPN
fcis-10198	226	29	goldberg	goldberg	PROPN
fcis-10198	226	30	,	,	PUNCT
fcis-10198	226	31	and	and	CCONJ
fcis-10198	226	32	p.	p.	PROPN
fcis-10198	226	33	abbeel	abbeel	NOUN
fcis-10198	226	34	,	,	PUNCT
fcis-10198	226	35	“	"	PUNCT
fcis-10198	226	36	motion	motion	NOUN
fcis-10198	226	37	planning	planning	NOUN
fcis-10198	226	38	with	with	ADP
fcis-10198	226	39	sequential	sequential	ADJ
fcis-10198	226	40	convex	convex	NOUN
fcis-10198	226	41	optimization	optimization	NOUN
fcis-10198	226	42	and	and	CCONJ
fcis-10198	226	43	convex	convex	NOUN
fcis-10198	226	44	collision	collision	NOUN
fcis-10198	226	45	checking	checking	NOUN
fcis-10198	226	46	,	,	PUNCT
fcis-10198	226	47	”	"	PUNCT
fcis-10198	226	48	the	the	DET
fcis-10198	226	49	international	international	ADJ
fcis-10198	226	50	journal	journal	NOUN
fcis-10198	226	51	of	of	ADP
fcis-10198	226	52	robotics	robotic	NOUN
fcis-10198	226	53	research	research	NOUN
fcis-10198	226	54	,	,	PUNCT
fcis-10198	226	55	vol	vol	NOUN
fcis-10198	226	56	.	.	PROPN
fcis-10198	226	57	33	33	NUM
fcis-10198	226	58	,	,	PUNCT
fcis-10198	226	59	no	no	INTJ
fcis-10198	226	60	.	.	NOUN
fcis-10198	226	61	9	9	NUM
fcis-10198	226	62	,	,	PUNCT
fcis-10198	226	63	pp	pp	ADJ
fcis-10198	226	64	.	.	PUNCT
fcis-10198	226	65	1251–1270	1251–1270	NUM
fcis-10198	226	66	,	,	PUNCT
fcis-10198	226	67	2014	2014	NUM
fcis-10198	226	68	.	.	PUNCT
fcis-10198	227	1	[	[	X
fcis-10198	227	2	6	6	NUM
fcis-10198	227	3	]	]	PUNCT
fcis-10198	227	4	t.	t.	NOUN
fcis-10198	227	5	jurgenson	jurgenson	NOUN
fcis-10198	227	6	and	and	CCONJ
fcis-10198	227	7	a.	a.	PROPN
fcis-10198	227	8	tamar	tamar	PROPN
fcis-10198	227	9	,	,	PUNCT
fcis-10198	227	10	“	"	PUNCT
fcis-10198	227	11	harnessing	harness	VERB
fcis-10198	227	12	reinforcement	reinforcement	NOUN
fcis-10198	227	13	learning	learning	NOUN
fcis-10198	227	14	for	for	ADP
fcis-10198	227	15	neural	neural	ADJ
fcis-10198	227	16	motion	motion	NOUN
fcis-10198	227	17	planning	planning	NOUN
fcis-10198	227	18	,	,	PUNCT
fcis-10198	227	19	”	"	PUNCT
fcis-10198	227	20	arxiv	arxiv	PROPN
fcis-10198	227	21	preprint	preprint	NOUN
fcis-10198	227	22	arxiv	arxiv	PROPN
fcis-10198	227	23	:	:	PUNCT
fcis-10198	227	24	1906	1906	NUM
fcis-10198	227	25	.	.	PUNCT
fcis-10198	227	26	00214	00214	NUM
fcis-10198	227	27	,	,	PUNCT
fcis-10198	227	28	2019	2019	NUM
fcis-10198	227	29	.	.	PUNCT
fcis-10198	228	1	[	[	X
fcis-10198	228	2	7	7	X
fcis-10198	228	3	]	]	X
fcis-10198	228	4	m.	m.	NOUN
fcis-10198	228	5	p´andy	p´andy	NOUN
fcis-10198	228	6	,	,	PUNCT
fcis-10198	228	7	d.	d.	PROPN
fcis-10198	228	8	lenton	lenton	PROPN
fcis-10198	228	9	,	,	PUNCT
fcis-10198	228	10	and	and	CCONJ
fcis-10198	228	11	r.	r.	PROPN
fcis-10198	228	12	clark	clark	PROPN
fcis-10198	228	13	,	,	PUNCT
fcis-10198	228	14	“	"	PUNCT
fcis-10198	228	15	unsupervised	unsupervised	ADJ
fcis-10198	228	16	path	path	NOUN
fcis-10198	228	17	regression	regression	NOUN
fcis-10198	228	18	networks	network	NOUN
fcis-10198	228	19	,	,	PUNCT
fcis-10198	228	20	”	"	PUNCT
fcis-10198	228	21	in	in	ADP
fcis-10198	228	22	2021	2021	NUM
fcis-10198	228	23	ieee	ieee	NOUN
fcis-10198	228	24	/	/	SYM
fcis-10198	228	25	rsj	rsj	NOUN
fcis-10198	228	26	international	international	ADJ
fcis-10198	228	27	conference	conference	NOUN
fcis-10198	228	28	on	on	ADP
fcis-10198	228	29	intelligent	intelligent	ADJ
fcis-10198	228	30	robots	robot	NOUN
fcis-10198	228	31	and	and	CCONJ
fcis-10198	228	32	systems	system	NOUN
fcis-10198	228	33	(	(	PUNCT
fcis-10198	228	34	iros	iro	NOUN
fcis-10198	228	35	)	)	PUNCT
fcis-10198	228	36	.	.	PUNCT
fcis-10198	229	1	ieee	ieee	NOUN
fcis-10198	229	2	,	,	PUNCT
fcis-10198	229	3	2021	2021	NUM
fcis-10198	229	4	,	,	PUNCT
fcis-10198	229	5	pp	pp	ADJ
fcis-10198	229	6	.	.	PUNCT
fcis-10198	229	7	1413–1420	1413–1420	NUM
fcis-10198	229	8	.	.	PUNCT
fcis-10198	230	1	[	[	X
fcis-10198	230	2	8	8	X
fcis-10198	230	3	]	]	PUNCT
fcis-10198	230	4	k.	k.	PROPN
fcis-10198	230	5	li	li	PROPN
fcis-10198	230	6	and	and	CCONJ
fcis-10198	230	7	j.	j.	PROPN
fcis-10198	230	8	malik	malik	PROPN
fcis-10198	230	9	,	,	PUNCT
fcis-10198	230	10	“	"	PUNCT
fcis-10198	230	11	learning	learn	VERB
fcis-10198	230	12	to	to	PART
fcis-10198	230	13	optimize	optimize	VERB
fcis-10198	230	14	,	,	PUNCT
fcis-10198	230	15	”	"	PUNCT
fcis-10198	230	16	arxiv	arxiv	PROPN
fcis-10198	230	17	preprint	preprint	NOUN
fcis-10198	230	18	arxiv	arxiv	PROPN
fcis-10198	230	19	:	:	PUNCT
fcis-10198	230	20	1606.01885	1606.01885	NUM
fcis-10198	230	21	,	,	PUNCT
fcis-10198	230	22	2016	2016	NUM
fcis-10198	230	23	.	.	PUNCT