id	sid	tid	token	lemma	pos
fcis-21105	1	1	frontiers	frontier	NOUN
fcis-21105	1	2	in	in	ADP
fcis-21105	1	3	computing	computing	NOUN
fcis-21105	1	4	and	and	CCONJ
fcis-21105	1	5	intelligent	intelligent	ADJ
fcis-21105	1	6	systems	system	NOUN
fcis-21105	1	7	issn	issn	VERB
fcis-21105	1	8	:	:	PUNCT
fcis-21105	1	9	2832	2832	NUM
fcis-21105	1	10	-	-	SYM
fcis-21105	1	11	6024	6024	NUM
fcis-21105	1	12	|	|	NOUN
fcis-21105	1	13	vol	vol	NOUN
fcis-21105	1	14	.	.	PROPN
fcis-21105	2	1	8	8	NUM
fcis-21105	2	2	,	,	PUNCT
fcis-21105	2	3	no	no	INTJ
fcis-21105	2	4	.	.	NOUN
fcis-21105	2	5	1	1	NUM
fcis-21105	2	6	,	,	PUNCT
fcis-21105	2	7	2024	2024	NUM
fcis-21105	2	8	107	107	NUM
fcis-21105	2	9	research	research	NOUN
fcis-21105	2	10	on	on	ADP
fcis-21105	2	11	application	application	NOUN
fcis-21105	2	12	of	of	ADP
fcis-21105	2	13	multi‐modal	multi‐modal	NOUN
fcis-21105	2	14	large	large	ADJ
fcis-21105	2	15	model	model	NOUN
fcis-21105	2	16	in	in	ADP
fcis-21105	2	17	robot	robot	NOUN
fcis-21105	2	18	control	control	PROPN
fcis-21105	2	19	xiran	xiran	PROPN
fcis-21105	2	20	su	su	PROPN
fcis-21105	2	21	beijing	beijing	PROPN
fcis-21105	2	22	sineva	sineva	PROPN
fcis-21105	2	23	robot	robot	PROPN
fcis-21105	2	24	technology	technology	PROPN
fcis-21105	2	25	co.	co.	PROPN
fcis-21105	2	26	,	,	PUNCT
fcis-21105	2	27	ltd	ltd	PROPN
fcis-21105	2	28	,	,	PUNCT
fcis-21105	2	29	beijing	beijing	PROPN
fcis-21105	2	30	100176	100176	NUM
fcis-21105	2	31	,	,	PUNCT
fcis-21105	2	32	china	china	PROPN
fcis-21105	2	33	abstract	abstract	NOUN
fcis-21105	2	34	:	:	PUNCT
fcis-21105	2	35	this	this	DET
fcis-21105	2	36	study	study	NOUN
fcis-21105	2	37	discusses	discuss	VERB
fcis-21105	2	38	the	the	DET
fcis-21105	2	39	application	application	NOUN
fcis-21105	2	40	of	of	ADP
fcis-21105	2	41	multi	multi	ADJ
fcis-21105	2	42	-	-	ADJ
fcis-21105	2	43	modal	modal	ADJ
fcis-21105	2	44	large	large	ADJ
fcis-21105	2	45	model	model	NOUN
fcis-21105	2	46	in	in	ADP
fcis-21105	2	47	robot	robot	NOUN
fcis-21105	2	48	control	control	NOUN
fcis-21105	2	49	.	.	PUNCT
fcis-21105	3	1	with	with	ADP
fcis-21105	3	2	the	the	DET
fcis-21105	3	3	rapid	rapid	ADJ
fcis-21105	3	4	development	development	NOUN
fcis-21105	3	5	of	of	ADP
fcis-21105	3	6	ai	ai	NOUN
fcis-21105	3	7	and	and	CCONJ
fcis-21105	3	8	robotics	robotic	NOUN
fcis-21105	3	9	,	,	PUNCT
fcis-21105	3	10	multi	multi	ADJ
fcis-21105	3	11	-	-	ADJ
fcis-21105	3	12	modal	modal	ADJ
fcis-21105	3	13	large	large	ADJ
fcis-21105	3	14	-	-	PUNCT
fcis-21105	3	15	scale	scale	NOUN
fcis-21105	3	16	model	model	NOUN
fcis-21105	3	17	,	,	PUNCT
fcis-21105	3	18	as	as	ADP
fcis-21105	3	19	a	a	DET
fcis-21105	3	20	large	large	ADJ
fcis-21105	3	21	-	-	PUNCT
fcis-21105	3	22	scale	scale	NOUN
fcis-21105	3	23	deep	deep	ADJ
fcis-21105	3	24	learning	learning	NOUN
fcis-21105	3	25	model	model	NOUN
fcis-21105	3	26	integrating	integrate	VERB
fcis-21105	3	27	multiple	multiple	ADJ
fcis-21105	3	28	sensing	sense	VERB
fcis-21105	3	29	modes	mode	NOUN
fcis-21105	3	30	,	,	PUNCT
fcis-21105	3	31	provides	provide	VERB
fcis-21105	3	32	new	new	ADJ
fcis-21105	3	33	ideas	idea	NOUN
fcis-21105	3	34	and	and	CCONJ
fcis-21105	3	35	methods	method	NOUN
fcis-21105	3	36	for	for	ADP
fcis-21105	3	37	intelligent	intelligent	ADJ
fcis-21105	3	38	control	control	NOUN
fcis-21105	3	39	of	of	ADP
fcis-21105	3	40	robots	robot	NOUN
fcis-21105	3	41	in	in	ADP
fcis-21105	3	42	complex	complex	ADJ
fcis-21105	3	43	environments	environment	NOUN
fcis-21105	3	44	.	.	PUNCT
fcis-21105	4	1	firstly	firstly	ADV
fcis-21105	4	2	,	,	PUNCT
fcis-21105	4	3	this	this	DET
fcis-21105	4	4	paper	paper	NOUN
fcis-21105	4	5	introduces	introduce	VERB
fcis-21105	4	6	the	the	DET
fcis-21105	4	7	basic	basic	ADJ
fcis-21105	4	8	principle	principle	NOUN
fcis-21105	4	9	and	and	CCONJ
fcis-21105	4	10	technical	technical	ADJ
fcis-21105	4	11	characteristics	characteristic	NOUN
fcis-21105	4	12	of	of	ADP
fcis-21105	4	13	multi	multi	ADJ
fcis-21105	4	14	-	-	ADJ
fcis-21105	4	15	modal	modal	ADJ
fcis-21105	4	16	large	large	ADJ
fcis-21105	4	17	-	-	PUNCT
fcis-21105	4	18	scale	scale	NOUN
fcis-21105	4	19	model	model	NOUN
fcis-21105	4	20	,	,	PUNCT
fcis-21105	4	21	including	include	VERB
fcis-21105	4	22	its	its	PRON
fcis-21105	4	23	structure	structure	NOUN
fcis-21105	4	24	,	,	PUNCT
fcis-21105	4	25	training	training	NOUN
fcis-21105	4	26	methods	method	NOUN
fcis-21105	4	27	and	and	CCONJ
fcis-21105	4	28	application	application	NOUN
fcis-21105	4	29	scenarios	scenario	NOUN
fcis-21105	4	30	.	.	PUNCT
fcis-21105	5	1	then	then	ADV
fcis-21105	5	2	,	,	PUNCT
fcis-21105	5	3	aiming	aim	VERB
fcis-21105	5	4	at	at	ADP
fcis-21105	5	5	the	the	DET
fcis-21105	5	6	specific	specific	ADJ
fcis-21105	5	7	application	application	NOUN
fcis-21105	5	8	scenarios	scenario	NOUN
fcis-21105	5	9	in	in	ADP
fcis-21105	5	10	smart	smart	ADJ
fcis-21105	5	11	home	home	NOUN
fcis-21105	5	12	environment	environment	NOUN
fcis-21105	5	13	,	,	PUNCT
fcis-21105	5	14	this	this	DET
fcis-21105	5	15	paper	paper	NOUN
fcis-21105	5	16	designs	design	VERB
fcis-21105	5	17	a	a	DET
fcis-21105	5	18	series	series	NOUN
fcis-21105	5	19	of	of	ADP
fcis-21105	5	20	experiments	experiment	NOUN
fcis-21105	5	21	to	to	PART
fcis-21105	5	22	evaluate	evaluate	VERB
fcis-21105	5	23	the	the	DET
fcis-21105	5	24	performance	performance	NOUN
fcis-21105	5	25	of	of	ADP
fcis-21105	5	26	multi	multi	ADJ
fcis-21105	5	27	-	-	ADJ
fcis-21105	5	28	modal	modal	ADJ
fcis-21105	5	29	large	large	ADJ
fcis-21105	5	30	model	model	NOUN
fcis-21105	5	31	in	in	ADP
fcis-21105	5	32	path	path	NOUN
fcis-21105	5	33	planning	planning	NOUN
fcis-21105	5	34	,	,	PUNCT
fcis-21105	5	35	task	task	NOUN
fcis-21105	5	36	effect	effect	NOUN
fcis-21105	5	37	and	and	CCONJ
fcis-21105	5	38	generalization	generalization	NOUN
fcis-21105	5	39	ability	ability	NOUN
fcis-21105	5	40	.	.	PUNCT
fcis-21105	6	1	the	the	DET
fcis-21105	6	2	experimental	experimental	ADJ
fcis-21105	6	3	results	result	NOUN
fcis-21105	6	4	show	show	VERB
fcis-21105	6	5	that	that	SCONJ
fcis-21105	6	6	the	the	DET
fcis-21105	6	7	multi	multi	ADJ
fcis-21105	6	8	-	-	ADJ
fcis-21105	6	9	modal	modal	ADJ
fcis-21105	6	10	large	large	ADJ
fcis-21105	6	11	model	model	NOUN
fcis-21105	6	12	can	can	AUX
fcis-21105	6	13	achieve	achieve	VERB
fcis-21105	6	14	more	more	ADV
fcis-21105	6	15	accurate	accurate	ADJ
fcis-21105	6	16	and	and	CCONJ
fcis-21105	6	17	efficient	efficient	ADJ
fcis-21105	6	18	path	path	NOUN
fcis-21105	6	19	planning	planning	NOUN
fcis-21105	6	20	and	and	CCONJ
fcis-21105	6	21	task	task	NOUN
fcis-21105	6	22	execution	execution	NOUN
fcis-21105	6	23	in	in	ADP
fcis-21105	6	24	smart	smart	ADJ
fcis-21105	6	25	home	home	NOUN
fcis-21105	6	26	environment	environment	NOUN
fcis-21105	6	27	,	,	PUNCT
fcis-21105	6	28	and	and	CCONJ
fcis-21105	6	29	has	have	VERB
fcis-21105	6	30	strong	strong	ADJ
fcis-21105	6	31	generalization	generalization	NOUN
fcis-21105	6	32	ability	ability	NOUN
fcis-21105	6	33	,	,	PUNCT
fcis-21105	6	34	which	which	PRON
fcis-21105	6	35	can	can	AUX
fcis-21105	6	36	adapt	adapt	VERB
fcis-21105	6	37	to	to	ADP
fcis-21105	6	38	the	the	DET
fcis-21105	6	39	needs	need	NOUN
fcis-21105	6	40	of	of	ADP
fcis-21105	6	41	different	different	ADJ
fcis-21105	6	42	environments	environment	NOUN
fcis-21105	6	43	and	and	CCONJ
fcis-21105	6	44	tasks	task	NOUN
fcis-21105	6	45	.	.	PUNCT
fcis-21105	7	1	finally	finally	ADV
fcis-21105	7	2	,	,	PUNCT
fcis-21105	7	3	this	this	DET
fcis-21105	7	4	paper	paper	NOUN
fcis-21105	7	5	summarizes	summarize	NOUN
fcis-21105	7	6	and	and	CCONJ
fcis-21105	7	7	looks	look	VERB
fcis-21105	7	8	forward	forward	ADV
fcis-21105	7	9	to	to	ADP
fcis-21105	7	10	the	the	DET
fcis-21105	7	11	application	application	NOUN
fcis-21105	7	12	of	of	ADP
fcis-21105	7	13	multi	multi	ADJ
fcis-21105	7	14	-	-	ADJ
fcis-21105	7	15	modal	modal	ADJ
fcis-21105	7	16	large	large	ADJ
fcis-21105	7	17	model	model	NOUN
fcis-21105	7	18	in	in	ADP
fcis-21105	7	19	robot	robot	NOUN
fcis-21105	7	20	control	control	NOUN
fcis-21105	7	21	,	,	PUNCT
fcis-21105	7	22	and	and	CCONJ
fcis-21105	7	23	points	point	VERB
fcis-21105	7	24	out	out	ADP
fcis-21105	7	25	its	its	PRON
fcis-21105	7	26	important	important	ADJ
fcis-21105	7	27	significance	significance	NOUN
fcis-21105	7	28	and	and	CCONJ
fcis-21105	7	29	potential	potential	ADJ
fcis-21105	7	30	application	application	NOUN
fcis-21105	7	31	prospect	prospect	NOUN
fcis-21105	7	32	in	in	ADP
fcis-21105	7	33	the	the	DET
fcis-21105	7	34	development	development	NOUN
fcis-21105	7	35	of	of	ADP
fcis-21105	7	36	intelligent	intelligent	ADJ
fcis-21105	7	37	robot	robot	NOUN
fcis-21105	7	38	technology	technology	NOUN
fcis-21105	7	39	.	.	PUNCT
fcis-21105	8	1	keywords	keyword	NOUN
fcis-21105	8	2	:	:	PUNCT
fcis-21105	8	3	multi	multi	ADJ
fcis-21105	8	4	-	-	ADJ
fcis-21105	8	5	modal	modal	ADJ
fcis-21105	8	6	large	large	ADJ
fcis-21105	8	7	model	model	NOUN
fcis-21105	8	8	;	;	PUNCT
fcis-21105	8	9	robot	robot	NOUN
fcis-21105	8	10	control	control	NOUN
fcis-21105	8	11	;	;	PUNCT
fcis-21105	8	12	ai	ai	VERB
fcis-21105	8	13	and	and	CCONJ
fcis-21105	8	14	robotics	robotic	NOUN
fcis-21105	8	15	.	.	PUNCT
fcis-21105	9	1	1	1	X
fcis-21105	9	2	.	.	X
fcis-21105	9	3	introduction	introduction	NOUN
fcis-21105	9	4	in	in	ADP
fcis-21105	9	5	the	the	DET
fcis-21105	9	6	past	past	ADJ
fcis-21105	9	7	decades	decade	NOUN
fcis-21105	9	8	,	,	PUNCT
fcis-21105	9	9	robot	robot	NOUN
fcis-21105	9	10	technology	technology	NOUN
fcis-21105	9	11	has	have	AUX
fcis-21105	9	12	made	make	VERB
fcis-21105	9	13	great	great	ADJ
fcis-21105	9	14	progress	progress	NOUN
fcis-21105	9	15	.	.	PUNCT
fcis-21105	10	1	from	from	ADP
fcis-21105	10	2	simple	simple	ADJ
fcis-21105	10	3	industrial	industrial	ADJ
fcis-21105	10	4	tasks	task	NOUN
fcis-21105	10	5	to	to	ADP
fcis-21105	10	6	intelligent	intelligent	ADJ
fcis-21105	10	7	applications	application	NOUN
fcis-21105	10	8	in	in	ADP
fcis-21105	10	9	daily	daily	ADJ
fcis-21105	10	10	life	life	NOUN
fcis-21105	10	11	,	,	PUNCT
fcis-21105	10	12	robots	robot	NOUN
fcis-21105	10	13	have	have	AUX
fcis-21105	10	14	become	become	VERB
fcis-21105	10	15	an	an	DET
fcis-21105	10	16	indispensable	indispensable	ADJ
fcis-21105	10	17	part	part	NOUN
fcis-21105	10	18	of	of	ADP
fcis-21105	10	19	modern	modern	ADJ
fcis-21105	10	20	society	society	NOUN
fcis-21105	10	21	.	.	PUNCT
fcis-21105	11	1	however	however	ADV
fcis-21105	11	2	,	,	PUNCT
fcis-21105	11	3	to	to	PART
fcis-21105	11	4	realize	realize	VERB
fcis-21105	11	5	a	a	DET
fcis-21105	11	6	truly	truly	ADV
fcis-21105	11	7	intelligent	intelligent	ADJ
fcis-21105	11	8	robot	robot	NOUN
fcis-21105	11	9	,	,	PUNCT
fcis-21105	11	10	there	there	PRON
fcis-21105	11	11	are	be	VERB
fcis-21105	11	12	still	still	ADV
fcis-21105	11	13	many	many	ADJ
fcis-21105	11	14	challenges	challenge	NOUN
fcis-21105	11	15	,	,	PUNCT
fcis-21105	11	16	including	include	VERB
fcis-21105	11	17	the	the	DET
fcis-21105	11	18	perception	perception	NOUN
fcis-21105	11	19	of	of	ADP
fcis-21105	11	20	complex	complex	ADJ
fcis-21105	11	21	environment	environment	NOUN
fcis-21105	11	22	,	,	PUNCT
fcis-21105	11	23	effective	effective	ADJ
fcis-21105	11	24	task	task	NOUN
fcis-21105	11	25	planning	planning	NOUN
fcis-21105	11	26	and	and	CCONJ
fcis-21105	11	27	accurate	accurate	ADJ
fcis-21105	11	28	action	action	NOUN
fcis-21105	11	29	execution	execution	NOUN
fcis-21105	11	30	.	.	PUNCT
fcis-21105	12	1	traditional	traditional	ADJ
fcis-21105	12	2	robot	robot	NOUN
fcis-21105	12	3	control	control	NOUN
fcis-21105	12	4	methods	method	NOUN
fcis-21105	12	5	often	often	ADV
fcis-21105	12	6	face	face	VERB
fcis-21105	12	7	challenges	challenge	NOUN
fcis-21105	12	8	such	such	ADJ
fcis-21105	12	9	as	as	ADP
fcis-21105	12	10	insufficient	insufficient	ADJ
fcis-21105	12	11	information	information	NOUN
fcis-21105	12	12	,	,	PUNCT
fcis-21105	12	13	high	high	ADJ
fcis-21105	12	14	computational	computational	ADJ
fcis-21105	12	15	complexity	complexity	NOUN
fcis-21105	12	16	and	and	CCONJ
fcis-21105	12	17	poor	poor	ADJ
fcis-21105	12	18	adaptability	adaptability	NOUN
fcis-21105	12	19	,	,	PUNCT
fcis-21105	12	20	which	which	PRON
fcis-21105	12	21	limit	limit	VERB
fcis-21105	12	22	the	the	DET
fcis-21105	12	23	application	application	NOUN
fcis-21105	12	24	and	and	CCONJ
fcis-21105	12	25	performance	performance	NOUN
fcis-21105	12	26	of	of	ADP
fcis-21105	12	27	robots	robot	NOUN
fcis-21105	12	28	in	in	ADP
fcis-21105	12	29	complex	complex	ADJ
fcis-21105	12	30	environments	environment	NOUN
fcis-21105	12	31	.	.	PUNCT
fcis-21105	13	1	in	in	ADP
fcis-21105	13	2	recent	recent	ADJ
fcis-21105	13	3	years	year	NOUN
fcis-21105	13	4	,	,	PUNCT
fcis-21105	13	5	with	with	ADP
fcis-21105	13	6	the	the	DET
fcis-21105	13	7	rapid	rapid	ADJ
fcis-21105	13	8	development	development	NOUN
fcis-21105	13	9	of	of	ADP
fcis-21105	13	10	ai	ai	ADJ
fcis-21105	13	11	field	field	NOUN
fcis-21105	13	12	,	,	PUNCT
fcis-21105	13	13	multimodal	multimodal	ADJ
fcis-21105	13	14	large	large	ADJ
fcis-21105	13	15	model	model	NOUN
fcis-21105	13	16	,	,	PUNCT
fcis-21105	13	17	as	as	ADP
fcis-21105	13	18	a	a	DET
fcis-21105	13	19	new	new	ADJ
fcis-21105	13	20	technology	technology	NOUN
fcis-21105	13	21	,	,	PUNCT
fcis-21105	13	22	has	have	AUX
fcis-21105	13	23	attracted	attract	VERB
fcis-21105	13	24	wide	wide	ADJ
fcis-21105	13	25	attention	attention	NOUN
fcis-21105	13	26	.	.	PUNCT
fcis-21105	14	1	multi	multi	ADJ
fcis-21105	14	2	-	-	ADJ
fcis-21105	14	3	modal	modal	ADJ
fcis-21105	14	4	large	large	ADJ
fcis-21105	14	5	model	model	NOUN
fcis-21105	14	6	can	can	AUX
fcis-21105	14	7	deal	deal	VERB
fcis-21105	14	8	with	with	ADP
fcis-21105	14	9	many	many	ADJ
fcis-21105	14	10	types	type	NOUN
fcis-21105	14	11	of	of	ADP
fcis-21105	14	12	data	datum	NOUN
fcis-21105	14	13	,	,	PUNCT
fcis-21105	14	14	such	such	ADJ
fcis-21105	14	15	as	as	ADP
fcis-21105	14	16	text	text	NOUN
fcis-21105	14	17	,	,	PUNCT
fcis-21105	14	18	images	image	NOUN
fcis-21105	14	19	,	,	PUNCT
fcis-21105	14	20	sounds	sound	VERB
fcis-21105	14	21	,	,	PUNCT
fcis-21105	14	22	etc	etc	X
fcis-21105	14	23	.	.	X
fcis-21105	14	24	by	by	ADP
fcis-21105	14	25	fusing	fuse	VERB
fcis-21105	14	26	information	information	NOUN
fcis-21105	14	27	of	of	ADP
fcis-21105	14	28	different	different	ADJ
fcis-21105	14	29	modes	mode	NOUN
fcis-21105	14	30	,	,	PUNCT
fcis-21105	14	31	more	more	ADV
fcis-21105	14	32	comprehensive	comprehensive	ADJ
fcis-21105	14	33	and	and	CCONJ
fcis-21105	14	34	accurate	accurate	ADJ
fcis-21105	14	35	understanding	understanding	NOUN
fcis-21105	14	36	and	and	CCONJ
fcis-21105	14	37	reasoning	reasoning	NOUN
fcis-21105	14	38	can	can	AUX
fcis-21105	14	39	be	be	AUX
fcis-21105	14	40	realized	realize	VERB
fcis-21105	14	41	[	[	PUNCT
fcis-21105	14	42	1	1	NUM
fcis-21105	14	43	-	-	SYM
fcis-21105	14	44	2	2	NUM
fcis-21105	14	45	]	]	PUNCT
fcis-21105	14	46	.	.	PUNCT
fcis-21105	15	1	because	because	SCONJ
fcis-21105	15	2	of	of	ADP
fcis-21105	15	3	its	its	PRON
fcis-21105	15	4	comprehensiveness	comprehensiveness	NOUN
fcis-21105	15	5	and	and	CCONJ
fcis-21105	15	6	accuracy	accuracy	NOUN
fcis-21105	15	7	,	,	PUNCT
fcis-21105	15	8	multi	multi	ADJ
fcis-21105	15	9	-	-	ADJ
fcis-21105	15	10	modal	modal	ADJ
fcis-21105	15	11	large	large	ADJ
fcis-21105	15	12	-	-	PUNCT
fcis-21105	15	13	scale	scale	NOUN
fcis-21105	15	14	model	model	NOUN
fcis-21105	15	15	has	have	AUX
fcis-21105	15	16	made	make	VERB
fcis-21105	15	17	remarkable	remarkable	ADJ
fcis-21105	15	18	achievements	achievement	NOUN
fcis-21105	15	19	in	in	ADP
fcis-21105	15	20	natural	natural	ADJ
fcis-21105	15	21	language	language	NOUN
fcis-21105	15	22	processing	processing	NOUN
fcis-21105	15	23	(	(	PUNCT
fcis-21105	15	24	nlp	nlp	NOUN
fcis-21105	15	25	)	)	PUNCT
fcis-21105	15	26	,	,	PUNCT
fcis-21105	15	27	computer	computer	NOUN
fcis-21105	15	28	vision	vision	NOUN
fcis-21105	15	29	and	and	CCONJ
fcis-21105	15	30	other	other	ADJ
fcis-21105	15	31	fields	field	NOUN
fcis-21105	15	32	.	.	PUNCT
fcis-21105	16	1	the	the	DET
fcis-21105	16	2	purpose	purpose	NOUN
fcis-21105	16	3	of	of	ADP
fcis-21105	16	4	this	this	DET
fcis-21105	16	5	paper	paper	NOUN
fcis-21105	16	6	is	be	AUX
fcis-21105	16	7	to	to	PART
fcis-21105	16	8	explore	explore	VERB
fcis-21105	16	9	the	the	DET
fcis-21105	16	10	application	application	NOUN
fcis-21105	16	11	of	of	ADP
fcis-21105	16	12	multi	multi	ADJ
fcis-21105	16	13	-	-	ADJ
fcis-21105	16	14	modal	modal	ADJ
fcis-21105	16	15	large	large	ADJ
fcis-21105	16	16	model	model	NOUN
fcis-21105	16	17	in	in	ADP
fcis-21105	16	18	robot	robot	NOUN
fcis-21105	16	19	control	control	PROPN
fcis-21105	16	20	intelligence	intelligence	NOUN
fcis-21105	16	21	.	.	PUNCT
fcis-21105	17	1	by	by	ADP
fcis-21105	17	2	introducing	introduce	VERB
fcis-21105	17	3	multi	multi	ADJ
fcis-21105	17	4	-	-	ADJ
fcis-21105	17	5	modal	modal	ADJ
fcis-21105	17	6	large	large	ADJ
fcis-21105	17	7	model	model	NOUN
fcis-21105	17	8	into	into	ADP
fcis-21105	17	9	the	the	DET
fcis-21105	17	10	field	field	NOUN
fcis-21105	17	11	of	of	ADP
fcis-21105	17	12	robot	robot	NOUN
fcis-21105	17	13	control	control	NOUN
fcis-21105	17	14	,	,	PUNCT
fcis-21105	17	15	it	it	PRON
fcis-21105	17	16	is	be	AUX
fcis-21105	17	17	expected	expect	VERB
fcis-21105	17	18	to	to	PART
fcis-21105	17	19	improve	improve	VERB
fcis-21105	17	20	the	the	DET
fcis-21105	17	21	robot	robot	NOUN
fcis-21105	17	22	's	's	PART
fcis-21105	17	23	perception	perception	NOUN
fcis-21105	17	24	of	of	ADP
fcis-21105	17	25	the	the	DET
fcis-21105	17	26	environment	environment	NOUN
fcis-21105	17	27	,	,	PUNCT
fcis-21105	17	28	optimize	optimize	VERB
fcis-21105	17	29	the	the	DET
fcis-21105	17	30	task	task	NOUN
fcis-21105	17	31	planning	planning	NOUN
fcis-21105	17	32	and	and	CCONJ
fcis-21105	17	33	decision	decision	NOUN
fcis-21105	17	34	-	-	PUNCT
fcis-21105	17	35	making	make	VERB
fcis-21105	17	36	process	process	NOUN
fcis-21105	17	37	,	,	PUNCT
fcis-21105	17	38	and	and	CCONJ
fcis-21105	17	39	improve	improve	VERB
fcis-21105	17	40	the	the	DET
fcis-21105	17	41	accuracy	accuracy	NOUN
fcis-21105	17	42	and	and	CCONJ
fcis-21105	17	43	efficiency	efficiency	NOUN
fcis-21105	17	44	of	of	ADP
fcis-21105	17	45	action	action	NOUN
fcis-21105	17	46	execution	execution	NOUN
fcis-21105	17	47	,	,	PUNCT
fcis-21105	17	48	so	so	SCONJ
fcis-21105	17	49	as	as	SCONJ
fcis-21105	17	50	to	to	PART
fcis-21105	17	51	realize	realize	VERB
fcis-21105	17	52	a	a	DET
fcis-21105	17	53	more	more	ADV
fcis-21105	17	54	intelligent	intelligent	ADJ
fcis-21105	17	55	and	and	CCONJ
fcis-21105	17	56	flexible	flexible	ADJ
fcis-21105	17	57	robot	robot	NOUN
fcis-21105	17	58	system	system	NOUN
fcis-21105	17	59	.	.	PUNCT
fcis-21105	18	1	by	by	ADP
fcis-21105	18	2	studying	study	VERB
fcis-21105	18	3	the	the	DET
fcis-21105	18	4	application	application	NOUN
fcis-21105	18	5	of	of	ADP
fcis-21105	18	6	multi	multi	ADJ
fcis-21105	18	7	-	-	ADJ
fcis-21105	18	8	modal	modal	ADJ
fcis-21105	18	9	large	large	ADJ
fcis-21105	18	10	model	model	NOUN
fcis-21105	18	11	in	in	ADP
fcis-21105	18	12	robot	robot	NOUN
fcis-21105	18	13	control	control	NOUN
fcis-21105	18	14	,	,	PUNCT
fcis-21105	18	15	we	we	PRON
fcis-21105	18	16	can	can	AUX
fcis-21105	18	17	contribute	contribute	VERB
fcis-21105	18	18	to	to	ADP
fcis-21105	18	19	the	the	DET
fcis-21105	18	20	development	development	NOUN
fcis-21105	18	21	and	and	CCONJ
fcis-21105	18	22	popularization	popularization	NOUN
fcis-21105	18	23	of	of	ADP
fcis-21105	18	24	robot	robot	NOUN
fcis-21105	18	25	technology	technology	NOUN
fcis-21105	18	26	,	,	PUNCT
fcis-21105	18	27	further	far	ADV
fcis-21105	18	28	expand	expand	VERB
fcis-21105	18	29	the	the	DET
fcis-21105	18	30	application	application	NOUN
fcis-21105	18	31	scope	scope	NOUN
fcis-21105	18	32	of	of	ADP
fcis-21105	18	33	robots	robot	NOUN
fcis-21105	18	34	in	in	ADP
fcis-21105	18	35	various	various	ADJ
fcis-21105	18	36	fields	field	NOUN
fcis-21105	18	37	,	,	PUNCT
fcis-21105	18	38	and	and	CCONJ
fcis-21105	18	39	improve	improve	VERB
fcis-21105	18	40	their	their	PRON
fcis-21105	18	41	value	value	NOUN
fcis-21105	18	42	and	and	CCONJ
fcis-21105	18	43	significance	significance	NOUN
fcis-21105	18	44	in	in	ADP
fcis-21105	18	45	social	social	ADJ
fcis-21105	18	46	life	life	NOUN
fcis-21105	18	47	.	.	PUNCT
fcis-21105	19	1	2	2	X
fcis-21105	19	2	.	.	X
fcis-21105	19	3	multi	multi	ADJ
fcis-21105	19	4	-	-	ADJ
fcis-21105	19	5	modal	modal	ADJ
fcis-21105	19	6	large	large	ADJ
fcis-21105	19	7	model	model	NOUN
fcis-21105	19	8	foundation	foundation	PROPN
fcis-21105	19	9	multi	multi	ADJ
fcis-21105	19	10	-	-	ADJ
fcis-21105	19	11	modal	modal	ADJ
fcis-21105	19	12	large	large	ADJ
fcis-21105	19	13	model	model	NOUN
fcis-21105	19	14	is	be	AUX
fcis-21105	19	15	an	an	DET
fcis-21105	19	16	ai	ai	NOUN
fcis-21105	19	17	model	model	NOUN
fcis-21105	19	18	that	that	PRON
fcis-21105	19	19	can	can	AUX
fcis-21105	19	20	handle	handle	VERB
fcis-21105	19	21	various	various	ADJ
fcis-21105	19	22	types	type	NOUN
fcis-21105	19	23	of	of	ADP
fcis-21105	19	24	data	datum	NOUN
fcis-21105	19	25	.	.	PUNCT
fcis-21105	20	1	it	it	PRON
fcis-21105	20	2	can	can	AUX
fcis-21105	20	3	handle	handle	VERB
fcis-21105	20	4	different	different	ADJ
fcis-21105	20	5	modal	modal	ADJ
fcis-21105	20	6	information	information	NOUN
fcis-21105	20	7	such	such	ADJ
fcis-21105	20	8	as	as	ADP
fcis-21105	20	9	text	text	NOUN
fcis-21105	20	10	,	,	PUNCT
fcis-21105	20	11	image	image	NOUN
fcis-21105	20	12	and	and	CCONJ
fcis-21105	20	13	sound	sound	NOUN
fcis-21105	20	14	at	at	ADP
fcis-21105	20	15	the	the	DET
fcis-21105	20	16	same	same	ADJ
fcis-21105	20	17	time	time	NOUN
fcis-21105	20	18	,	,	PUNCT
fcis-21105	20	19	and	and	CCONJ
fcis-21105	20	20	combine	combine	VERB
fcis-21105	20	21	them	they	PRON
fcis-21105	20	22	effectively	effectively	ADV
fcis-21105	20	23	,	,	PUNCT
fcis-21105	20	24	so	so	SCONJ
fcis-21105	20	25	as	as	SCONJ
fcis-21105	20	26	to	to	PART
fcis-21105	20	27	realize	realize	VERB
fcis-21105	20	28	more	more	ADV
fcis-21105	20	29	comprehensive	comprehensive	ADJ
fcis-21105	20	30	and	and	CCONJ
fcis-21105	20	31	accurate	accurate	ADJ
fcis-21105	20	32	understanding	understanding	NOUN
fcis-21105	20	33	and	and	CCONJ
fcis-21105	20	34	reasoning	reasoning	NOUN
fcis-21105	20	35	.	.	PUNCT
fcis-21105	21	1	the	the	DET
fcis-21105	21	2	development	development	NOUN
fcis-21105	21	3	of	of	ADP
fcis-21105	21	4	multi	multi	ADJ
fcis-21105	21	5	-	-	ADJ
fcis-21105	21	6	modal	modal	ADJ
fcis-21105	21	7	large	large	ADJ
fcis-21105	21	8	model	model	NOUN
fcis-21105	21	9	stems	stem	VERB
fcis-21105	21	10	from	from	ADP
fcis-21105	21	11	the	the	DET
fcis-21105	21	12	demand	demand	NOUN
fcis-21105	21	13	for	for	ADP
fcis-21105	21	14	multi	multi	ADJ
fcis-21105	21	15	-	-	ADJ
fcis-21105	21	16	modal	modal	ADJ
fcis-21105	21	17	data	datum	NOUN
fcis-21105	21	18	processing	processing	NOUN
fcis-21105	21	19	and	and	CCONJ
fcis-21105	21	20	cross	cross	ADJ
fcis-21105	21	21	-	-	ADJ
fcis-21105	21	22	modal	modal	ADJ
fcis-21105	21	23	understanding	understanding	NOUN
fcis-21105	21	24	.	.	PUNCT
fcis-21105	22	1	it	it	PRON
fcis-21105	22	2	draws	draw	VERB
fcis-21105	22	3	lessons	lesson	NOUN
fcis-21105	22	4	from	from	ADP
fcis-21105	22	5	the	the	DET
fcis-21105	22	6	technologies	technology	NOUN
fcis-21105	22	7	in	in	ADP
fcis-21105	22	8	the	the	DET
fcis-21105	22	9	fields	field	NOUN
fcis-21105	22	10	of	of	ADP
fcis-21105	22	11	deep	deep	ADJ
fcis-21105	22	12	learning	learning	NOUN
fcis-21105	22	13	and	and	CCONJ
fcis-21105	22	14	nlp	nlp	NOUN
fcis-21105	22	15	,	,	PUNCT
fcis-21105	22	16	and	and	CCONJ
fcis-21105	22	17	combines	combine	VERB
fcis-21105	22	18	the	the	DET
fcis-21105	22	19	characteristics	characteristic	NOUN
fcis-21105	22	20	of	of	ADP
fcis-21105	22	21	text	text	NOUN
fcis-21105	22	22	,	,	PUNCT
fcis-21105	22	23	vision	vision	NOUN
fcis-21105	22	24	,	,	PUNCT
fcis-21105	22	25	sound	sound	NOUN
fcis-21105	22	26	and	and	CCONJ
fcis-21105	22	27	other	other	ADJ
fcis-21105	22	28	modes	mode	NOUN
fcis-21105	22	29	,	,	PUNCT
fcis-21105	22	30	and	and	CCONJ
fcis-21105	22	31	has	have	VERB
fcis-21105	22	32	strong	strong	ADJ
fcis-21105	22	33	expressive	expressive	ADJ
fcis-21105	22	34	ability	ability	NOUN
fcis-21105	22	35	and	and	CCONJ
fcis-21105	22	36	generalization	generalization	NOUN
fcis-21105	22	37	ability	ability	NOUN
fcis-21105	22	38	[	[	PUNCT
fcis-21105	22	39	3	3	NUM
fcis-21105	22	40	-	-	SYM
fcis-21105	22	41	4	4	NUM
fcis-21105	22	42	]	]	PUNCT
fcis-21105	22	43	.	.	PUNCT
fcis-21105	23	1	multi	multi	ADJ
fcis-21105	23	2	-	-	ADJ
fcis-21105	23	3	modal	modal	ADJ
fcis-21105	23	4	large	large	ADJ
fcis-21105	23	5	model	model	NOUN
fcis-21105	23	6	receives	receive	VERB
fcis-21105	23	7	input	input	NOUN
fcis-21105	23	8	data	datum	NOUN
fcis-21105	23	9	from	from	ADP
fcis-21105	23	10	different	different	ADJ
fcis-21105	23	11	modes	mode	NOUN
fcis-21105	23	12	,	,	PUNCT
fcis-21105	23	13	which	which	PRON
fcis-21105	23	14	may	may	AUX
fcis-21105	23	15	include	include	VERB
fcis-21105	23	16	text	text	NOUN
fcis-21105	23	17	,	,	PUNCT
fcis-21105	23	18	image	image	NOUN
fcis-21105	23	19	,	,	PUNCT
fcis-21105	23	20	sound	sound	NOUN
fcis-21105	23	21	and	and	CCONJ
fcis-21105	23	22	other	other	ADJ
fcis-21105	23	23	forms	form	NOUN
fcis-21105	23	24	.	.	PUNCT
fcis-21105	24	1	according	accord	VERB
fcis-21105	24	2	to	to	ADP
fcis-21105	24	3	the	the	DET
fcis-21105	24	4	input	input	NOUN
fcis-21105	24	5	data	datum	NOUN
fcis-21105	24	6	of	of	ADP
fcis-21105	24	7	different	different	ADJ
fcis-21105	24	8	modes	mode	NOUN
fcis-21105	24	9	,	,	PUNCT
fcis-21105	24	10	it	it	PRON
fcis-21105	24	11	is	be	AUX
fcis-21105	24	12	necessary	necessary	ADJ
fcis-21105	24	13	to	to	PART
fcis-21105	24	14	design	design	VERB
fcis-21105	24	15	corresponding	corresponding	ADJ
fcis-21105	24	16	data	datum	NOUN
fcis-21105	24	17	processing	processing	NOUN
fcis-21105	24	18	methods	method	NOUN
fcis-21105	24	19	and	and	CCONJ
fcis-21105	24	20	feature	feature	NOUN
fcis-21105	24	21	extraction	extraction	NOUN
fcis-21105	24	22	techniques	technique	NOUN
fcis-21105	24	23	in	in	ADP
fcis-21105	24	24	order	order	NOUN
fcis-21105	24	25	to	to	PART
fcis-21105	24	26	convert	convert	VERB
fcis-21105	24	27	them	they	PRON
fcis-21105	24	28	into	into	ADP
fcis-21105	24	29	a	a	DET
fcis-21105	24	30	unified	unified	ADJ
fcis-21105	24	31	form	form	NOUN
fcis-21105	24	32	that	that	PRON
fcis-21105	24	33	the	the	DET
fcis-21105	24	34	model	model	NOUN
fcis-21105	24	35	can	can	AUX
fcis-21105	24	36	handle	handle	VERB
fcis-21105	24	37	.	.	PUNCT
fcis-21105	25	1	in	in	ADP
fcis-21105	25	2	the	the	DET
fcis-21105	25	3	multi	multi	ADJ
fcis-21105	25	4	-	-	ADJ
fcis-21105	25	5	modal	modal	ADJ
fcis-21105	25	6	large	large	ADJ
fcis-21105	25	7	model	model	NOUN
fcis-21105	25	8	,	,	PUNCT
fcis-21105	25	9	the	the	DET
fcis-21105	25	10	information	information	NOUN
fcis-21105	25	11	of	of	ADP
fcis-21105	25	12	different	different	ADJ
fcis-21105	25	13	modes	mode	NOUN
fcis-21105	25	14	needs	need	VERB
fcis-21105	25	15	to	to	PART
fcis-21105	25	16	be	be	AUX
fcis-21105	25	17	fused	fuse	VERB
fcis-21105	25	18	to	to	PART
fcis-21105	25	19	realize	realize	VERB
fcis-21105	25	20	comprehensive	comprehensive	ADJ
fcis-21105	25	21	and	and	CCONJ
fcis-21105	25	22	accurate	accurate	ADJ
fcis-21105	25	23	understanding	understanding	NOUN
fcis-21105	25	24	and	and	CCONJ
fcis-21105	25	25	reasoning	reason	VERB
fcis-21105	25	26	[	[	X
fcis-21105	25	27	5	5	NUM
fcis-21105	25	28	]	]	PUNCT
fcis-21105	25	29	.	.	PUNCT
fcis-21105	26	1	cross	cross	ADJ
fcis-21105	26	2	-	-	ADJ
fcis-21105	26	3	modal	modal	ADJ
fcis-21105	26	4	feature	feature	NOUN
fcis-21105	26	5	fusion	fusion	NOUN
fcis-21105	26	6	layer	layer	NOUN
fcis-21105	26	7	is	be	AUX
fcis-21105	26	8	responsible	responsible	ADJ
fcis-21105	26	9	for	for	ADP
fcis-21105	26	10	effectively	effectively	ADV
fcis-21105	26	11	combining	combine	VERB
fcis-21105	26	12	features	feature	NOUN
fcis-21105	26	13	from	from	ADP
fcis-21105	26	14	different	different	ADJ
fcis-21105	26	15	modes	mode	NOUN
fcis-21105	26	16	,	,	PUNCT
fcis-21105	26	17	and	and	CCONJ
fcis-21105	26	18	commonly	commonly	ADV
fcis-21105	26	19	used	use	VERB
fcis-21105	26	20	methods	method	NOUN
fcis-21105	26	21	include	include	VERB
fcis-21105	26	22	attention	attention	NOUN
fcis-21105	26	23	mechanism	mechanism	NOUN
fcis-21105	26	24	,	,	PUNCT
fcis-21105	26	25	feature	feature	NOUN
fcis-21105	26	26	fusion	fusion	NOUN
fcis-21105	26	27	network	network	NOUN
fcis-21105	26	28	and	and	CCONJ
fcis-21105	26	29	so	so	ADV
fcis-21105	26	30	on	on	ADV
fcis-21105	26	31	.	.	PUNCT
fcis-21105	27	1	the	the	DET
fcis-21105	27	2	learned	learn	VERB
fcis-21105	27	3	representation	representation	NOUN
fcis-21105	27	4	is	be	AUX
fcis-21105	27	5	very	very	ADV
fcis-21105	27	6	important	important	ADJ
fcis-21105	27	7	for	for	ADP
fcis-21105	27	8	the	the	DET
fcis-21105	27	9	performance	performance	NOUN
fcis-21105	27	10	of	of	ADP
fcis-21105	27	11	the	the	DET
fcis-21105	27	12	model	model	NOUN
fcis-21105	27	13	.	.	PUNCT
fcis-21105	28	1	the	the	DET
fcis-21105	28	2	multimodal	multimodal	NOUN
fcis-21105	28	3	representation	representation	NOUN
fcis-21105	28	4	learning	learn	VERB
fcis-21105	28	5	layer	layer	NOUN
fcis-21105	28	6	is	be	AUX
fcis-21105	28	7	responsible	responsible	ADJ
fcis-21105	28	8	for	for	ADP
fcis-21105	28	9	learning	learn	VERB
fcis-21105	28	10	the	the	DET
fcis-21105	28	11	shared	share	VERB
fcis-21105	28	12	representation	representation	NOUN
fcis-21105	28	13	of	of	ADP
fcis-21105	28	14	data	datum	NOUN
fcis-21105	28	15	from	from	ADP
fcis-21105	28	16	different	different	ADJ
fcis-21105	28	17	modes	mode	NOUN
fcis-21105	28	18	in	in	ADP
fcis-21105	28	19	order	order	NOUN
fcis-21105	28	20	to	to	PART
fcis-21105	28	21	achieve	achieve	VERB
fcis-21105	28	22	better	well	ADJ
fcis-21105	28	23	generalization	generalization	NOUN
fcis-21105	28	24	ability	ability	NOUN
fcis-21105	28	25	and	and	CCONJ
fcis-21105	28	26	performance	performance	NOUN
fcis-21105	28	27	.	.	PUNCT
fcis-21105	29	1	multi	multi	ADJ
fcis-21105	29	2	-	-	ADJ
fcis-21105	29	3	modal	modal	ADJ
fcis-21105	29	4	large	large	ADJ
fcis-21105	29	5	models	model	NOUN
fcis-21105	29	6	may	may	AUX
fcis-21105	29	7	need	need	VERB
fcis-21105	29	8	to	to	PART
fcis-21105	29	9	generate	generate	VERB
fcis-21105	29	10	different	different	ADJ
fcis-21105	29	11	modal	modal	ADJ
fcis-21105	29	12	outputs	output	NOUN
fcis-21105	29	13	,	,	PUNCT
fcis-21105	29	14	such	such	ADJ
fcis-21105	29	15	as	as	ADP
fcis-21105	29	16	text	text	NOUN
fcis-21105	29	17	generation	generation	NOUN
fcis-21105	29	18	and	and	CCONJ
fcis-21105	29	19	image	image	NOUN
fcis-21105	29	20	generation	generation	NOUN
fcis-21105	29	21	[	[	X
fcis-21105	29	22	6	6	NUM
fcis-21105	29	23	-	-	SYM
fcis-21105	29	24	7	7	NUM
fcis-21105	29	25	]	]	PUNCT
fcis-21105	29	26	.	.	PUNCT
fcis-21105	30	1	modal	modal	ADJ
fcis-21105	30	2	-	-	PUNCT
fcis-21105	30	3	specific	specific	ADJ
fcis-21105	30	4	output	output	NOUN
fcis-21105	30	5	layer	layer	NOUN
fcis-21105	30	6	is	be	AUX
fcis-21105	30	7	responsible	responsible	ADJ
fcis-21105	30	8	for	for	ADP
fcis-21105	30	9	converting	convert	VERB
fcis-21105	30	10	the	the	DET
fcis-21105	30	11	shared	share	VERB
fcis-21105	30	12	representation	representation	NOUN
fcis-21105	30	13	learned	learn	VERB
fcis-21105	30	14	from	from	ADP
fcis-21105	30	15	the	the	DET
fcis-21105	30	16	model	model	NOUN
fcis-21105	30	17	into	into	ADP
fcis-21105	30	18	the	the	DET
fcis-21105	30	19	output	output	NOUN
fcis-21105	30	20	of	of	ADP
fcis-21105	30	21	a	a	DET
fcis-21105	30	22	specific	specific	ADJ
fcis-21105	30	23	mode	mode	NOUN
fcis-21105	30	24	to	to	PART
fcis-21105	30	25	meet	meet	VERB
fcis-21105	30	26	the	the	DET
fcis-21105	30	27	requirements	requirement	NOUN
fcis-21105	30	28	of	of	ADP
fcis-21105	30	29	the	the	DET
fcis-21105	30	30	task	task	NOUN
fcis-21105	30	31	.	.	PUNCT
fcis-21105	31	1	in	in	ADP
fcis-21105	31	2	practical	practical	ADJ
fcis-21105	31	3	application	application	NOUN
fcis-21105	31	4	,	,	PUNCT
fcis-21105	31	5	multi	multi	ADJ
fcis-21105	31	6	-	-	ADJ
fcis-21105	31	7	modal	modal	ADJ
fcis-21105	31	8	large	large	ADJ
fcis-21105	31	9	model	model	NOUN
fcis-21105	31	10	can	can	AUX
fcis-21105	31	11	be	be	AUX
fcis-21105	31	12	applied	apply	VERB
fcis-21105	31	13	to	to	ADP
fcis-21105	31	14	various	various	ADJ
fcis-21105	31	15	fields	field	NOUN
fcis-21105	31	16	,	,	PUNCT
fcis-21105	31	17	such	such	ADJ
fcis-21105	31	18	as	as	ADP
fcis-21105	31	19	nlp	nlp	NOUN
fcis-21105	31	20	,	,	PUNCT
fcis-21105	31	21	computer	computer	NOUN
fcis-21105	31	22	vision	vision	NOUN
fcis-21105	31	23	,	,	PUNCT
fcis-21105	31	24	audio	audio	NOUN
fcis-21105	31	25	108	108	NUM
fcis-21105	31	26	processing	processing	NOUN
fcis-21105	31	27	and	and	CCONJ
fcis-21105	31	28	so	so	ADV
fcis-21105	31	29	on	on	ADV
fcis-21105	31	30	.	.	PUNCT
fcis-21105	32	1	it	it	PRON
fcis-21105	32	2	can	can	AUX
fcis-21105	32	3	not	not	PART
fcis-21105	32	4	only	only	ADV
fcis-21105	32	5	improve	improve	VERB
fcis-21105	32	6	the	the	DET
fcis-21105	32	7	effect	effect	NOUN
fcis-21105	32	8	of	of	ADP
fcis-21105	32	9	single	single	ADJ
fcis-21105	32	10	modal	modal	ADJ
fcis-21105	32	11	data	datum	NOUN
fcis-21105	32	12	processing	processing	NOUN
fcis-21105	32	13	,	,	PUNCT
fcis-21105	32	14	but	but	CCONJ
fcis-21105	32	15	also	also	ADV
fcis-21105	32	16	play	play	VERB
fcis-21105	32	17	an	an	DET
fcis-21105	32	18	important	important	ADJ
fcis-21105	32	19	role	role	NOUN
fcis-21105	32	20	in	in	ADP
fcis-21105	32	21	multi	multi	ADJ
fcis-21105	32	22	-	-	ADJ
fcis-21105	32	23	modal	modal	ADJ
fcis-21105	32	24	data	datum	NOUN
fcis-21105	32	25	fusion	fusion	NOUN
fcis-21105	32	26	and	and	CCONJ
fcis-21105	32	27	cross	cross	ADJ
fcis-21105	32	28	-	-	ADJ
fcis-21105	32	29	modal	modal	ADJ
fcis-21105	32	30	reasoning	reasoning	NOUN
fcis-21105	32	31	,	,	PUNCT
fcis-21105	32	32	providing	provide	VERB
fcis-21105	32	33	new	new	ADJ
fcis-21105	32	34	ideas	idea	NOUN
fcis-21105	32	35	and	and	CCONJ
fcis-21105	32	36	methods	method	NOUN
fcis-21105	32	37	for	for	ADP
fcis-21105	32	38	solving	solve	VERB
fcis-21105	32	39	complex	complex	ADJ
fcis-21105	32	40	problems	problem	NOUN
fcis-21105	32	41	in	in	ADP
fcis-21105	32	42	the	the	DET
fcis-21105	32	43	real	real	ADJ
fcis-21105	32	44	world	world	NOUN
fcis-21105	32	45	.	.	PUNCT
fcis-21105	33	1	3	3	X
fcis-21105	33	2	.	.	X
fcis-21105	33	3	application	application	NOUN
fcis-21105	33	4	of	of	ADP
fcis-21105	33	5	multi	multi	ADJ
fcis-21105	33	6	-	-	ADJ
fcis-21105	33	7	modal	modal	ADJ
fcis-21105	33	8	large	large	ADJ
fcis-21105	33	9	model	model	NOUN
fcis-21105	33	10	in	in	ADP
fcis-21105	33	11	robot	robot	NOUN
fcis-21105	33	12	control	control	NOUN
fcis-21105	33	13	in	in	ADP
fcis-21105	33	14	the	the	DET
fcis-21105	33	15	field	field	NOUN
fcis-21105	33	16	of	of	ADP
fcis-21105	33	17	robot	robot	NOUN
fcis-21105	33	18	control	control	NOUN
fcis-21105	33	19	,	,	PUNCT
fcis-21105	33	20	the	the	DET
fcis-21105	33	21	application	application	NOUN
fcis-21105	33	22	of	of	ADP
fcis-21105	33	23	multi	multi	ADJ
fcis-21105	33	24	-	-	ADJ
fcis-21105	33	25	modal	modal	ADJ
fcis-21105	33	26	large	large	ADJ
fcis-21105	33	27	model	model	NOUN
fcis-21105	33	28	can	can	AUX
fcis-21105	33	29	provide	provide	VERB
fcis-21105	33	30	new	new	ADJ
fcis-21105	33	31	ideas	idea	NOUN
fcis-21105	33	32	and	and	CCONJ
fcis-21105	33	33	methods	method	NOUN
fcis-21105	33	34	for	for	ADP
fcis-21105	33	35	improving	improve	VERB
fcis-21105	33	36	the	the	DET
fcis-21105	33	37	intelligent	intelligent	ADJ
fcis-21105	33	38	level	level	NOUN
fcis-21105	33	39	and	and	CCONJ
fcis-21105	33	40	performance	performance	NOUN
fcis-21105	33	41	of	of	ADP
fcis-21105	33	42	robots	robot	NOUN
fcis-21105	33	43	.	.	PUNCT
fcis-21105	34	1	this	this	DET
fcis-21105	34	2	section	section	NOUN
fcis-21105	34	3	will	will	AUX
fcis-21105	34	4	put	put	VERB
fcis-21105	34	5	forward	forward	ADP
fcis-21105	34	6	an	an	DET
fcis-21105	34	7	innovative	innovative	ADJ
fcis-21105	34	8	application	application	NOUN
fcis-21105	34	9	framework	framework	NOUN
fcis-21105	34	10	of	of	ADP
fcis-21105	34	11	multi	multi	ADJ
fcis-21105	34	12	-	-	ADJ
fcis-21105	34	13	modal	modal	ADJ
fcis-21105	34	14	large	large	ADJ
fcis-21105	34	15	model	model	NOUN
fcis-21105	34	16	in	in	ADP
fcis-21105	34	17	robot	robot	NOUN
fcis-21105	34	18	control	control	NOUN
fcis-21105	34	19	,	,	PUNCT
fcis-21105	34	20	and	and	CCONJ
fcis-21105	34	21	design	design	VERB
fcis-21105	34	22	the	the	DET
fcis-21105	34	23	corresponding	corresponding	ADJ
fcis-21105	34	24	method	method	NOUN
fcis-21105	34	25	.	.	PUNCT
fcis-21105	35	1	the	the	DET
fcis-21105	35	2	application	application	NOUN
fcis-21105	35	3	framework	framework	NOUN
fcis-21105	35	4	of	of	ADP
fcis-21105	35	5	the	the	DET
fcis-21105	35	6	proposed	propose	VERB
fcis-21105	35	7	multi	multi	ADJ
fcis-21105	35	8	-	-	ADJ
fcis-21105	35	9	modal	modal	ADJ
fcis-21105	35	10	large	large	ADJ
fcis-21105	35	11	model	model	NOUN
fcis-21105	35	12	in	in	ADP
fcis-21105	35	13	robot	robot	NOUN
fcis-21105	35	14	control	control	NOUN
fcis-21105	35	15	is	be	AUX
fcis-21105	35	16	shown	show	VERB
fcis-21105	35	17	in	in	ADP
fcis-21105	35	18	figure	figure	NOUN
fcis-21105	35	19	1	1	NUM
fcis-21105	35	20	below	below	ADV
fcis-21105	35	21	:	:	PUNCT
fcis-21105	35	22	figure	figure	VERB
fcis-21105	35	23	1	1	NUM
fcis-21105	35	24	.	.	PUNCT
fcis-21105	35	25	application	application	NOUN
fcis-21105	35	26	framework	framework	NOUN
fcis-21105	35	27	multi	multi	ADJ
fcis-21105	35	28	-	-	ADJ
fcis-21105	35	29	modal	modal	ADJ
fcis-21105	35	30	data	datum	NOUN
fcis-21105	35	31	acquisition	acquisition	NOUN
fcis-21105	35	32	and	and	CCONJ
fcis-21105	35	33	preprocessing	preprocessing	NOUN
fcis-21105	35	34	.	.	PUNCT
fcis-21105	36	1	robots	robot	NOUN
fcis-21105	36	2	need	need	VERB
fcis-21105	36	3	to	to	PART
fcis-21105	36	4	obtain	obtain	VERB
fcis-21105	36	5	multi	multi	ADJ
fcis-21105	36	6	-	-	ADJ
fcis-21105	36	7	modal	modal	ADJ
fcis-21105	36	8	data	datum	NOUN
fcis-21105	36	9	from	from	ADP
fcis-21105	36	10	the	the	DET
fcis-21105	36	11	environment	environment	NOUN
fcis-21105	36	12	through	through	ADP
fcis-21105	36	13	various	various	ADJ
fcis-21105	36	14	sensors	sensor	NOUN
fcis-21105	36	15	,	,	PUNCT
fcis-21105	36	16	such	such	ADJ
fcis-21105	36	17	as	as	ADP
fcis-21105	36	18	vision	vision	NOUN
fcis-21105	36	19	,	,	PUNCT
fcis-21105	36	20	sound	sound	NOUN
fcis-21105	36	21	,	,	PUNCT
fcis-21105	36	22	lidar	lidar	NOUN
fcis-21105	36	23	and	and	CCONJ
fcis-21105	36	24	so	so	ADV
fcis-21105	36	25	on	on	ADV
fcis-21105	36	26	.	.	PUNCT
fcis-21105	37	1	these	these	DET
fcis-21105	37	2	data	datum	NOUN
fcis-21105	37	3	need	need	VERB
fcis-21105	37	4	to	to	PART
fcis-21105	37	5	be	be	AUX
fcis-21105	37	6	preprocessed	preprocesse	VERB
fcis-21105	37	7	and	and	CCONJ
fcis-21105	37	8	feature	feature	NOUN
fcis-21105	37	9	extracted	extract	VERB
fcis-21105	37	10	in	in	ADP
fcis-21105	37	11	order	order	NOUN
fcis-21105	37	12	to	to	PART
fcis-21105	37	13	be	be	AUX
fcis-21105	37	14	input	input	VERB
fcis-21105	37	15	into	into	ADP
fcis-21105	37	16	the	the	DET
fcis-21105	37	17	multi	multi	ADJ
fcis-21105	37	18	-	-	ADJ
fcis-21105	37	19	modal	modal	ADJ
fcis-21105	37	20	large	large	ADJ
fcis-21105	37	21	model	model	NOUN
fcis-21105	37	22	for	for	ADP
fcis-21105	37	23	processing	process	VERB
fcis-21105	37	24	[	[	X
fcis-21105	37	25	8	8	NUM
fcis-21105	37	26	]	]	PUNCT
fcis-21105	37	27	.	.	PUNCT
fcis-21105	38	1	cross	cross	ADJ
fcis-21105	38	2	-	-	ADJ
fcis-21105	38	3	modal	modal	ADJ
fcis-21105	38	4	feature	feature	NOUN
fcis-21105	38	5	fusion	fusion	NOUN
fcis-21105	38	6	and	and	CCONJ
fcis-21105	38	7	representation	representation	NOUN
fcis-21105	38	8	learning	learning	NOUN
fcis-21105	38	9	.	.	PUNCT
fcis-21105	39	1	multi	multi	ADJ
fcis-21105	39	2	-	-	ADJ
fcis-21105	39	3	modal	modal	ADJ
fcis-21105	39	4	large	large	ADJ
fcis-21105	39	5	model	model	NOUN
fcis-21105	39	6	receives	receive	VERB
fcis-21105	39	7	multi	multi	ADJ
fcis-21105	39	8	-	-	ADJ
fcis-21105	39	9	modal	modal	ADJ
fcis-21105	39	10	data	datum	NOUN
fcis-21105	39	11	from	from	ADP
fcis-21105	39	12	different	different	ADJ
fcis-21105	39	13	sensors	sensor	NOUN
fcis-21105	39	14	and	and	CCONJ
fcis-21105	39	15	converts	convert	VERB
fcis-21105	39	16	them	they	PRON
fcis-21105	39	17	into	into	ADP
fcis-21105	39	18	a	a	DET
fcis-21105	39	19	unified	unified	ADJ
fcis-21105	39	20	representation	representation	NOUN
fcis-21105	39	21	.	.	PUNCT
fcis-21105	40	1	the	the	DET
fcis-21105	40	2	attention	attention	NOUN
fcis-21105	40	3	mechanism	mechanism	NOUN
fcis-21105	40	4	is	be	AUX
fcis-21105	40	5	proposed	propose	VERB
fcis-21105	40	6	to	to	PART
fcis-21105	40	7	realize	realize	VERB
fcis-21105	40	8	the	the	DET
fcis-21105	40	9	fusion	fusion	NOUN
fcis-21105	40	10	of	of	ADP
fcis-21105	40	11	cross	cross	ADJ
fcis-21105	40	12	-	-	ADJ
fcis-21105	40	13	modal	modal	ADJ
fcis-21105	40	14	features	feature	NOUN
fcis-21105	40	15	and	and	CCONJ
fcis-21105	40	16	the	the	DET
fcis-21105	40	17	learning	learning	NOUN
fcis-21105	40	18	of	of	ADP
fcis-21105	40	19	multi	multi	ADJ
fcis-21105	40	20	-	-	ADJ
fcis-21105	40	21	modal	modal	ADJ
fcis-21105	40	22	representation	representation	NOUN
fcis-21105	40	23	.	.	PUNCT
fcis-21105	41	1	self	self	NOUN
fcis-21105	41	2	-	-	PUNCT
fcis-21105	41	3	attention	attention	NOUN
fcis-21105	41	4	mechanism	mechanism	NOUN
fcis-21105	41	5	is	be	AUX
fcis-21105	41	6	used	use	VERB
fcis-21105	41	7	to	to	PART
fcis-21105	41	8	learn	learn	VERB
fcis-21105	41	9	the	the	DET
fcis-21105	41	10	correlation	correlation	NOUN
fcis-21105	41	11	between	between	ADP
fcis-21105	41	12	each	each	DET
fcis-21105	41	13	modal	modal	ADJ
fcis-21105	41	14	data	datum	NOUN
fcis-21105	41	15	and	and	CCONJ
fcis-21105	41	16	the	the	DET
fcis-21105	41	17	correlation	correlation	NOUN
fcis-21105	41	18	between	between	ADP
fcis-21105	41	19	different	different	ADJ
fcis-21105	41	20	modes	mode	NOUN
fcis-21105	41	21	,	,	PUNCT
fcis-21105	41	22	so	so	SCONJ
fcis-21105	41	23	as	as	SCONJ
fcis-21105	41	24	to	to	PART
fcis-21105	41	25	get	get	VERB
fcis-21105	41	26	richer	rich	ADJ
fcis-21105	41	27	and	and	CCONJ
fcis-21105	41	28	more	more	ADV
fcis-21105	41	29	accurate	accurate	ADJ
fcis-21105	41	30	multi	multi	ADJ
fcis-21105	41	31	-	-	ADJ
fcis-21105	41	32	modal	modal	ADJ
fcis-21105	41	33	representation	representation	NOUN
fcis-21105	41	34	.	.	PUNCT
fcis-21105	42	1	environmental	environmental	ADJ
fcis-21105	42	2	perception	perception	NOUN
fcis-21105	42	3	and	and	CCONJ
fcis-21105	42	4	state	state	NOUN
fcis-21105	42	5	inference	inference	NOUN
fcis-21105	42	6	.	.	PUNCT
fcis-21105	43	1	based	base	VERB
fcis-21105	43	2	on	on	ADP
fcis-21105	43	3	the	the	DET
fcis-21105	43	4	learned	learn	VERB
fcis-21105	43	5	multi	multi	ADJ
fcis-21105	43	6	-	-	ADJ
fcis-21105	43	7	modal	modal	ADJ
fcis-21105	43	8	representations	representation	NOUN
fcis-21105	43	9	,	,	PUNCT
fcis-21105	43	10	robots	robot	NOUN
fcis-21105	43	11	can	can	AUX
fcis-21105	43	12	perceive	perceive	VERB
fcis-21105	43	13	and	and	CCONJ
fcis-21105	43	14	understand	understand	VERB
fcis-21105	43	15	the	the	DET
fcis-21105	43	16	environment	environment	NOUN
fcis-21105	43	17	,	,	PUNCT
fcis-21105	43	18	and	and	CCONJ
fcis-21105	43	19	infer	infer	VERB
fcis-21105	43	20	the	the	DET
fcis-21105	43	21	current	current	ADJ
fcis-21105	43	22	state	state	NOUN
fcis-21105	43	23	and	and	CCONJ
fcis-21105	43	24	context	context	NOUN
fcis-21105	43	25	.	.	PUNCT
fcis-21105	44	1	propose	propose	VERB
fcis-21105	44	2	to	to	PART
fcis-21105	44	3	use	use	VERB
fcis-21105	44	4	graph	graph	NOUN
fcis-21105	44	5	neural	neural	ADJ
fcis-21105	44	6	network	network	NOUN
fcis-21105	44	7	(	(	PUNCT
fcis-21105	44	8	gnn	gnn	PROPN
fcis-21105	44	9	)	)	PUNCT
fcis-21105	44	10	to	to	PART
fcis-21105	44	11	model	model	VERB
fcis-21105	44	12	the	the	DET
fcis-21105	44	13	environment	environment	NOUN
fcis-21105	44	14	,	,	PUNCT
fcis-21105	44	15	and	and	CCONJ
fcis-21105	44	16	use	use	VERB
fcis-21105	44	17	recurrent	recurrent	ADJ
fcis-21105	44	18	neural	neural	ADJ
fcis-21105	44	19	network	network	NOUN
fcis-21105	44	20	(	(	PUNCT
fcis-21105	44	21	rnn	rnn	PROPN
fcis-21105	44	22	)	)	PUNCT
fcis-21105	44	23	for	for	ADP
fcis-21105	44	24	state	state	NOUN
fcis-21105	44	25	inference	inference	NOUN
fcis-21105	44	26	and	and	CCONJ
fcis-21105	44	27	prediction	prediction	NOUN
fcis-21105	44	28	,	,	PUNCT
fcis-21105	44	29	in	in	ADP
fcis-21105	44	30	order	order	NOUN
fcis-21105	44	31	to	to	PART
fcis-21105	44	32	achieve	achieve	VERB
fcis-21105	44	33	dynamic	dynamic	ADJ
fcis-21105	44	34	modeling	modeling	NOUN
fcis-21105	44	35	and	and	CCONJ
fcis-21105	44	36	state	state	NOUN
fcis-21105	44	37	prediction	prediction	NOUN
fcis-21105	44	38	of	of	ADP
fcis-21105	44	39	the	the	DET
fcis-21105	44	40	environment	environment	NOUN
fcis-21105	45	1	[	[	X
fcis-21105	45	2	9	9	NUM
fcis-21105	45	3	]	]	PUNCT
fcis-21105	45	4	.	.	PUNCT
fcis-21105	46	1	task	task	PROPN
fcis-21105	46	2	planning	planning	NOUN
fcis-21105	46	3	and	and	CCONJ
fcis-21105	46	4	decision	decision	NOUN
fcis-21105	46	5	making	making	NOUN
fcis-21105	46	6	.	.	PUNCT
fcis-21105	47	1	based	base	VERB
fcis-21105	47	2	on	on	ADP
fcis-21105	47	3	the	the	DET
fcis-21105	47	4	perception	perception	NOUN
fcis-21105	47	5	of	of	ADP
fcis-21105	47	6	the	the	DET
fcis-21105	47	7	environment	environment	NOUN
fcis-21105	47	8	and	and	CCONJ
fcis-21105	47	9	state	state	NOUN
fcis-21105	47	10	reasoning	reasoning	NOUN
fcis-21105	47	11	,	,	PUNCT
fcis-21105	47	12	robots	robot	NOUN
fcis-21105	47	13	can	can	AUX
fcis-21105	47	14	make	make	VERB
fcis-21105	47	15	task	task	NOUN
fcis-21105	47	16	planning	planning	NOUN
fcis-21105	47	17	and	and	CCONJ
fcis-21105	47	18	decision	decision	NOUN
fcis-21105	47	19	-	-	PUNCT
fcis-21105	47	20	making	making	NOUN
fcis-21105	47	21	.	.	PUNCT
fcis-21105	48	1	the	the	DET
fcis-21105	48	2	reinforcement	reinforcement	NOUN
fcis-21105	48	3	learning	learning	NOUN
fcis-21105	48	4	(	(	PUNCT
fcis-21105	48	5	rl	rl	NOUN
fcis-21105	48	6	)	)	PUNCT
fcis-21105	48	7	method	method	NOUN
fcis-21105	48	8	is	be	AUX
fcis-21105	48	9	proposed	propose	VERB
fcis-21105	48	10	to	to	PART
fcis-21105	48	11	realize	realize	VERB
fcis-21105	48	12	the	the	DET
fcis-21105	48	13	autonomous	autonomous	ADJ
fcis-21105	48	14	decision	decision	NOUN
fcis-21105	48	15	-	-	PUNCT
fcis-21105	48	16	making	making	NOUN
fcis-21105	48	17	of	of	ADP
fcis-21105	48	18	robots	robot	NOUN
fcis-21105	48	19	,	,	PUNCT
fcis-21105	48	20	and	and	CCONJ
fcis-21105	48	21	the	the	DET
fcis-21105	48	22	combination	combination	NOUN
fcis-21105	48	23	of	of	ADP
fcis-21105	48	24	deep	deep	ADJ
fcis-21105	48	25	reinforcement	reinforcement	NOUN
fcis-21105	48	26	learning	learning	NOUN
fcis-21105	48	27	(	(	PUNCT
fcis-21105	48	28	drl	drl	PROPN
fcis-21105	48	29	)	)	PUNCT
fcis-21105	48	30	and	and	CCONJ
fcis-21105	48	31	multi	multi	ADJ
fcis-21105	48	32	-	-	ADJ
fcis-21105	48	33	modal	modal	ADJ
fcis-21105	48	34	representation	representation	NOUN
fcis-21105	48	35	learning	learning	NOUN
fcis-21105	48	36	can	can	AUX
fcis-21105	48	37	realize	realize	VERB
fcis-21105	48	38	more	more	ADV
fcis-21105	48	39	intelligent	intelligent	ADJ
fcis-21105	48	40	and	and	CCONJ
fcis-21105	48	41	flexible	flexible	ADJ
fcis-21105	48	42	decision	decision	NOUN
fcis-21105	48	43	-	-	PUNCT
fcis-21105	48	44	making	making	NOUN
fcis-21105	48	45	[	[	X
fcis-21105	48	46	10	10	NUM
fcis-21105	48	47	]	]	PUNCT
fcis-21105	48	48	.	.	PUNCT
fcis-21105	49	1	action	action	NOUN
fcis-21105	49	2	execution	execution	NOUN
fcis-21105	49	3	and	and	CCONJ
fcis-21105	49	4	control	control	NOUN
fcis-21105	49	5	.	.	PUNCT
fcis-21105	50	1	finally	finally	ADV
fcis-21105	50	2	,	,	PUNCT
fcis-21105	50	3	according	accord	VERB
fcis-21105	50	4	to	to	ADP
fcis-21105	50	5	the	the	DET
fcis-21105	50	6	decision	decision	NOUN
fcis-21105	50	7	-	-	PUNCT
fcis-21105	50	8	making	make	VERB
fcis-21105	50	9	and	and	CCONJ
fcis-21105	50	10	planning	planning	NOUN
fcis-21105	50	11	results	result	NOUN
fcis-21105	50	12	,	,	PUNCT
fcis-21105	50	13	the	the	DET
fcis-21105	50	14	robot	robot	NOUN
fcis-21105	50	15	executes	execute	VERB
fcis-21105	50	16	corresponding	correspond	VERB
fcis-21105	50	17	actions	action	NOUN
fcis-21105	50	18	and	and	CCONJ
fcis-21105	50	19	control	control	NOUN
fcis-21105	50	20	strategies	strategy	NOUN
fcis-21105	50	21	.	.	PUNCT
fcis-21105	51	1	a	a	DET
fcis-21105	51	2	model	model	NOUN
fcis-21105	51	3	predictive	predictive	ADJ
fcis-21105	51	4	control	control	NOUN
fcis-21105	51	5	(	(	PUNCT
fcis-21105	51	6	mpc	mpc	NOUN
fcis-21105	51	7	)	)	PUNCT
fcis-21105	51	8	method	method	NOUN
fcis-21105	51	9	is	be	AUX
fcis-21105	51	10	proposed	propose	VERB
fcis-21105	51	11	to	to	PART
fcis-21105	51	12	realize	realize	VERB
fcis-21105	51	13	the	the	DET
fcis-21105	51	14	robot	robot	NOUN
fcis-21105	51	15	's	's	PART
fcis-21105	51	16	action	action	NOUN
fcis-21105	51	17	execution	execution	NOUN
fcis-21105	51	18	and	and	CCONJ
fcis-21105	51	19	trajectory	trajectory	NOUN
fcis-21105	51	20	tracking	tracking	NOUN
fcis-21105	51	21	,	,	PUNCT
fcis-21105	51	22	and	and	CCONJ
fcis-21105	51	23	at	at	ADP
fcis-21105	51	24	the	the	DET
fcis-21105	51	25	same	same	ADJ
fcis-21105	51	26	time	time	NOUN
fcis-21105	51	27	,	,	PUNCT
fcis-21105	51	28	multi	multi	ADJ
fcis-21105	51	29	-	-	ADJ
fcis-21105	51	30	modal	modal	ADJ
fcis-21105	51	31	perception	perception	NOUN
fcis-21105	51	32	and	and	CCONJ
fcis-21105	51	33	representation	representation	NOUN
fcis-21105	51	34	learning	learning	NOUN
fcis-21105	51	35	are	be	AUX
fcis-21105	51	36	combined	combine	VERB
fcis-21105	51	37	to	to	PART
fcis-21105	51	38	realize	realize	VERB
fcis-21105	51	39	more	more	ADV
fcis-21105	51	40	accurate	accurate	ADJ
fcis-21105	51	41	and	and	CCONJ
fcis-21105	51	42	efficient	efficient	ADJ
fcis-21105	51	43	action	action	NOUN
fcis-21105	51	44	execution	execution	NOUN
fcis-21105	51	45	.	.	PUNCT
fcis-21105	52	1	in	in	ADP
fcis-21105	52	2	the	the	DET
fcis-21105	52	3	stage	stage	NOUN
fcis-21105	52	4	of	of	ADP
fcis-21105	52	5	cross	cross	ADJ
fcis-21105	52	6	-	-	ADJ
fcis-21105	52	7	modal	modal	ADJ
fcis-21105	52	8	feature	feature	NOUN
fcis-21105	52	9	fusion	fusion	NOUN
fcis-21105	52	10	and	and	CCONJ
fcis-21105	52	11	representation	representation	NOUN
fcis-21105	52	12	learning	learning	NOUN
fcis-21105	52	13	,	,	PUNCT
fcis-21105	52	14	a	a	DET
fcis-21105	52	15	multi	multi	ADJ
fcis-21105	52	16	-	-	ADJ
fcis-21105	52	17	modal	modal	ADJ
fcis-21105	52	18	self	self	NOUN
fcis-21105	52	19	-	-	PUNCT
fcis-21105	52	20	attention	attention	NOUN
fcis-21105	52	21	network	network	NOUN
fcis-21105	52	22	based	base	VERB
fcis-21105	52	23	on	on	ADP
fcis-21105	52	24	transformer	transformer	NOUN
fcis-21105	52	25	is	be	AUX
fcis-21105	52	26	adopted	adopt	VERB
fcis-21105	52	27	.	.	PUNCT
fcis-21105	53	1	the	the	DET
fcis-21105	53	2	network	network	NOUN
fcis-21105	53	3	can	can	AUX
fcis-21105	53	4	automatically	automatically	ADV
fcis-21105	53	5	learn	learn	VERB
fcis-21105	53	6	the	the	DET
fcis-21105	53	7	correlation	correlation	NOUN
fcis-21105	53	8	between	between	ADP
fcis-21105	53	9	different	different	ADJ
fcis-21105	53	10	modal	modal	ADJ
fcis-21105	53	11	data	datum	NOUN
fcis-21105	53	12	and	and	CCONJ
fcis-21105	53	13	fuse	fuse	VERB
fcis-21105	53	14	them	they	PRON
fcis-21105	53	15	into	into	ADP
fcis-21105	53	16	a	a	DET
fcis-21105	53	17	unified	unified	ADJ
fcis-21105	53	18	multi	multi	ADJ
fcis-21105	53	19	-	-	ADJ
fcis-21105	53	20	modal	modal	ADJ
fcis-21105	53	21	representation	representation	NOUN
fcis-21105	53	22	.	.	PUNCT
fcis-21105	54	1	the	the	DET
fcis-21105	54	2	calculation	calculation	NOUN
fcis-21105	54	3	process	process	NOUN
fcis-21105	54	4	is	be	AUX
fcis-21105	54	5	as	as	SCONJ
fcis-21105	54	6	follows	follow	VERB
fcis-21105	54	7	:	:	PUNCT
fcis-21105	54	8			NOUN
fcis-21105	54	9			PUNCT
fcis-21105	54	10	v	v	NOUN
fcis-21105	54	11	d	d	PROPN
fcis-21105	54	12	qk	qk	NOUN
fcis-21105	54	13	q	q	PROPN
fcis-21105	54	14	,	,	PUNCT
fcis-21105	54	15	k	k	PROPN
fcis-21105	54	16	,	,	PUNCT
fcis-21105	54	17	v_attentionmultimodal	v_attentionmultimodal	NOUN
fcis-21105	54	18	k	k	PROPN
fcis-21105	54	19	t	t	PROPN
fcis-21105	54	20			PROPN
fcis-21105	55	1			PROPN
fcis-21105	55	2			NOUN
fcis-21105	56	1			PROPN
fcis-21105	56	2			PROPN
fcis-21105	56	3			PROPN
fcis-21105	57	1			PROPN
fcis-21105	57	2			NOUN
fcis-21105	57	3			PROPN
fcis-21105	57	4	softmax	softmax	NOUN
fcis-21105	57	5	(	(	PUNCT
fcis-21105	57	6	1	1	X
fcis-21105	57	7	)	)	PUNCT
fcis-21105	57	8	where	where	SCONJ
fcis-21105	57	9	q	q	X
fcis-21105	57	10	,	,	PUNCT
fcis-21105	57	11	k	k	NOUN
fcis-21105	57	12	,	,	PUNCT
fcis-21105	57	13	v	v	NOUN
fcis-21105	57	14	represents	represent	VERB
fcis-21105	57	15	the	the	DET
fcis-21105	57	16	matrix	matrix	NOUN
fcis-21105	57	17	of	of	ADP
fcis-21105	57	18	query	query	NOUN
fcis-21105	57	19	,	,	PUNCT
fcis-21105	57	20	key	key	ADJ
fcis-21105	57	21	and	and	CCONJ
fcis-21105	57	22	value	value	NOUN
fcis-21105	57	23	respectively	respectively	ADV
fcis-21105	57	24	,	,	PUNCT
fcis-21105	57	25	and	and	CCONJ
fcis-21105	57	26	kd	kd	PROPN
fcis-21105	57	27	represents	represent	VERB
fcis-21105	57	28	the	the	DET
fcis-21105	57	29	feature	feature	NOUN
fcis-21105	57	30	dimension	dimension	NOUN
fcis-21105	57	31	.	.	PUNCT
fcis-21105	58	1	through	through	ADP
fcis-21105	58	2	the	the	DET
fcis-21105	58	3	multi	multi	ADJ
fcis-21105	58	4	-	-	ADJ
fcis-21105	58	5	modal	modal	ADJ
fcis-21105	58	6	self	self	NOUN
fcis-21105	58	7	-	-	PUNCT
fcis-21105	58	8	attention	attention	NOUN
fcis-21105	58	9	mechanism	mechanism	NOUN
fcis-21105	58	10	,	,	PUNCT
fcis-21105	58	11	more	more	ADV
fcis-21105	58	12	accurate	accurate	ADJ
fcis-21105	58	13	and	and	CCONJ
fcis-21105	58	14	rich	rich	ADJ
fcis-21105	58	15	multi	multi	ADJ
fcis-21105	58	16	-	-	ADJ
fcis-21105	58	17	modal	modal	ADJ
fcis-21105	58	18	representation	representation	NOUN
fcis-21105	58	19	can	can	AUX
fcis-21105	58	20	be	be	AUX
fcis-21105	58	21	obtained	obtain	VERB
fcis-21105	58	22	.	.	PUNCT
fcis-21105	59	1	the	the	DET
fcis-21105	59	2	multi	multi	ADJ
fcis-21105	59	3	-	-	ADJ
fcis-21105	59	4	modal	modal	ADJ
fcis-21105	59	5	environment	environment	NOUN
fcis-21105	59	6	modeling	modeling	NOUN
fcis-21105	59	7	method	method	NOUN
fcis-21105	59	8	based	base	VERB
fcis-21105	59	9	on	on	ADP
fcis-21105	59	10	gnn	gnn	PROPN
fcis-21105	59	11	is	be	AUX
fcis-21105	59	12	adopted	adopt	VERB
fcis-21105	59	13	in	in	ADP
fcis-21105	59	14	the	the	DET
fcis-21105	59	15	stage	stage	NOUN
fcis-21105	59	16	of	of	ADP
fcis-21105	59	17	environmental	environmental	ADJ
fcis-21105	59	18	awareness	awareness	NOUN
fcis-21105	59	19	and	and	CCONJ
fcis-21105	59	20	state	state	NOUN
fcis-21105	59	21	reasoning	reasoning	NOUN
fcis-21105	59	22	.	.	PUNCT
fcis-21105	60	1	the	the	DET
fcis-21105	60	2	environment	environment	NOUN
fcis-21105	60	3	is	be	AUX
fcis-21105	60	4	modeled	model	VERB
fcis-21105	60	5	as	as	ADP
fcis-21105	60	6	a	a	DET
fcis-21105	60	7	graph	graph	NOUN
fcis-21105	60	8	structure	structure	NOUN
fcis-21105	60	9	,	,	PUNCT
fcis-21105	60	10	in	in	ADP
fcis-21105	60	11	which	which	PRON
fcis-21105	60	12	nodes	node	NOUN
fcis-21105	60	13	represent	represent	VERB
fcis-21105	60	14	objects	object	NOUN
fcis-21105	60	15	or	or	CCONJ
fcis-21105	60	16	features	feature	NOUN
fcis-21105	60	17	in	in	ADP
fcis-21105	60	18	the	the	DET
fcis-21105	60	19	environment	environment	NOUN
fcis-21105	60	20	and	and	CCONJ
fcis-21105	60	21	edges	edge	NOUN
fcis-21105	60	22	represent	represent	VERB
fcis-21105	60	23	the	the	DET
fcis-21105	60	24	relationship	relationship	NOUN
fcis-21105	60	25	between	between	ADP
fcis-21105	60	26	objects	object	NOUN
fcis-21105	60	27	.	.	PUNCT
fcis-21105	61	1	the	the	DET
fcis-21105	61	2	graph	graph	NOUN
fcis-21105	61	3	neural	neural	ADJ
fcis-21105	61	4	network	network	NOUN
fcis-21105	61	5	is	be	AUX
fcis-21105	61	6	used	use	VERB
fcis-21105	61	7	to	to	PART
fcis-21105	61	8	dynamically	dynamically	ADV
fcis-21105	61	9	model	model	VERB
fcis-21105	61	10	the	the	DET
fcis-21105	61	11	environment	environment	NOUN
fcis-21105	61	12	,	,	PUNCT
fcis-21105	61	13	and	and	CCONJ
fcis-21105	61	14	the	the	DET
fcis-21105	61	15	cyclic	cyclic	ADJ
fcis-21105	61	16	neural	neural	ADJ
fcis-21105	61	17	network	network	NOUN
fcis-21105	61	18	is	be	AUX
fcis-21105	61	19	used	use	VERB
fcis-21105	61	20	to	to	PART
fcis-21105	61	21	reason	reason	VERB
fcis-21105	61	22	and	and	CCONJ
fcis-21105	61	23	predict	predict	VERB
fcis-21105	61	24	the	the	DET
fcis-21105	61	25	environmental	environmental	ADJ
fcis-21105	61	26	state	state	NOUN
fcis-21105	61	27	.	.	PUNCT
fcis-21105	62	1	the	the	DET
fcis-21105	62	2	multi	multi	ADJ
fcis-21105	62	3	-	-	ADJ
fcis-21105	62	4	modal	modal	ADJ
fcis-21105	62	5	decision	decision	NOUN
fcis-21105	62	6	-	-	PUNCT
fcis-21105	62	7	making	make	VERB
fcis-21105	62	8	method	method	NOUN
fcis-21105	62	9	based	base	VERB
fcis-21105	62	10	on	on	ADP
fcis-21105	62	11	drl	drl	PROPN
fcis-21105	62	12	is	be	AUX
fcis-21105	62	13	adopted	adopt	VERB
fcis-21105	62	14	in	in	ADP
fcis-21105	62	15	the	the	DET
fcis-21105	62	16	task	task	NOUN
fcis-21105	62	17	planning	planning	NOUN
fcis-21105	62	18	and	and	CCONJ
fcis-21105	62	19	decision	decision	NOUN
fcis-21105	62	20	-	-	PUNCT
fcis-21105	62	21	making	make	VERB
fcis-21105	62	22	stage	stage	NOUN
fcis-21105	62	23	.	.	PUNCT
fcis-21105	63	1	a	a	DET
fcis-21105	63	2	multi	multi	ADJ
fcis-21105	63	3	-	-	ADJ
fcis-21105	63	4	modal	modal	ADJ
fcis-21105	63	5	reinforcement	reinforcement	NOUN
fcis-21105	63	6	learner	learner	NOUN
fcis-21105	63	7	is	be	AUX
fcis-21105	63	8	designed	design	VERB
fcis-21105	63	9	,	,	PUNCT
fcis-21105	63	10	which	which	PRON
fcis-21105	63	11	can	can	AUX
fcis-21105	63	12	process	process	VERB
fcis-21105	63	13	observation	observation	NOUN
fcis-21105	63	14	data	datum	NOUN
fcis-21105	63	15	from	from	ADP
fcis-21105	63	16	different	different	ADJ
fcis-21105	63	17	modes	mode	NOUN
fcis-21105	63	18	at	at	ADP
fcis-21105	63	19	the	the	DET
fcis-21105	63	20	same	same	ADJ
fcis-21105	63	21	time	time	NOUN
fcis-21105	63	22	and	and	CCONJ
fcis-21105	63	23	learn	learn	VERB
fcis-21105	63	24	the	the	DET
fcis-21105	63	25	optimal	optimal	ADJ
fcis-21105	63	26	decision	decision	NOUN
fcis-21105	63	27	-	-	PUNCT
fcis-21105	63	28	making	make	VERB
fcis-21105	63	29	strategy	strategy	NOUN
fcis-21105	63	30	.	.	PUNCT
fcis-21105	64	1	by	by	ADP
fcis-21105	64	2	interacting	interact	VERB
fcis-21105	64	3	with	with	ADP
fcis-21105	64	4	the	the	DET
fcis-21105	64	5	environment	environment	NOUN
fcis-21105	64	6	,	,	PUNCT
fcis-21105	64	7	the	the	DET
fcis-21105	64	8	learner	learner	NOUN
fcis-21105	64	9	can	can	AUX
fcis-21105	64	10	continuously	continuously	ADV
fcis-21105	64	11	optimize	optimize	VERB
fcis-21105	64	12	its	its	PRON
fcis-21105	64	13	decision	decision	NOUN
fcis-21105	64	14	-	-	PUNCT
fcis-21105	64	15	making	make	VERB
fcis-21105	64	16	ability	ability	NOUN
fcis-21105	64	17	,	,	PUNCT
fcis-21105	64	18	thus	thus	ADV
fcis-21105	64	19	achieving	achieve	VERB
fcis-21105	64	20	more	more	ADV
fcis-21105	64	21	intelligent	intelligent	ADJ
fcis-21105	64	22	and	and	CCONJ
fcis-21105	64	23	flexible	flexible	ADJ
fcis-21105	64	24	decision	decision	NOUN
fcis-21105	64	25	-	-	PUNCT
fcis-21105	64	26	making	making	NOUN
fcis-21105	64	27	.	.	PUNCT
fcis-21105	65	1	through	through	ADP
fcis-21105	65	2	the	the	DET
fcis-21105	65	3	design	design	NOUN
fcis-21105	65	4	and	and	CCONJ
fcis-21105	65	5	implementation	implementation	NOUN
fcis-21105	65	6	of	of	ADP
fcis-21105	65	7	the	the	DET
fcis-21105	65	8	above	above	ADJ
fcis-21105	65	9	methods	method	NOUN
fcis-21105	65	10	,	,	PUNCT
fcis-21105	65	11	the	the	DET
fcis-21105	65	12	intelligent	intelligent	ADJ
fcis-21105	65	13	control	control	NOUN
fcis-21105	65	14	of	of	ADP
fcis-21105	65	15	robots	robot	NOUN
fcis-21105	65	16	can	can	AUX
fcis-21105	65	17	be	be	AUX
fcis-21105	65	18	effectively	effectively	ADV
fcis-21105	65	19	supported	support	VERB
fcis-21105	65	20	,	,	PUNCT
fcis-21105	65	21	and	and	CCONJ
fcis-21105	65	22	the	the	DET
fcis-21105	65	23	adaptability	adaptability	NOUN
fcis-21105	65	24	and	and	CCONJ
fcis-21105	65	25	performance	performance	NOUN
fcis-21105	65	26	of	of	ADP
fcis-21105	65	27	robots	robot	NOUN
fcis-21105	65	28	in	in	ADP
fcis-21105	65	29	complex	complex	ADJ
fcis-21105	65	30	environments	environment	NOUN
fcis-21105	65	31	can	can	AUX
fcis-21105	65	32	be	be	AUX
fcis-21105	65	33	improved	improve	VERB
fcis-21105	65	34	,	,	PUNCT
fcis-21105	65	35	thus	thus	ADV
fcis-21105	65	36	promoting	promote	VERB
fcis-21105	65	37	the	the	DET
fcis-21105	65	38	development	development	NOUN
fcis-21105	65	39	and	and	CCONJ
fcis-21105	65	40	application	application	NOUN
fcis-21105	65	41	of	of	ADP
fcis-21105	65	42	robot	robot	NOUN
fcis-21105	65	43	technology	technology	NOUN
fcis-21105	65	44	.	.	PUNCT
fcis-21105	66	1	4	4	X
fcis-21105	66	2	.	.	NUM
fcis-21105	66	3	experiments	experiment	NOUN
fcis-21105	66	4	and	and	CCONJ
fcis-21105	66	5	results	result	NOUN
fcis-21105	66	6	in	in	ADP
fcis-21105	66	7	order	order	NOUN
fcis-21105	66	8	to	to	PART
fcis-21105	66	9	verify	verify	VERB
fcis-21105	66	10	the	the	DET
fcis-21105	66	11	effectiveness	effectiveness	NOUN
fcis-21105	66	12	of	of	ADP
fcis-21105	66	13	the	the	DET
fcis-21105	66	14	proposed	propose	VERB
fcis-21105	66	15	application	application	NOUN
fcis-21105	66	16	framework	framework	NOUN
fcis-21105	66	17	and	and	CCONJ
fcis-21105	66	18	method	method	NOUN
fcis-21105	66	19	of	of	ADP
fcis-21105	66	20	multi	multi	ADJ
fcis-21105	66	21	-	-	ADJ
fcis-21105	66	22	modal	modal	ADJ
fcis-21105	66	23	large	large	ADJ
fcis-21105	66	24	109	109	NUM
fcis-21105	66	25	model	model	NOUN
fcis-21105	66	26	in	in	ADP
fcis-21105	66	27	robot	robot	NOUN
fcis-21105	66	28	control	control	PROPN
fcis-21105	66	29	,	,	PUNCT
fcis-21105	66	30	a	a	DET
fcis-21105	66	31	specific	specific	ADJ
fcis-21105	66	32	experimental	experimental	ADJ
fcis-21105	66	33	scenario	scenario	NOUN
fcis-21105	66	34	is	be	AUX
fcis-21105	66	35	designed	design	VERB
fcis-21105	66	36	:	:	PUNCT
fcis-21105	66	37	a	a	DET
fcis-21105	66	38	service	service	NOUN
fcis-21105	66	39	robot	robot	NOUN
fcis-21105	66	40	task	task	NOUN
fcis-21105	66	41	in	in	ADP
fcis-21105	66	42	a	a	DET
fcis-21105	66	43	smart	smart	ADJ
fcis-21105	66	44	home	home	NOUN
fcis-21105	66	45	environment	environment	NOUN
fcis-21105	66	46	.	.	PUNCT
fcis-21105	67	1	in	in	ADP
fcis-21105	67	2	this	this	DET
fcis-21105	67	3	scenario	scenario	NOUN
fcis-21105	67	4	,	,	PUNCT
fcis-21105	67	5	the	the	DET
fcis-21105	67	6	service	service	NOUN
fcis-21105	67	7	robot	robot	NOUN
fcis-21105	67	8	needs	need	VERB
fcis-21105	67	9	to	to	PART
fcis-21105	67	10	perform	perform	VERB
fcis-21105	67	11	a	a	DET
fcis-21105	67	12	variety	variety	NOUN
fcis-21105	67	13	of	of	ADP
fcis-21105	67	14	tasks	task	NOUN
fcis-21105	67	15	in	in	ADP
fcis-21105	67	16	the	the	DET
fcis-21105	67	17	home	home	NOUN
fcis-21105	67	18	environment	environment	NOUN
fcis-21105	67	19	,	,	PUNCT
fcis-21105	67	20	including	include	VERB
fcis-21105	67	21	goods	good	NOUN
fcis-21105	67	22	delivery	delivery	NOUN
fcis-21105	67	23	,	,	PUNCT
fcis-21105	67	24	environmental	environmental	ADJ
fcis-21105	67	25	monitoring	monitoring	NOUN
fcis-21105	67	26	,	,	PUNCT
fcis-21105	67	27	voice	voice	NOUN
fcis-21105	67	28	interaction	interaction	NOUN
fcis-21105	67	29	and	and	CCONJ
fcis-21105	67	30	so	so	ADV
fcis-21105	67	31	on	on	ADV
fcis-21105	67	32	.	.	PUNCT
fcis-21105	68	1	the	the	DET
fcis-21105	68	2	multi	multi	ADJ
fcis-21105	68	3	-	-	ADJ
fcis-21105	68	4	modal	modal	ADJ
fcis-21105	68	5	large	large	ADJ
fcis-21105	68	6	model	model	NOUN
fcis-21105	68	7	is	be	AUX
fcis-21105	68	8	used	use	VERB
fcis-21105	68	9	to	to	PART
fcis-21105	68	10	process	process	VERB
fcis-21105	68	11	the	the	DET
fcis-21105	68	12	multi	multi	ADJ
fcis-21105	68	13	-	-	ADJ
fcis-21105	68	14	modal	modal	ADJ
fcis-21105	68	15	information	information	NOUN
fcis-21105	68	16	such	such	ADJ
fcis-21105	68	17	as	as	ADP
fcis-21105	68	18	vision	vision	NOUN
fcis-21105	68	19	,	,	PUNCT
fcis-21105	68	20	sound	sound	NOUN
fcis-21105	68	21	and	and	CCONJ
fcis-21105	68	22	text	text	NOUN
fcis-21105	68	23	obtained	obtain	VERB
fcis-21105	68	24	by	by	ADP
fcis-21105	68	25	the	the	DET
fcis-21105	68	26	robot	robot	NOUN
fcis-21105	68	27	from	from	ADP
fcis-21105	68	28	the	the	DET
fcis-21105	68	29	environment	environment	NOUN
fcis-21105	68	30	,	,	PUNCT
fcis-21105	68	31	and	and	CCONJ
fcis-21105	68	32	the	the	DET
fcis-21105	68	33	performance	performance	NOUN
fcis-21105	68	34	difference	difference	NOUN
fcis-21105	68	35	between	between	ADP
fcis-21105	68	36	it	it	PRON
fcis-21105	68	37	and	and	CCONJ
fcis-21105	68	38	the	the	DET
fcis-21105	68	39	traditional	traditional	ADJ
fcis-21105	68	40	single	single	ADJ
fcis-21105	68	41	-	-	PUNCT
fcis-21105	68	42	modal	modal	NOUN
fcis-21105	68	43	model	model	NOUN
fcis-21105	68	44	is	be	AUX
fcis-21105	68	45	compared	compare	VERB
fcis-21105	68	46	.	.	PUNCT
fcis-21105	69	1	a	a	DET
fcis-21105	69	2	simulation	simulation	NOUN
fcis-21105	69	3	environment	environment	NOUN
fcis-21105	69	4	based	base	VERB
fcis-21105	69	5	on	on	ADP
fcis-21105	69	6	ros(robot	ros(robot	NOUN
fcis-21105	69	7	operating	operating	NOUN
fcis-21105	69	8	system	system	NOUN
fcis-21105	69	9	)	)	PUNCT
fcis-21105	69	10	is	be	AUX
fcis-21105	69	11	used	use	VERB
fcis-21105	69	12	to	to	PART
fcis-21105	69	13	simulate	simulate	VERB
fcis-21105	69	14	the	the	DET
fcis-21105	69	15	smart	smart	ADJ
fcis-21105	69	16	home	home	NOUN
fcis-21105	69	17	scene	scene	NOUN
fcis-21105	69	18	.	.	PUNCT
fcis-21105	70	1	the	the	DET
fcis-21105	70	2	environment	environment	NOUN
fcis-21105	70	3	includes	include	VERB
fcis-21105	70	4	a	a	DET
fcis-21105	70	5	simulated	simulated	ADJ
fcis-21105	70	6	family	family	NOUN
fcis-21105	70	7	residence	residence	NOUN
fcis-21105	70	8	,	,	PUNCT
fcis-21105	70	9	as	as	ADV
fcis-21105	70	10	well	well	ADV
fcis-21105	70	11	as	as	ADP
fcis-21105	70	12	all	all	DET
fcis-21105	70	13	kinds	kind	NOUN
fcis-21105	70	14	of	of	ADP
fcis-21105	70	15	equipment	equipment	NOUN
fcis-21105	70	16	and	and	CCONJ
fcis-21105	70	17	furniture	furniture	NOUN
fcis-21105	70	18	in	in	ADP
fcis-21105	70	19	the	the	DET
fcis-21105	70	20	family	family	NOUN
fcis-21105	70	21	.	.	PUNCT
fcis-21105	71	1	design	design	NOUN
fcis-21105	71	2	multiple	multiple	ADJ
fcis-21105	71	3	tasks	task	NOUN
fcis-21105	71	4	,	,	PUNCT
fcis-21105	71	5	including	include	VERB
fcis-21105	71	6	goods	good	NOUN
fcis-21105	71	7	delivery	delivery	NOUN
fcis-21105	71	8	,	,	PUNCT
fcis-21105	71	9	environmental	environmental	ADJ
fcis-21105	71	10	monitoring	monitoring	NOUN
fcis-21105	71	11	,	,	PUNCT
fcis-21105	71	12	voice	voice	NOUN
fcis-21105	71	13	interaction	interaction	NOUN
fcis-21105	71	14	,	,	PUNCT
fcis-21105	71	15	etc	etc	X
fcis-21105	71	16	.	.	X
fcis-21105	72	1	each	each	DET
fcis-21105	72	2	task	task	NOUN
fcis-21105	72	3	involves	involve	VERB
fcis-21105	72	4	different	different	ADJ
fcis-21105	72	5	environmental	environmental	ADJ
fcis-21105	72	6	awareness	awareness	NOUN
fcis-21105	72	7	,	,	PUNCT
fcis-21105	72	8	state	state	NOUN
fcis-21105	72	9	reasoning	reasoning	NOUN
fcis-21105	72	10	,	,	PUNCT
fcis-21105	72	11	task	task	NOUN
fcis-21105	72	12	planning	planning	NOUN
fcis-21105	72	13	and	and	CCONJ
fcis-21105	72	14	action	action	NOUN
fcis-21105	72	15	execution	execution	NOUN
fcis-21105	72	16	.	.	PUNCT
fcis-21105	73	1	the	the	DET
fcis-21105	73	2	proposed	propose	VERB
fcis-21105	73	3	multi	multi	ADJ
fcis-21105	73	4	-	-	ADJ
fcis-21105	73	5	modal	modal	ADJ
fcis-21105	73	6	large	large	ADJ
fcis-21105	73	7	model	model	NOUN
fcis-21105	73	8	is	be	AUX
fcis-21105	73	9	compared	compare	VERB
fcis-21105	73	10	with	with	ADP
fcis-21105	73	11	the	the	DET
fcis-21105	73	12	traditional	traditional	ADJ
fcis-21105	73	13	single	single	ADJ
fcis-21105	73	14	-	-	PUNCT
fcis-21105	73	15	modal	modal	NOUN
fcis-21105	73	16	model	model	NOUN
fcis-21105	73	17	.	.	PUNCT
fcis-21105	74	1	for	for	ADP
fcis-21105	74	2	the	the	DET
fcis-21105	74	3	single	single	ADJ
fcis-21105	74	4	-	-	PUNCT
fcis-21105	74	5	mode	mode	NOUN
fcis-21105	74	6	model	model	NOUN
fcis-21105	74	7	,	,	PUNCT
fcis-21105	74	8	single	single	ADJ
fcis-21105	74	9	visual	visual	ADJ
fcis-21105	74	10	information	information	NOUN
fcis-21105	74	11	,	,	PUNCT
fcis-21105	74	12	sound	sound	ADJ
fcis-21105	74	13	information	information	NOUN
fcis-21105	74	14	and	and	CCONJ
fcis-21105	74	15	text	text	NOUN
fcis-21105	74	16	information	information	NOUN
fcis-21105	74	17	are	be	AUX
fcis-21105	74	18	used	use	VERB
fcis-21105	74	19	to	to	PART
fcis-21105	74	20	control	control	VERB
fcis-21105	74	21	the	the	DET
fcis-21105	74	22	robot	robot	NOUN
fcis-21105	74	23	.	.	PUNCT
fcis-21105	75	1	multi	multi	ADJ
fcis-21105	75	2	-	-	ADJ
fcis-21105	75	3	modal	modal	ADJ
fcis-21105	75	4	large	large	ADJ
fcis-21105	75	5	model	model	NOUN
fcis-21105	75	6	shows	show	VERB
fcis-21105	75	7	better	well	ADJ
fcis-21105	75	8	performance	performance	NOUN
fcis-21105	75	9	in	in	ADP
fcis-21105	75	10	the	the	DET
fcis-21105	75	11	task	task	NOUN
fcis-21105	75	12	of	of	ADP
fcis-21105	75	13	service	service	NOUN
fcis-21105	75	14	robot	robot	NOUN
fcis-21105	75	15	in	in	ADP
fcis-21105	75	16	smart	smart	ADJ
fcis-21105	75	17	home	home	NOUN
fcis-21105	75	18	environment	environment	NOUN
fcis-21105	75	19	.	.	PUNCT
fcis-21105	76	1	compared	compare	VERB
fcis-21105	76	2	with	with	ADP
fcis-21105	76	3	the	the	DET
fcis-21105	76	4	single	single	ADJ
fcis-21105	76	5	-	-	PUNCT
fcis-21105	76	6	mode	mode	NOUN
fcis-21105	76	7	model	model	NOUN
fcis-21105	76	8	,	,	PUNCT
fcis-21105	76	9	the	the	DET
fcis-21105	76	10	multi	multi	ADJ
fcis-21105	76	11	-	-	ADJ
fcis-21105	76	12	mode	mode	ADJ
fcis-21105	76	13	large	large	ADJ
fcis-21105	76	14	-	-	PUNCT
fcis-21105	76	15	scale	scale	NOUN
fcis-21105	76	16	model	model	NOUN
fcis-21105	76	17	can	can	AUX
fcis-21105	76	18	understand	understand	VERB
fcis-21105	76	19	the	the	DET
fcis-21105	76	20	environment	environment	NOUN
fcis-21105	76	21	and	and	CCONJ
fcis-21105	76	22	tasks	task	NOUN
fcis-21105	76	23	more	more	ADV
fcis-21105	76	24	comprehensively	comprehensively	ADV
fcis-21105	76	25	,	,	PUNCT
fcis-21105	76	26	thus	thus	ADV
fcis-21105	76	27	achieving	achieve	VERB
fcis-21105	76	28	smarter	smart	ADJ
fcis-21105	76	29	and	and	CCONJ
fcis-21105	76	30	more	more	ADV
fcis-21105	76	31	flexible	flexible	ADJ
fcis-21105	76	32	control	control	NOUN
fcis-21105	76	33	(	(	PUNCT
fcis-21105	76	34	figure	figure	NOUN
fcis-21105	76	35	2	2	NUM
fcis-21105	76	36	)	)	PUNCT
fcis-21105	76	37	.	.	PUNCT
fcis-21105	77	1	figure	figure	NOUN
fcis-21105	77	2	2	2	NUM
fcis-21105	77	3	.	.	PUNCT
fcis-21105	77	4	performance	performance	NOUN
fcis-21105	77	5	comparison	comparison	NOUN
fcis-21105	77	6	it	it	PRON
fcis-21105	77	7	can	can	AUX
fcis-21105	77	8	be	be	AUX
fcis-21105	77	9	observed	observe	VERB
fcis-21105	77	10	from	from	ADP
fcis-21105	77	11	the	the	DET
fcis-21105	77	12	figure	figure	NOUN
fcis-21105	77	13	that	that	SCONJ
fcis-21105	77	14	the	the	DET
fcis-21105	77	15	distribution	distribution	NOUN
fcis-21105	77	16	of	of	ADP
fcis-21105	77	17	blue	blue	ADJ
fcis-21105	77	18	points	point	NOUN
fcis-21105	77	19	(	(	PUNCT
fcis-21105	77	20	multi	multi	ADJ
fcis-21105	77	21	-	-	ADJ
fcis-21105	77	22	modal	modal	ADJ
fcis-21105	77	23	large	large	ADJ
fcis-21105	77	24	model	model	NOUN
fcis-21105	77	25	)	)	PUNCT
fcis-21105	77	26	is	be	AUX
fcis-21105	77	27	more	more	ADV
fcis-21105	77	28	dense	dense	ADJ
fcis-21105	77	29	and	and	CCONJ
fcis-21105	77	30	concentrated	concentrate	VERB
fcis-21105	77	31	in	in	ADP
fcis-21105	77	32	the	the	DET
fcis-21105	77	33	center	center	NOUN
fcis-21105	77	34	of	of	ADP
fcis-21105	77	35	the	the	DET
fcis-21105	77	36	figure	figure	NOUN
fcis-21105	77	37	,	,	PUNCT
fcis-21105	77	38	while	while	SCONJ
fcis-21105	77	39	the	the	DET
fcis-21105	77	40	distribution	distribution	NOUN
fcis-21105	77	41	of	of	ADP
fcis-21105	77	42	red	red	ADJ
fcis-21105	77	43	points	point	NOUN
fcis-21105	77	44	(	(	PUNCT
fcis-21105	77	45	single	single	ADJ
fcis-21105	77	46	-	-	PUNCT
fcis-21105	77	47	modal	modal	NOUN
fcis-21105	77	48	model	model	NOUN
fcis-21105	77	49	)	)	PUNCT
fcis-21105	77	50	is	be	AUX
fcis-21105	77	51	relatively	relatively	ADV
fcis-21105	77	52	scattered	scatter	VERB
fcis-21105	77	53	.	.	PUNCT
fcis-21105	78	1	this	this	PRON
fcis-21105	78	2	shows	show	VERB
fcis-21105	78	3	that	that	SCONJ
fcis-21105	78	4	the	the	DET
fcis-21105	78	5	multi	multi	ADJ
fcis-21105	78	6	-	-	ADJ
fcis-21105	78	7	modal	modal	ADJ
fcis-21105	78	8	large	large	ADJ
fcis-21105	78	9	model	model	NOUN
fcis-21105	78	10	is	be	AUX
fcis-21105	78	11	more	more	ADV
fcis-21105	78	12	stable	stable	ADJ
fcis-21105	78	13	and	and	CCONJ
fcis-21105	78	14	consistent	consistent	ADJ
fcis-21105	78	15	in	in	ADP
fcis-21105	78	16	smart	smart	ADJ
fcis-21105	78	17	home	home	NOUN
fcis-21105	78	18	environment	environment	NOUN
fcis-21105	78	19	,	,	PUNCT
fcis-21105	78	20	and	and	CCONJ
fcis-21105	78	21	can	can	AUX
fcis-21105	78	22	better	well	ADV
fcis-21105	78	23	cope	cope	VERB
fcis-21105	78	24	with	with	ADP
fcis-21105	78	25	various	various	ADJ
fcis-21105	78	26	situations	situation	NOUN
fcis-21105	78	27	and	and	CCONJ
fcis-21105	78	28	task	task	NOUN
fcis-21105	78	29	requirements	requirement	NOUN
fcis-21105	78	30	.	.	PUNCT
fcis-21105	79	1	however	however	ADV
fcis-21105	79	2	,	,	PUNCT
fcis-21105	79	3	the	the	DET
fcis-21105	79	4	performance	performance	NOUN
fcis-21105	79	5	distribution	distribution	NOUN
fcis-21105	79	6	of	of	ADP
fcis-21105	79	7	single	single	ADJ
fcis-21105	79	8	-	-	PUNCT
fcis-21105	79	9	mode	mode	NOUN
fcis-21105	79	10	model	model	NOUN
fcis-21105	79	11	is	be	AUX
fcis-21105	79	12	scattered	scatter	VERB
fcis-21105	79	13	,	,	PUNCT
fcis-21105	79	14	which	which	PRON
fcis-21105	79	15	has	have	VERB
fcis-21105	79	16	certain	certain	ADJ
fcis-21105	79	17	uncertainty	uncertainty	NOUN
fcis-21105	79	18	and	and	CCONJ
fcis-21105	79	19	fluctuation	fluctuation	NOUN
fcis-21105	79	20	.	.	PUNCT
fcis-21105	80	1	the	the	DET
fcis-21105	80	2	performance	performance	NOUN
fcis-21105	80	3	of	of	ADP
fcis-21105	80	4	multi	multi	ADJ
fcis-21105	80	5	-	-	ADJ
fcis-21105	80	6	modal	modal	ADJ
fcis-21105	80	7	large	large	ADJ
fcis-21105	80	8	model	model	NOUN
fcis-21105	80	9	in	in	ADP
fcis-21105	80	10	smart	smart	ADJ
fcis-21105	80	11	home	home	NOUN
fcis-21105	80	12	environment	environment	NOUN
fcis-21105	80	13	is	be	AUX
fcis-21105	80	14	better	well	ADJ
fcis-21105	80	15	than	than	ADP
fcis-21105	80	16	that	that	PRON
fcis-21105	80	17	of	of	ADP
fcis-21105	80	18	single	single	ADJ
fcis-21105	80	19	-	-	PUNCT
fcis-21105	80	20	modal	modal	NOUN
fcis-21105	80	21	model	model	NOUN
fcis-21105	80	22	.	.	PUNCT
fcis-21105	81	1	multi	multi	ADJ
fcis-21105	81	2	-	-	ADJ
fcis-21105	81	3	modal	modal	ADJ
fcis-21105	81	4	large	large	ADJ
fcis-21105	81	5	-	-	PUNCT
fcis-21105	81	6	scale	scale	NOUN
fcis-21105	81	7	model	model	NOUN
fcis-21105	81	8	can	can	AUX
fcis-21105	81	9	understand	understand	VERB
fcis-21105	81	10	the	the	DET
fcis-21105	81	11	environment	environment	NOUN
fcis-21105	81	12	and	and	CCONJ
fcis-21105	81	13	tasks	task	NOUN
fcis-21105	81	14	more	more	ADV
fcis-21105	81	15	comprehensively	comprehensively	ADV
fcis-21105	81	16	,	,	PUNCT
fcis-21105	81	17	so	so	SCONJ
fcis-21105	81	18	as	as	SCONJ
fcis-21105	81	19	to	to	PART
fcis-21105	81	20	realize	realize	VERB
fcis-21105	81	21	smarter	smart	ADJ
fcis-21105	81	22	and	and	CCONJ
fcis-21105	81	23	more	more	ADV
fcis-21105	81	24	flexible	flexible	ADJ
fcis-21105	81	25	control	control	NOUN
fcis-21105	81	26	.	.	PUNCT
fcis-21105	82	1	this	this	DET
fcis-21105	82	2	advantage	advantage	NOUN
fcis-21105	82	3	is	be	AUX
fcis-21105	82	4	mainly	mainly	ADV
fcis-21105	82	5	reflected	reflect	VERB
fcis-21105	82	6	in	in	ADP
fcis-21105	82	7	performance	performance	NOUN
fcis-21105	82	8	stability	stability	NOUN
fcis-21105	82	9	,	,	PUNCT
fcis-21105	82	10	task	task	NOUN
fcis-21105	82	11	adaptability	adaptability	NOUN
fcis-21105	82	12	and	and	CCONJ
fcis-21105	82	13	intelligent	intelligent	ADJ
fcis-21105	82	14	performance	performance	NOUN
fcis-21105	82	15	,	,	PUNCT
fcis-21105	82	16	which	which	PRON
fcis-21105	82	17	makes	make	VERB
fcis-21105	82	18	multi	multi	ADJ
fcis-21105	82	19	-	-	ADJ
fcis-21105	82	20	modal	modal	ADJ
fcis-21105	82	21	large	large	ADJ
fcis-21105	82	22	model	model	NOUN
fcis-21105	82	23	an	an	DET
fcis-21105	82	24	ideal	ideal	ADJ
fcis-21105	82	25	choice	choice	NOUN
fcis-21105	82	26	in	in	ADP
fcis-21105	82	27	smart	smart	ADJ
fcis-21105	82	28	home	home	NOUN
fcis-21105	82	29	environment	environment	NOUN
fcis-21105	82	30	.	.	PUNCT
fcis-21105	83	1	in	in	ADP
fcis-21105	83	2	different	different	ADJ
fcis-21105	83	3	types	type	NOUN
fcis-21105	83	4	of	of	ADP
fcis-21105	83	5	tasks	task	NOUN
fcis-21105	83	6	,	,	PUNCT
fcis-21105	83	7	multi	multi	ADJ
fcis-21105	83	8	-	-	ADJ
fcis-21105	83	9	modal	modal	ADJ
fcis-21105	83	10	large	large	ADJ
fcis-21105	83	11	models	model	NOUN
fcis-21105	83	12	all	all	PRON
fcis-21105	83	13	show	show	VERB
fcis-21105	83	14	good	good	ADJ
fcis-21105	83	15	results	result	NOUN
fcis-21105	83	16	.	.	PUNCT
fcis-21105	84	1	in	in	ADP
fcis-21105	84	2	the	the	DET
fcis-21105	84	3	task	task	NOUN
fcis-21105	84	4	of	of	ADP
fcis-21105	84	5	goods	good	NOUN
fcis-21105	84	6	delivery	delivery	NOUN
fcis-21105	84	7	,	,	PUNCT
fcis-21105	84	8	multi	multi	ADJ
fcis-21105	84	9	-	-	ADJ
fcis-21105	84	10	modal	modal	ADJ
fcis-21105	84	11	large	large	ADJ
fcis-21105	84	12	model	model	NOUN
fcis-21105	84	13	can	can	AUX
fcis-21105	84	14	realize	realize	VERB
fcis-21105	84	15	more	more	ADV
fcis-21105	84	16	accurate	accurate	ADJ
fcis-21105	84	17	and	and	CCONJ
fcis-21105	84	18	efficient	efficient	ADJ
fcis-21105	84	19	path	path	NOUN
fcis-21105	84	20	planning	planning	NOUN
fcis-21105	84	21	and	and	CCONJ
fcis-21105	84	22	action	action	NOUN
fcis-21105	84	23	execution	execution	NOUN
fcis-21105	84	24	by	by	ADP
fcis-21105	84	25	comprehensively	comprehensively	ADV
fcis-21105	84	26	utilizing	utilize	VERB
fcis-21105	84	27	visual	visual	ADJ
fcis-21105	84	28	,	,	PUNCT
fcis-21105	84	29	sound	sound	NOUN
fcis-21105	84	30	and	and	CCONJ
fcis-21105	84	31	text	text	NOUN
fcis-21105	84	32	information	information	NOUN
fcis-21105	84	33	.	.	PUNCT
fcis-21105	85	1	fig	fig	NOUN
fcis-21105	85	2	.	.	PUNCT
fcis-21105	86	1	3	3	NUM
fcis-21105	86	2	shows	show	VERB
fcis-21105	86	3	the	the	DET
fcis-21105	86	4	comparison	comparison	NOUN
fcis-21105	86	5	of	of	ADP
fcis-21105	86	6	path	path	NOUN
fcis-21105	86	7	planning	planning	NOUN
fcis-21105	86	8	effect	effect	NOUN
fcis-21105	86	9	between	between	ADP
fcis-21105	86	10	multi	multi	ADJ
fcis-21105	86	11	-	-	ADJ
fcis-21105	86	12	modal	modal	ADJ
fcis-21105	86	13	large	large	ADJ
fcis-21105	86	14	model	model	NOUN
fcis-21105	86	15	and	and	CCONJ
fcis-21105	86	16	single	single	ADJ
fcis-21105	86	17	-	-	PUNCT
fcis-21105	86	18	modal	modal	ADJ
fcis-21105	86	19	model	model	NOUN
fcis-21105	86	20	in	in	ADP
fcis-21105	86	21	the	the	DET
fcis-21105	86	22	delivery	delivery	NOUN
fcis-21105	86	23	task	task	NOUN
fcis-21105	86	24	of	of	ADP
fcis-21105	86	25	goods	good	NOUN
fcis-21105	86	26	.	.	PUNCT
fcis-21105	87	1	the	the	DET
fcis-21105	87	2	path	path	NOUN
fcis-21105	87	3	of	of	ADP
fcis-21105	87	4	multi	multi	ADJ
fcis-21105	87	5	-	-	ADJ
fcis-21105	87	6	modal	modal	ADJ
fcis-21105	87	7	large	large	ADJ
fcis-21105	87	8	model	model	NOUN
fcis-21105	87	9	is	be	AUX
fcis-21105	87	10	represented	represent	VERB
fcis-21105	87	11	by	by	ADP
fcis-21105	87	12	solid	solid	ADJ
fcis-21105	87	13	blue	blue	ADJ
fcis-21105	87	14	line	line	NOUN
fcis-21105	87	15	,	,	PUNCT
fcis-21105	87	16	the	the	DET
fcis-21105	87	17	path	path	NOUN
fcis-21105	87	18	of	of	ADP
fcis-21105	87	19	single	single	ADJ
fcis-21105	87	20	-	-	PUNCT
fcis-21105	87	21	modal	modal	NOUN
fcis-21105	87	22	model	model	NOUN
fcis-21105	87	23	is	be	AUX
fcis-21105	87	24	represented	represent	VERB
fcis-21105	87	25	by	by	ADP
fcis-21105	87	26	dashed	dash	VERB
fcis-21105	87	27	red	red	ADJ
fcis-21105	87	28	line	line	NOUN
fcis-21105	87	29	,	,	PUNCT
fcis-21105	87	30	and	and	CCONJ
fcis-21105	87	31	the	the	DET
fcis-21105	87	32	starting	starting	NOUN
fcis-21105	87	33	point	point	NOUN
fcis-21105	87	34	and	and	CCONJ
fcis-21105	87	35	ending	end	VERB
fcis-21105	87	36	point	point	NOUN
fcis-21105	87	37	are	be	AUX
fcis-21105	87	38	represented	represent	VERB
fcis-21105	87	39	by	by	ADP
fcis-21105	87	40	green	green	ADJ
fcis-21105	87	41	and	and	CCONJ
fcis-21105	87	42	red	red	ADJ
fcis-21105	87	43	circles	circle	NOUN
fcis-21105	87	44	respectively	respectively	ADV
fcis-21105	87	45	.	.	PUNCT
fcis-21105	88	1	it	it	PRON
fcis-21105	88	2	can	can	AUX
fcis-21105	88	3	be	be	AUX
fcis-21105	88	4	observed	observe	VERB
fcis-21105	88	5	from	from	ADP
fcis-21105	88	6	the	the	DET
fcis-21105	88	7	figure	figure	NOUN
fcis-21105	88	8	that	that	SCONJ
fcis-21105	88	9	the	the	DET
fcis-21105	88	10	path	path	NOUN
fcis-21105	88	11	(	(	PUNCT
fcis-21105	88	12	blue	blue	ADJ
fcis-21105	88	13	solid	solid	ADJ
fcis-21105	88	14	line	line	NOUN
fcis-21105	88	15	)	)	PUNCT
fcis-21105	88	16	of	of	ADP
fcis-21105	88	17	the	the	DET
fcis-21105	88	18	multi	multi	ADJ
fcis-21105	88	19	-	-	ADJ
fcis-21105	88	20	modal	modal	ADJ
fcis-21105	88	21	large	large	ADJ
fcis-21105	88	22	model	model	NOUN
fcis-21105	88	23	is	be	AUX
fcis-21105	88	24	smoother	smooth	ADJ
fcis-21105	88	25	,	,	PUNCT
fcis-21105	88	26	more	more	ADV
fcis-21105	88	27	continuous	continuous	ADJ
fcis-21105	88	28	and	and	CCONJ
fcis-21105	88	29	closer	close	ADJ
fcis-21105	88	30	to	to	ADP
fcis-21105	88	31	the	the	DET
fcis-21105	88	32	expected	expect	VERB
fcis-21105	88	33	path	path	NOUN
fcis-21105	88	34	.	.	PUNCT
fcis-21105	89	1	in	in	ADP
fcis-21105	89	2	contrast	contrast	NOUN
fcis-21105	89	3	,	,	PUNCT
fcis-21105	89	4	the	the	DET
fcis-21105	89	5	path	path	NOUN
fcis-21105	89	6	of	of	ADP
fcis-21105	89	7	single	single	ADJ
fcis-21105	89	8	-	-	PUNCT
fcis-21105	89	9	modal	modal	NOUN
fcis-21105	89	10	model	model	NOUN
fcis-21105	89	11	(	(	PUNCT
fcis-21105	89	12	red	red	ADJ
fcis-21105	89	13	dotted	dotted	ADJ
fcis-21105	89	14	line	line	NOUN
fcis-21105	89	15	)	)	PUNCT
fcis-21105	89	16	is	be	AUX
fcis-21105	89	17	relatively	relatively	ADV
fcis-21105	89	18	unstable	unstable	ADJ
fcis-21105	89	19	,	,	PUNCT
fcis-21105	89	20	and	and	CCONJ
fcis-21105	89	21	there	there	PRON
fcis-21105	89	22	are	be	VERB
fcis-21105	89	23	great	great	ADJ
fcis-21105	89	24	fluctuations	fluctuation	NOUN
fcis-21105	89	25	and	and	CCONJ
fcis-21105	89	26	deviations	deviation	NOUN
fcis-21105	89	27	.	.	PUNCT
fcis-21105	90	1	this	this	PRON
fcis-21105	90	2	shows	show	VERB
fcis-21105	90	3	that	that	SCONJ
fcis-21105	90	4	the	the	DET
fcis-21105	90	5	multi	multi	ADJ
fcis-21105	90	6	-	-	ADJ
fcis-21105	90	7	modal	modal	ADJ
fcis-21105	90	8	large	large	ADJ
fcis-21105	90	9	model	model	NOUN
fcis-21105	90	10	is	be	AUX
fcis-21105	90	11	more	more	ADV
fcis-21105	90	12	accurate	accurate	ADJ
fcis-21105	90	13	and	and	CCONJ
fcis-21105	90	14	reliable	reliable	ADJ
fcis-21105	90	15	in	in	ADP
fcis-21105	90	16	path	path	NOUN
fcis-21105	90	17	planning	planning	NOUN
fcis-21105	90	18	,	,	PUNCT
fcis-21105	90	19	which	which	PRON
fcis-21105	90	20	can	can	AUX
fcis-21105	90	21	better	well	ADV
fcis-21105	90	22	avoid	avoid	VERB
fcis-21105	90	23	obstacles	obstacle	NOUN
fcis-21105	90	24	and	and	CCONJ
fcis-21105	90	25	optimize	optimize	VERB
fcis-21105	90	26	path	path	NOUN
fcis-21105	90	27	selection	selection	NOUN
fcis-21105	90	28	,	,	PUNCT
fcis-21105	90	29	thus	thus	ADV
fcis-21105	90	30	improving	improve	VERB
fcis-21105	90	31	the	the	DET
fcis-21105	90	32	efficiency	efficiency	NOUN
fcis-21105	90	33	and	and	CCONJ
fcis-21105	90	34	safety	safety	NOUN
fcis-21105	90	35	of	of	ADP
fcis-21105	90	36	item	item	NOUN
fcis-21105	90	37	delivery	delivery	NOUN
fcis-21105	90	38	.	.	PUNCT
fcis-21105	91	1	the	the	DET
fcis-21105	91	2	path	path	NOUN
fcis-21105	91	3	between	between	ADP
fcis-21105	91	4	the	the	DET
fcis-21105	91	5	start	start	NOUN
fcis-21105	91	6	point	point	NOUN
fcis-21105	91	7	and	and	CCONJ
fcis-21105	91	8	the	the	DET
fcis-21105	91	9	end	end	NOUN
fcis-21105	91	10	point	point	NOUN
fcis-21105	91	11	shows	show	VERB
fcis-21105	91	12	that	that	SCONJ
fcis-21105	91	13	the	the	DET
fcis-21105	91	14	path	path	NOUN
fcis-21105	91	15	of	of	ADP
fcis-21105	91	16	the	the	DET
fcis-21105	91	17	multi	multi	ADJ
fcis-21105	91	18	-	-	ADJ
fcis-21105	91	19	modal	modal	ADJ
fcis-21105	91	20	large	large	ADJ
fcis-21105	91	21	model	model	NOUN
fcis-21105	91	22	is	be	AUX
fcis-21105	91	23	closer	close	ADJ
fcis-21105	91	24	to	to	ADP
fcis-21105	91	25	a	a	DET
fcis-21105	91	26	straight	straight	ADJ
fcis-21105	91	27	line	line	NOUN
fcis-21105	91	28	and	and	CCONJ
fcis-21105	91	29	smoother	smooth	ADJ
fcis-21105	91	30	,	,	PUNCT
fcis-21105	91	31	while	while	SCONJ
fcis-21105	91	32	the	the	DET
fcis-21105	91	33	path	path	NOUN
fcis-21105	91	34	of	of	ADP
fcis-21105	91	35	the	the	DET
fcis-21105	91	36	single	single	ADJ
fcis-21105	91	37	-	-	PUNCT
fcis-21105	91	38	modal	modal	NOUN
fcis-21105	91	39	model	model	NOUN
fcis-21105	91	40	has	have	VERB
fcis-21105	91	41	more	more	ADJ
fcis-21105	91	42	twists	twist	NOUN
fcis-21105	91	43	and	and	CCONJ
fcis-21105	91	44	turns	turn	NOUN
fcis-21105	91	45	and	and	CCONJ
fcis-21105	91	46	unnecessary	unnecessary	ADJ
fcis-21105	91	47	turns	turn	NOUN
fcis-21105	91	48	.	.	PUNCT
fcis-21105	92	1	this	this	DET
fcis-21105	92	2	further	further	ADJ
fcis-21105	92	3	highlights	highlight	NOUN
fcis-21105	92	4	the	the	DET
fcis-21105	92	5	advantages	advantage	NOUN
fcis-21105	92	6	of	of	ADP
fcis-21105	92	7	multi	multi	ADJ
fcis-21105	92	8	-	-	ADJ
fcis-21105	92	9	modal	modal	ADJ
fcis-21105	92	10	large	large	ADJ
fcis-21105	92	11	model	model	NOUN
fcis-21105	92	12	110	110	NUM
fcis-21105	92	13	in	in	ADP
fcis-21105	92	14	path	path	NOUN
fcis-21105	92	15	planning	planning	NOUN
fcis-21105	92	16	,	,	PUNCT
fcis-21105	92	17	which	which	PRON
fcis-21105	92	18	can	can	AUX
fcis-21105	92	19	realize	realize	VERB
fcis-21105	92	20	more	more	ADV
fcis-21105	92	21	accurate	accurate	ADJ
fcis-21105	92	22	and	and	CCONJ
fcis-21105	92	23	efficient	efficient	ADJ
fcis-21105	92	24	path	path	NOUN
fcis-21105	92	25	planning	planning	NOUN
fcis-21105	92	26	and	and	CCONJ
fcis-21105	92	27	action	action	NOUN
fcis-21105	92	28	execution	execution	NOUN
fcis-21105	92	29	by	by	ADP
fcis-21105	92	30	comprehensively	comprehensively	ADV
fcis-21105	92	31	utilizing	utilize	VERB
fcis-21105	92	32	visual	visual	ADJ
fcis-21105	92	33	,	,	PUNCT
fcis-21105	92	34	sound	sound	NOUN
fcis-21105	92	35	and	and	CCONJ
fcis-21105	92	36	text	text	NOUN
fcis-21105	92	37	information	information	NOUN
fcis-21105	92	38	.	.	PUNCT
fcis-21105	93	1	figure	figure	VERB
fcis-21105	93	2	3	3	NUM
fcis-21105	93	3	.	.	PUNCT
fcis-21105	93	4	task	task	PROPN
fcis-21105	93	5	effect	effect	PROPN
fcis-21105	93	6	comparison	comparison	NOUN
fcis-21105	93	7	multi	multi	ADJ
fcis-21105	93	8	-	-	ADJ
fcis-21105	93	9	modal	modal	ADJ
fcis-21105	93	10	large	large	ADJ
fcis-21105	93	11	model	model	NOUN
fcis-21105	93	12	is	be	AUX
fcis-21105	93	13	better	well	ADJ
fcis-21105	93	14	than	than	ADP
fcis-21105	93	15	single	single	ADJ
fcis-21105	93	16	model	model	NOUN
fcis-21105	93	17	in	in	ADP
fcis-21105	93	18	path	path	NOUN
fcis-21105	93	19	planning	planning	NOUN
fcis-21105	93	20	of	of	ADP
fcis-21105	93	21	goods	good	NOUN
fcis-21105	93	22	delivery	delivery	NOUN
fcis-21105	93	23	task	task	NOUN
fcis-21105	93	24	.	.	PUNCT
fcis-21105	94	1	multi	multi	ADJ
fcis-21105	94	2	-	-	ADJ
fcis-21105	94	3	modal	modal	ADJ
fcis-21105	94	4	large	large	ADJ
fcis-21105	94	5	model	model	NOUN
fcis-21105	94	6	can	can	AUX
fcis-21105	94	7	realize	realize	VERB
fcis-21105	94	8	more	more	ADV
fcis-21105	94	9	accurate	accurate	ADJ
fcis-21105	94	10	and	and	CCONJ
fcis-21105	94	11	efficient	efficient	ADJ
fcis-21105	94	12	path	path	NOUN
fcis-21105	94	13	planning	planning	NOUN
fcis-21105	94	14	by	by	ADP
fcis-21105	94	15	comprehensively	comprehensively	ADV
fcis-21105	94	16	utilizing	utilize	VERB
fcis-21105	94	17	the	the	DET
fcis-21105	94	18	information	information	NOUN
fcis-21105	94	19	of	of	ADP
fcis-21105	94	20	different	different	ADJ
fcis-21105	94	21	modes	mode	NOUN
fcis-21105	94	22	,	,	PUNCT
fcis-21105	94	23	thus	thus	ADV
fcis-21105	94	24	improving	improve	VERB
fcis-21105	94	25	the	the	DET
fcis-21105	94	26	efficiency	efficiency	NOUN
fcis-21105	94	27	and	and	CCONJ
fcis-21105	94	28	success	success	NOUN
fcis-21105	94	29	rate	rate	NOUN
fcis-21105	94	30	of	of	ADP
fcis-21105	94	31	goods	good	NOUN
fcis-21105	94	32	delivery	delivery	NOUN
fcis-21105	94	33	.	.	PUNCT
fcis-21105	95	1	this	this	DET
fcis-21105	95	2	advantage	advantage	NOUN
fcis-21105	95	3	makes	make	VERB
fcis-21105	95	4	the	the	DET
fcis-21105	95	5	multi	multi	ADJ
fcis-21105	95	6	-	-	ADJ
fcis-21105	95	7	modal	modal	ADJ
fcis-21105	95	8	large	large	ADJ
fcis-21105	95	9	model	model	NOUN
fcis-21105	95	10	an	an	DET
fcis-21105	95	11	ideal	ideal	ADJ
fcis-21105	95	12	choice	choice	NOUN
fcis-21105	95	13	for	for	ADP
fcis-21105	95	14	the	the	DET
fcis-21105	95	15	delivery	delivery	NOUN
fcis-21105	95	16	task	task	NOUN
fcis-21105	95	17	in	in	ADP
fcis-21105	95	18	smart	smart	ADJ
fcis-21105	95	19	home	home	NOUN
fcis-21105	95	20	environment	environment	NOUN
fcis-21105	95	21	,	,	PUNCT
fcis-21105	95	22	and	and	CCONJ
fcis-21105	95	23	provides	provide	VERB
fcis-21105	95	24	important	important	ADJ
fcis-21105	95	25	support	support	NOUN
fcis-21105	95	26	for	for	ADP
fcis-21105	95	27	the	the	DET
fcis-21105	95	28	application	application	NOUN
fcis-21105	95	29	of	of	ADP
fcis-21105	95	30	robot	robot	NOUN
fcis-21105	95	31	technology	technology	NOUN
fcis-21105	95	32	in	in	ADP
fcis-21105	95	33	smart	smart	ADJ
fcis-21105	95	34	home	home	NOUN
fcis-21105	95	35	field	field	NOUN
fcis-21105	95	36	.	.	PUNCT
fcis-21105	96	1	multi	multi	ADJ
fcis-21105	96	2	-	-	ADJ
fcis-21105	96	3	modal	modal	ADJ
fcis-21105	96	4	large	large	ADJ
fcis-21105	96	5	model	model	NOUN
fcis-21105	96	6	has	have	VERB
fcis-21105	96	7	strong	strong	ADJ
fcis-21105	96	8	generalization	generalization	NOUN
fcis-21105	96	9	ability	ability	NOUN
fcis-21105	96	10	and	and	CCONJ
fcis-21105	96	11	can	can	AUX
fcis-21105	96	12	adapt	adapt	VERB
fcis-21105	96	13	to	to	ADP
fcis-21105	96	14	the	the	DET
fcis-21105	96	15	needs	need	NOUN
fcis-21105	96	16	of	of	ADP
fcis-21105	96	17	different	different	ADJ
fcis-21105	96	18	environments	environment	NOUN
fcis-21105	96	19	and	and	CCONJ
fcis-21105	96	20	tasks	task	NOUN
fcis-21105	96	21	.	.	PUNCT
fcis-21105	97	1	in	in	ADP
fcis-21105	97	2	the	the	DET
fcis-21105	97	3	experiment	experiment	NOUN
fcis-21105	97	4	,	,	PUNCT
fcis-21105	97	5	it	it	PRON
fcis-21105	97	6	is	be	AUX
fcis-21105	97	7	found	find	VERB
fcis-21105	97	8	that	that	SCONJ
fcis-21105	97	9	the	the	DET
fcis-21105	97	10	multi	multi	ADJ
fcis-21105	97	11	-	-	ADJ
fcis-21105	97	12	modal	modal	ADJ
fcis-21105	97	13	large	large	ADJ
fcis-21105	97	14	model	model	NOUN
fcis-21105	97	15	can	can	AUX
fcis-21105	97	16	achieve	achieve	VERB
fcis-21105	97	17	good	good	ADJ
fcis-21105	97	18	performance	performance	NOUN
fcis-21105	97	19	in	in	ADP
fcis-21105	97	20	different	different	ADJ
fcis-21105	97	21	types	type	NOUN
fcis-21105	97	22	of	of	ADP
fcis-21105	97	23	tasks	task	NOUN
fcis-21105	97	24	,	,	PUNCT
fcis-21105	97	25	which	which	PRON
fcis-21105	97	26	shows	show	VERB
fcis-21105	97	27	that	that	SCONJ
fcis-21105	97	28	it	it	PRON
fcis-21105	97	29	has	have	VERB
fcis-21105	97	30	strong	strong	ADJ
fcis-21105	97	31	adaptability	adaptability	NOUN
fcis-21105	97	32	and	and	CCONJ
fcis-21105	97	33	generalization	generalization	NOUN
fcis-21105	97	34	ability	ability	NOUN
fcis-21105	97	35	in	in	ADP
fcis-21105	97	36	dealing	deal	VERB
fcis-21105	97	37	with	with	ADP
fcis-21105	97	38	complex	complex	ADJ
fcis-21105	97	39	environments	environment	NOUN
fcis-21105	97	40	and	and	CCONJ
fcis-21105	97	41	tasks	task	NOUN
fcis-21105	97	42	.	.	PUNCT
fcis-21105	98	1	table	table	NOUN
fcis-21105	98	2	1	1	NUM
fcis-21105	98	3	shows	show	VERB
fcis-21105	98	4	the	the	DET
fcis-21105	98	5	performance	performance	NOUN
fcis-21105	98	6	of	of	ADP
fcis-21105	98	7	multi	multi	ADJ
fcis-21105	98	8	-	-	ADJ
fcis-21105	98	9	modal	modal	ADJ
fcis-21105	98	10	large	large	ADJ
fcis-21105	98	11	models	model	NOUN
fcis-21105	98	12	in	in	ADP
fcis-21105	98	13	different	different	ADJ
fcis-21105	98	14	types	type	NOUN
fcis-21105	98	15	of	of	ADP
fcis-21105	98	16	tasks	task	NOUN
fcis-21105	98	17	.	.	PUNCT
fcis-21105	99	1	table	table	NOUN
fcis-21105	99	2	1	1	NUM
fcis-21105	99	3	.	.	PUNCT
fcis-21105	99	4	generalization	generalization	NOUN
fcis-21105	99	5	ability	ability	NOUN
fcis-21105	99	6	task	task	PROPN
fcis-21105	99	7	type	type	NOUN
fcis-21105	99	8	data	datum	NOUN
fcis-21105	99	9	set	set	VERB
fcis-21105	99	10	size	size	NOUN
fcis-21105	99	11	accuracy	accuracy	NOUN
fcis-21105	99	12	(	(	PUNCT
fcis-21105	99	13	%	%	INTJ
fcis-21105	99	14	)	)	PUNCT
fcis-21105	99	15	execution	execution	NOUN
fcis-21105	99	16	time	time	NOUN
fcis-21105	99	17	(	(	PUNCT
fcis-21105	99	18	s	s	NOUN
fcis-21105	99	19	)	)	PUNCT
fcis-21105	99	20	number	number	NOUN
fcis-21105	99	21	of	of	ADP
fcis-21105	99	22	tasks	task	NOUN
fcis-21105	99	23	completed	complete	VERB
fcis-21105	99	24	/	/	SYM
fcis-21105	99	25	time	time	NOUN
fcis-21105	99	26	multi	multi	ADJ
fcis-21105	99	27	-	-	ADJ
fcis-21105	99	28	modal	modal	ADJ
fcis-21105	99	29	large	large	ADJ
fcis-21105	99	30	model	model	NOUN
fcis-21105	99	31	single	single	ADJ
fcis-21105	99	32	-	-	PUNCT
fcis-21105	99	33	modal	modal	NOUN
fcis-21105	99	34	model	model	NOUN
fcis-21105	99	35	multi	multi	ADJ
fcis-21105	99	36	-	-	ADJ
fcis-21105	99	37	modal	modal	ADJ
fcis-21105	99	38	large	large	ADJ
fcis-21105	99	39	model	model	NOUN
fcis-21105	99	40	single	single	ADJ
fcis-21105	99	41	-	-	PUNCT
fcis-21105	99	42	modal	modal	NOUN
fcis-21105	99	43	model	model	NOUN
fcis-21105	99	44	multi	multi	ADJ
fcis-21105	99	45	-	-	ADJ
fcis-21105	99	46	modal	modal	ADJ
fcis-21105	99	47	large	large	ADJ
fcis-21105	99	48	model	model	NOUN
fcis-21105	99	49	single	single	ADJ
fcis-21105	99	50	-	-	PUNCT
fcis-21105	99	51	modal	modal	NOUN
fcis-21105	99	52	model	model	NOUN
fcis-21105	99	53	item	item	NOUN
fcis-21105	99	54	delivery	delivery	NOUN
fcis-21105	99	55	task	task	NOUN
fcis-21105	99	56	100	100	NUM
fcis-21105	99	57	95	95	NUM
fcis-21105	99	58	80	80	NUM
fcis-21105	99	59	20	20	NUM
fcis-21105	99	60	25	25	NUM
fcis-21105	99	61	5	5	NUM
fcis-21105	99	62	/	/	SYM
fcis-21105	99	63	s	s	PART
fcis-21105	99	64	4	4	NUM
fcis-21105	99	65	/	/	SYM
fcis-21105	99	66	s	s	NOUN
fcis-21105	99	67	environmental	environmental	ADJ
fcis-21105	99	68	monitoring	monitoring	NOUN
fcis-21105	99	69	task	task	NOUN
fcis-21105	99	70	200	200	NUM
fcis-21105	99	71	85	85	NUM
fcis-21105	99	72	70	70	NUM
fcis-21105	99	73	30	30	NUM
fcis-21105	99	74	35	35	NUM
fcis-21105	99	75	6.67	6.67	NUM
fcis-21105	99	76	/	/	SYM
fcis-21105	99	77	s	s	PART
fcis-21105	99	78	5.71	5.71	NUM
fcis-21105	99	79	/	/	SYM
fcis-21105	99	80	s	s	NOUN
fcis-21105	99	81	voice	voice	NOUN
fcis-21105	99	82	interaction	interaction	NOUN
fcis-21105	99	83	task	task	NOUN
fcis-21105	99	84	150	150	NUM
fcis-21105	99	85	90	90	NUM
fcis-21105	99	86	75	75	NUM
fcis-21105	99	87	25	25	NUM
fcis-21105	99	88	30	30	NUM
fcis-21105	99	89	6	6	NUM
fcis-21105	99	90	/	/	SYM
fcis-21105	99	91	s	s	PART
fcis-21105	99	92	5	5	NUM
fcis-21105	99	93	/	/	SYM
fcis-21105	99	94	s	s	NOUN
fcis-21105	99	95	in	in	ADP
fcis-21105	99	96	different	different	ADJ
fcis-21105	99	97	types	type	NOUN
fcis-21105	99	98	of	of	ADP
fcis-21105	99	99	tasks	task	NOUN
fcis-21105	99	100	,	,	PUNCT
fcis-21105	99	101	the	the	DET
fcis-21105	99	102	accuracy	accuracy	NOUN
fcis-21105	99	103	of	of	ADP
fcis-21105	99	104	multi	multi	ADJ
fcis-21105	99	105	-	-	ADJ
fcis-21105	99	106	modal	modal	ADJ
fcis-21105	99	107	large	large	ADJ
fcis-21105	99	108	model	model	NOUN
fcis-21105	99	109	is	be	AUX
fcis-21105	99	110	generally	generally	ADV
fcis-21105	99	111	higher	high	ADJ
fcis-21105	99	112	than	than	ADP
fcis-21105	99	113	that	that	PRON
fcis-21105	99	114	of	of	ADP
fcis-21105	99	115	single	single	ADJ
fcis-21105	99	116	-	-	PUNCT
fcis-21105	99	117	modal	modal	NOUN
fcis-21105	99	118	model	model	NOUN
fcis-21105	99	119	.	.	PUNCT
fcis-21105	100	1	taking	take	VERB
fcis-21105	100	2	the	the	DET
fcis-21105	100	3	delivery	delivery	NOUN
fcis-21105	100	4	task	task	NOUN
fcis-21105	100	5	of	of	ADP
fcis-21105	100	6	goods	good	NOUN
fcis-21105	100	7	as	as	ADP
fcis-21105	100	8	an	an	DET
fcis-21105	100	9	example	example	NOUN
fcis-21105	100	10	,	,	PUNCT
fcis-21105	100	11	the	the	DET
fcis-21105	100	12	accuracy	accuracy	NOUN
fcis-21105	100	13	of	of	ADP
fcis-21105	100	14	multi	multi	ADJ
fcis-21105	100	15	-	-	ADJ
fcis-21105	100	16	modal	modal	ADJ
fcis-21105	100	17	large	large	ADJ
fcis-21105	100	18	model	model	NOUN
fcis-21105	100	19	reaches	reach	VERB
fcis-21105	100	20	95	95	NUM
fcis-21105	100	21	%	%	NOUN
fcis-21105	100	22	,	,	PUNCT
fcis-21105	100	23	while	while	SCONJ
fcis-21105	100	24	the	the	DET
fcis-21105	100	25	accuracy	accuracy	NOUN
fcis-21105	100	26	of	of	ADP
fcis-21105	100	27	single	single	ADJ
fcis-21105	100	28	-	-	PUNCT
fcis-21105	100	29	modal	modal	NOUN
fcis-21105	100	30	model	model	NOUN
fcis-21105	100	31	is	be	AUX
fcis-21105	100	32	only	only	ADV
fcis-21105	100	33	80	80	NUM
fcis-21105	100	34	%	%	NOUN
fcis-21105	100	35	.	.	PUNCT
fcis-21105	101	1	this	this	PRON
fcis-21105	101	2	shows	show	VERB
fcis-21105	101	3	that	that	SCONJ
fcis-21105	101	4	the	the	DET
fcis-21105	101	5	multi	multi	ADJ
fcis-21105	101	6	-	-	ADJ
fcis-21105	101	7	modal	modal	ADJ
fcis-21105	101	8	large	large	ADJ
fcis-21105	101	9	model	model	NOUN
fcis-21105	101	10	can	can	AUX
fcis-21105	101	11	better	well	ADV
fcis-21105	101	12	adapt	adapt	VERB
fcis-21105	101	13	to	to	ADP
fcis-21105	101	14	the	the	DET
fcis-21105	101	15	needs	need	NOUN
fcis-21105	101	16	of	of	ADP
fcis-21105	101	17	different	different	ADJ
fcis-21105	101	18	tasks	task	NOUN
fcis-21105	101	19	and	and	CCONJ
fcis-21105	101	20	has	have	VERB
fcis-21105	101	21	strong	strong	ADJ
fcis-21105	101	22	generalization	generalization	NOUN
fcis-21105	101	23	ability	ability	NOUN
fcis-21105	101	24	.	.	PUNCT
fcis-21105	102	1	similar	similar	ADJ
fcis-21105	102	2	trends	trend	NOUN
fcis-21105	102	3	can	can	AUX
fcis-21105	102	4	be	be	AUX
fcis-21105	102	5	observed	observe	VERB
fcis-21105	102	6	in	in	ADP
fcis-21105	102	7	other	other	ADJ
fcis-21105	102	8	task	task	NOUN
fcis-21105	102	9	types	type	NOUN
fcis-21105	102	10	,	,	PUNCT
fcis-21105	102	11	and	and	CCONJ
fcis-21105	102	12	the	the	DET
fcis-21105	102	13	accuracy	accuracy	NOUN
fcis-21105	102	14	of	of	ADP
fcis-21105	102	15	multi	multi	ADJ
fcis-21105	102	16	-	-	ADJ
fcis-21105	102	17	modal	modal	ADJ
fcis-21105	102	18	large	large	ADJ
fcis-21105	102	19	models	model	NOUN
fcis-21105	102	20	is	be	AUX
fcis-21105	102	21	better	well	ADJ
fcis-21105	102	22	than	than	ADP
fcis-21105	102	23	that	that	PRON
fcis-21105	102	24	of	of	ADP
fcis-21105	102	25	singlemodal	singlemodal	NOUN
fcis-21105	102	26	models	model	NOUN
fcis-21105	102	27	.	.	PUNCT
fcis-21105	103	1	the	the	DET
fcis-21105	103	2	multi	multi	ADJ
fcis-21105	103	3	-	-	ADJ
fcis-21105	103	4	modal	modal	ADJ
fcis-21105	103	5	large	large	ADJ
fcis-21105	103	6	model	model	NOUN
fcis-21105	103	7	also	also	ADV
fcis-21105	103	8	shows	show	VERB
fcis-21105	103	9	good	good	ADJ
fcis-21105	103	10	generalization	generalization	NOUN
fcis-21105	103	11	ability	ability	NOUN
fcis-21105	103	12	in	in	ADP
fcis-21105	103	13	execution	execution	NOUN
fcis-21105	103	14	time	time	NOUN
fcis-21105	103	15	and	and	CCONJ
fcis-21105	103	16	efficiency	efficiency	NOUN
fcis-21105	103	17	.	.	PUNCT
fcis-21105	104	1	although	although	SCONJ
fcis-21105	104	2	the	the	DET
fcis-21105	104	3	execution	execution	NOUN
fcis-21105	104	4	time	time	NOUN
fcis-21105	104	5	of	of	ADP
fcis-21105	104	6	multi	multi	ADJ
fcis-21105	104	7	-	-	ADJ
fcis-21105	104	8	modal	modal	ADJ
fcis-21105	104	9	large	large	ADJ
fcis-21105	104	10	model	model	NOUN
fcis-21105	104	11	is	be	AUX
fcis-21105	104	12	slightly	slightly	ADV
fcis-21105	104	13	longer	long	ADJ
fcis-21105	104	14	than	than	ADP
fcis-21105	104	15	that	that	PRON
fcis-21105	104	16	of	of	ADP
fcis-21105	104	17	single	single	ADJ
fcis-21105	104	18	-	-	PUNCT
fcis-21105	104	19	modal	modal	NOUN
fcis-21105	104	20	model	model	NOUN
fcis-21105	104	21	in	in	ADP
fcis-21105	104	22	some	some	DET
fcis-21105	104	23	tasks	task	NOUN
fcis-21105	104	24	,	,	PUNCT
fcis-21105	104	25	its	its	PRON
fcis-21105	104	26	efficiency	efficiency	NOUN
fcis-21105	104	27	(	(	PUNCT
fcis-21105	104	28	task	task	NOUN
fcis-21105	104	29	completion	completion	NOUN
fcis-21105	104	30	number	number	NOUN
fcis-21105	104	31	/	/	SYM
fcis-21105	104	32	time	time	NOUN
fcis-21105	104	33	)	)	PUNCT
fcis-21105	104	34	is	be	AUX
fcis-21105	104	35	higher	high	ADJ
fcis-21105	104	36	.	.	PUNCT
fcis-21105	105	1	taking	take	VERB
fcis-21105	105	2	the	the	DET
fcis-21105	105	3	delivery	delivery	NOUN
fcis-21105	105	4	task	task	NOUN
fcis-21105	105	5	as	as	ADP
fcis-21105	105	6	an	an	DET
fcis-21105	105	7	example	example	NOUN
fcis-21105	105	8	,	,	PUNCT
fcis-21105	105	9	although	although	SCONJ
fcis-21105	105	10	the	the	DET
fcis-21105	105	11	execution	execution	NOUN
fcis-21105	105	12	time	time	NOUN
fcis-21105	105	13	of	of	ADP
fcis-21105	105	14	multi	multi	ADJ
fcis-21105	105	15	-	-	ADJ
fcis-21105	105	16	modal	modal	ADJ
fcis-21105	105	17	large	large	ADJ
fcis-21105	105	18	model	model	NOUN
fcis-21105	105	19	is	be	AUX
fcis-21105	105	20	20s	20	NOUN
fcis-21105	105	21	,	,	PUNCT
fcis-21105	105	22	which	which	PRON
fcis-21105	105	23	is	be	AUX
fcis-21105	105	24	slightly	slightly	ADV
fcis-21105	105	25	longer	long	ADJ
fcis-21105	105	26	than	than	ADP
fcis-21105	105	27	that	that	PRON
fcis-21105	105	28	of	of	ADP
fcis-21105	105	29	single	single	ADJ
fcis-21105	105	30	-	-	PUNCT
fcis-21105	105	31	modal	modal	NOUN
fcis-21105	105	32	model	model	NOUN
fcis-21105	105	33	's	's	PART
fcis-21105	105	34	25s	25s	NUM
fcis-21105	105	35	,	,	PUNCT
fcis-21105	105	36	its	its	PRON
fcis-21105	105	37	efficiency	efficiency	NOUN
fcis-21105	105	38	is	be	AUX
fcis-21105	105	39	as	as	ADV
fcis-21105	105	40	high	high	ADJ
fcis-21105	105	41	as	as	ADP
fcis-21105	105	42	5	5	NUM
fcis-21105	105	43	/	/	SYM
fcis-21105	105	44	s	s	NOUN
fcis-21105	105	45	,	,	PUNCT
fcis-21105	105	46	which	which	PRON
fcis-21105	105	47	is	be	AUX
fcis-21105	105	48	obviously	obviously	ADV
fcis-21105	105	49	better	well	ADJ
fcis-21105	105	50	than	than	ADP
fcis-21105	105	51	that	that	PRON
fcis-21105	105	52	of	of	ADP
fcis-21105	105	53	single	single	ADJ
fcis-21105	105	54	-	-	PUNCT
fcis-21105	105	55	modal	modal	NOUN
fcis-21105	105	56	model	model	NOUN
fcis-21105	105	57	's	's	PART
fcis-21105	105	58	4	4	NUM
fcis-21105	105	59	/	/	SYM
fcis-21105	105	60	s.	s.	PROPN
fcis-21105	105	61	this	this	PRON
fcis-21105	105	62	shows	show	VERB
fcis-21105	105	63	that	that	SCONJ
fcis-21105	105	64	the	the	DET
fcis-21105	105	65	multi	multi	ADJ
fcis-21105	105	66	-	-	ADJ
fcis-21105	105	67	modal	modal	ADJ
fcis-21105	105	68	large	large	ADJ
fcis-21105	105	69	model	model	NOUN
fcis-21105	105	70	can	can	AUX
fcis-21105	105	71	improve	improve	VERB
fcis-21105	105	72	the	the	DET
fcis-21105	105	73	efficiency	efficiency	NOUN
fcis-21105	105	74	of	of	ADP
fcis-21105	105	75	task	task	NOUN
fcis-21105	105	76	execution	execution	NOUN
fcis-21105	105	77	while	while	SCONJ
fcis-21105	105	78	ensuring	ensure	VERB
fcis-21105	105	79	the	the	DET
fcis-21105	105	80	accuracy	accuracy	NOUN
fcis-21105	105	81	,	,	PUNCT
fcis-21105	105	82	and	and	CCONJ
fcis-21105	105	83	has	have	VERB
fcis-21105	105	84	strong	strong	ADJ
fcis-21105	105	85	generalization	generalization	NOUN
fcis-21105	105	86	ability	ability	NOUN
fcis-21105	105	87	.	.	PUNCT
fcis-21105	106	1	multi	multi	ADJ
fcis-21105	106	2	-	-	ADJ
fcis-21105	106	3	modal	modal	ADJ
fcis-21105	106	4	large	large	ADJ
fcis-21105	106	5	model	model	NOUN
fcis-21105	106	6	has	have	VERB
fcis-21105	106	7	strong	strong	ADJ
fcis-21105	106	8	generalization	generalization	NOUN
fcis-21105	106	9	ability	ability	NOUN
fcis-21105	106	10	and	and	CCONJ
fcis-21105	106	11	can	can	AUX
fcis-21105	106	12	adapt	adapt	VERB
fcis-21105	106	13	to	to	ADP
fcis-21105	106	14	the	the	DET
fcis-21105	106	15	needs	need	NOUN
fcis-21105	106	16	of	of	ADP
fcis-21105	106	17	different	different	ADJ
fcis-21105	106	18	environments	environment	NOUN
fcis-21105	106	19	and	and	CCONJ
fcis-21105	106	20	tasks	task	NOUN
fcis-21105	106	21	.	.	PUNCT
fcis-21105	107	1	in	in	ADP
fcis-21105	107	2	the	the	DET
fcis-21105	107	3	experiment	experiment	NOUN
fcis-21105	107	4	,	,	PUNCT
fcis-21105	107	5	the	the	DET
fcis-21105	107	6	multi	multi	ADJ
fcis-21105	107	7	-	-	ADJ
fcis-21105	107	8	modal	modal	ADJ
fcis-21105	107	9	large	large	ADJ
fcis-21105	107	10	model	model	NOUN
fcis-21105	107	11	has	have	AUX
fcis-21105	107	12	achieved	achieve	VERB
fcis-21105	107	13	good	good	ADJ
fcis-21105	107	14	performance	performance	NOUN
fcis-21105	107	15	in	in	ADP
fcis-21105	107	16	different	different	ADJ
fcis-21105	107	17	types	type	NOUN
fcis-21105	107	18	of	of	ADP
fcis-21105	107	19	tasks	task	NOUN
fcis-21105	107	20	,	,	PUNCT
fcis-21105	107	21	which	which	PRON
fcis-21105	107	22	shows	show	VERB
fcis-21105	107	23	that	that	SCONJ
fcis-21105	107	24	it	it	PRON
fcis-21105	107	25	has	have	VERB
fcis-21105	107	26	strong	strong	ADJ
fcis-21105	107	27	adaptability	adaptability	NOUN
fcis-21105	107	28	and	and	CCONJ
fcis-21105	107	29	generalization	generalization	NOUN
fcis-21105	107	30	ability	ability	NOUN
fcis-21105	107	31	in	in	ADP
fcis-21105	107	32	dealing	deal	VERB
fcis-21105	107	33	with	with	ADP
fcis-21105	107	34	complex	complex	ADJ
fcis-21105	107	35	environments	environment	NOUN
fcis-21105	107	36	and	and	CCONJ
fcis-21105	107	37	tasks	task	NOUN
fcis-21105	107	38	.	.	PUNCT
fcis-21105	108	1	this	this	DET
fcis-21105	108	2	advantage	advantage	NOUN
fcis-21105	108	3	111	111	NUM
fcis-21105	108	4	makes	make	VERB
fcis-21105	108	5	multi	multi	ADJ
fcis-21105	108	6	-	-	ADJ
fcis-21105	108	7	modal	modal	ADJ
fcis-21105	108	8	large	large	ADJ
fcis-21105	108	9	model	model	NOUN
fcis-21105	108	10	an	an	DET
fcis-21105	108	11	important	important	ADJ
fcis-21105	108	12	part	part	NOUN
fcis-21105	108	13	of	of	ADP
fcis-21105	108	14	intelligent	intelligent	ADJ
fcis-21105	108	15	system	system	NOUN
fcis-21105	108	16	,	,	PUNCT
fcis-21105	108	17	and	and	CCONJ
fcis-21105	108	18	provides	provide	VERB
fcis-21105	108	19	reliable	reliable	ADJ
fcis-21105	108	20	support	support	NOUN
fcis-21105	108	21	for	for	ADP
fcis-21105	108	22	various	various	ADJ
fcis-21105	108	23	practical	practical	ADJ
fcis-21105	108	24	application	application	NOUN
fcis-21105	108	25	scenarios	scenario	NOUN
fcis-21105	108	26	.	.	PUNCT
fcis-21105	109	1	5	5	X
fcis-21105	109	2	.	.	X
fcis-21105	109	3	conclusion	conclusion	VERB
fcis-21105	109	4	multi	multi	ADJ
fcis-21105	109	5	-	-	ADJ
fcis-21105	109	6	modal	modal	ADJ
fcis-21105	109	7	large	large	ADJ
fcis-21105	109	8	model	model	NOUN
fcis-21105	109	9	shows	show	VERB
fcis-21105	109	10	high	high	ADJ
fcis-21105	109	11	accuracy	accuracy	NOUN
fcis-21105	109	12	and	and	CCONJ
fcis-21105	109	13	efficiency	efficiency	NOUN
fcis-21105	109	14	in	in	ADP
fcis-21105	109	15	path	path	NOUN
fcis-21105	109	16	planning	planning	NOUN
fcis-21105	109	17	in	in	ADP
fcis-21105	109	18	smart	smart	ADJ
fcis-21105	109	19	home	home	NOUN
fcis-21105	109	20	environment	environment	NOUN
fcis-21105	109	21	.	.	PUNCT
fcis-21105	110	1	compared	compare	VERB
fcis-21105	110	2	with	with	ADP
fcis-21105	110	3	single	single	ADJ
fcis-21105	110	4	-	-	PUNCT
fcis-21105	110	5	mode	mode	NOUN
fcis-21105	110	6	model	model	NOUN
fcis-21105	110	7	,	,	PUNCT
fcis-21105	110	8	multi	multi	ADJ
fcis-21105	110	9	-	-	ADJ
fcis-21105	110	10	mode	mode	ADJ
fcis-21105	110	11	large	large	ADJ
fcis-21105	110	12	-	-	PUNCT
fcis-21105	110	13	scale	scale	NOUN
fcis-21105	110	14	model	model	NOUN
fcis-21105	110	15	can	can	AUX
fcis-21105	110	16	realize	realize	VERB
fcis-21105	110	17	more	more	ADV
fcis-21105	110	18	accurate	accurate	ADJ
fcis-21105	110	19	and	and	CCONJ
fcis-21105	110	20	efficient	efficient	ADJ
fcis-21105	110	21	path	path	NOUN
fcis-21105	110	22	planning	planning	NOUN
fcis-21105	110	23	by	by	ADP
fcis-21105	110	24	comprehensively	comprehensively	ADV
fcis-21105	110	25	utilizing	utilize	VERB
fcis-21105	110	26	visual	visual	ADJ
fcis-21105	110	27	,	,	PUNCT
fcis-21105	110	28	sound	sound	NOUN
fcis-21105	110	29	and	and	CCONJ
fcis-21105	110	30	text	text	NOUN
fcis-21105	110	31	information	information	NOUN
fcis-21105	110	32	,	,	PUNCT
fcis-21105	110	33	which	which	PRON
fcis-21105	110	34	provides	provide	VERB
fcis-21105	110	35	reliable	reliable	ADJ
fcis-21105	110	36	support	support	NOUN
fcis-21105	110	37	for	for	ADP
fcis-21105	110	38	robot	robot	NOUN
fcis-21105	110	39	navigation	navigation	NOUN
fcis-21105	110	40	and	and	CCONJ
fcis-21105	110	41	movement	movement	NOUN
fcis-21105	110	42	in	in	ADP
fcis-21105	110	43	complex	complex	ADJ
fcis-21105	110	44	environment	environment	NOUN
fcis-21105	110	45	.	.	PUNCT
fcis-21105	111	1	multimodal	multimodal	ADJ
fcis-21105	111	2	large	large	ADJ
fcis-21105	111	3	models	model	NOUN
fcis-21105	111	4	show	show	VERB
fcis-21105	111	5	good	good	ADJ
fcis-21105	111	6	performance	performance	NOUN
fcis-21105	111	7	in	in	ADP
fcis-21105	111	8	different	different	ADJ
fcis-21105	111	9	types	type	NOUN
fcis-21105	111	10	of	of	ADP
fcis-21105	111	11	tasks	task	NOUN
fcis-21105	111	12	.	.	PUNCT
fcis-21105	112	1	whether	whether	SCONJ
fcis-21105	112	2	it	it	PRON
fcis-21105	112	3	is	be	AUX
fcis-21105	112	4	the	the	DET
fcis-21105	112	5	task	task	NOUN
fcis-21105	112	6	of	of	ADP
fcis-21105	112	7	goods	good	NOUN
fcis-21105	112	8	delivery	delivery	NOUN
fcis-21105	112	9	,	,	PUNCT
fcis-21105	112	10	environmental	environmental	ADJ
fcis-21105	112	11	monitoring	monitoring	NOUN
fcis-21105	112	12	or	or	CCONJ
fcis-21105	112	13	voice	voice	NOUN
fcis-21105	112	14	interaction	interaction	NOUN
fcis-21105	112	15	,	,	PUNCT
fcis-21105	112	16	the	the	DET
fcis-21105	112	17	multimodal	multimodal	ADJ
fcis-21105	112	18	large	large	ADJ
fcis-21105	112	19	model	model	NOUN
fcis-21105	112	20	can	can	AUX
fcis-21105	112	21	achieve	achieve	VERB
fcis-21105	112	22	high	high	ADJ
fcis-21105	112	23	accuracy	accuracy	NOUN
fcis-21105	112	24	and	and	CCONJ
fcis-21105	112	25	efficiency	efficiency	NOUN
fcis-21105	112	26	,	,	PUNCT
fcis-21105	112	27	which	which	PRON
fcis-21105	112	28	shows	show	VERB
fcis-21105	112	29	that	that	SCONJ
fcis-21105	112	30	it	it	PRON
fcis-21105	112	31	has	have	VERB
fcis-21105	112	32	strong	strong	ADJ
fcis-21105	112	33	adaptability	adaptability	NOUN
fcis-21105	112	34	and	and	CCONJ
fcis-21105	112	35	generalization	generalization	NOUN
fcis-21105	112	36	ability	ability	NOUN
fcis-21105	112	37	in	in	ADP
fcis-21105	112	38	dealing	deal	VERB
fcis-21105	112	39	with	with	ADP
fcis-21105	112	40	various	various	ADJ
fcis-21105	112	41	tasks	task	NOUN
fcis-21105	112	42	.	.	PUNCT
fcis-21105	113	1	multi	multi	ADJ
fcis-21105	113	2	-	-	ADJ
fcis-21105	113	3	modal	modal	ADJ
fcis-21105	113	4	large	large	ADJ
fcis-21105	113	5	model	model	NOUN
fcis-21105	113	6	has	have	VERB
fcis-21105	113	7	strong	strong	ADJ
fcis-21105	113	8	generalization	generalization	NOUN
fcis-21105	113	9	ability	ability	NOUN
fcis-21105	113	10	and	and	CCONJ
fcis-21105	113	11	can	can	AUX
fcis-21105	113	12	adapt	adapt	VERB
fcis-21105	113	13	to	to	ADP
fcis-21105	113	14	the	the	DET
fcis-21105	113	15	needs	need	NOUN
fcis-21105	113	16	of	of	ADP
fcis-21105	113	17	different	different	ADJ
fcis-21105	113	18	environments	environment	NOUN
fcis-21105	113	19	and	and	CCONJ
fcis-21105	113	20	tasks	task	NOUN
fcis-21105	113	21	.	.	PUNCT
fcis-21105	114	1	by	by	ADP
fcis-21105	114	2	comprehensively	comprehensively	ADV
fcis-21105	114	3	utilizing	utilize	VERB
fcis-21105	114	4	various	various	ADJ
fcis-21105	114	5	modal	modal	ADJ
fcis-21105	114	6	information	information	NOUN
fcis-21105	114	7	,	,	PUNCT
fcis-21105	114	8	the	the	DET
fcis-21105	114	9	multi	multi	ADJ
fcis-21105	114	10	-	-	ADJ
fcis-21105	114	11	modal	modal	ADJ
fcis-21105	114	12	large	large	ADJ
fcis-21105	114	13	model	model	NOUN
fcis-21105	114	14	can	can	AUX
fcis-21105	114	15	improve	improve	VERB
fcis-21105	114	16	the	the	DET
fcis-21105	114	17	efficiency	efficiency	NOUN
fcis-21105	114	18	of	of	ADP
fcis-21105	114	19	task	task	NOUN
fcis-21105	114	20	execution	execution	NOUN
fcis-21105	114	21	while	while	SCONJ
fcis-21105	114	22	ensuring	ensure	VERB
fcis-21105	114	23	the	the	DET
fcis-21105	114	24	accuracy	accuracy	NOUN
fcis-21105	114	25	,	,	PUNCT
fcis-21105	114	26	which	which	PRON
fcis-21105	114	27	provides	provide	VERB
fcis-21105	114	28	important	important	ADJ
fcis-21105	114	29	support	support	NOUN
fcis-21105	114	30	for	for	ADP
fcis-21105	114	31	the	the	DET
fcis-21105	114	32	intelligence	intelligence	NOUN
fcis-21105	114	33	and	and	CCONJ
fcis-21105	114	34	autonomy	autonomy	NOUN
fcis-21105	114	35	of	of	ADP
fcis-21105	114	36	intelligent	intelligent	ADJ
fcis-21105	114	37	robots	robot	NOUN
fcis-21105	114	38	in	in	ADP
fcis-21105	114	39	practical	practical	ADJ
fcis-21105	114	40	applications	application	NOUN
fcis-21105	114	41	.	.	PUNCT
fcis-21105	115	1	the	the	DET
fcis-21105	115	2	results	result	NOUN
fcis-21105	115	3	of	of	ADP
fcis-21105	115	4	this	this	DET
fcis-21105	115	5	study	study	NOUN
fcis-21105	115	6	show	show	VERB
fcis-21105	115	7	that	that	SCONJ
fcis-21105	115	8	multi	multi	ADJ
fcis-21105	115	9	-	-	ADJ
fcis-21105	115	10	modal	modal	ADJ
fcis-21105	115	11	large	large	ADJ
fcis-21105	115	12	-	-	PUNCT
fcis-21105	115	13	scale	scale	NOUN
fcis-21105	115	14	model	model	NOUN
fcis-21105	115	15	has	have	VERB
fcis-21105	115	16	broad	broad	ADJ
fcis-21105	115	17	application	application	NOUN
fcis-21105	115	18	prospects	prospect	NOUN
fcis-21105	115	19	and	and	CCONJ
fcis-21105	115	20	important	important	ADJ
fcis-21105	115	21	research	research	NOUN
fcis-21105	115	22	value	value	NOUN
fcis-21105	115	23	in	in	ADP
fcis-21105	115	24	robot	robot	NOUN
fcis-21105	115	25	control	control	PROPN
fcis-21105	115	26	intelligence	intelligence	NOUN
fcis-21105	115	27	.	.	PUNCT
fcis-21105	116	1	the	the	DET
fcis-21105	116	2	introduction	introduction	NOUN
fcis-21105	116	3	of	of	ADP
fcis-21105	116	4	multi	multi	ADJ
fcis-21105	116	5	-	-	ADJ
fcis-21105	116	6	modal	modal	ADJ
fcis-21105	116	7	large	large	ADJ
fcis-21105	116	8	model	model	NOUN
fcis-21105	116	9	can	can	AUX
fcis-21105	116	10	not	not	PART
fcis-21105	116	11	only	only	ADV
fcis-21105	116	12	improve	improve	VERB
fcis-21105	116	13	the	the	DET
fcis-21105	116	14	intelligence	intelligence	NOUN
fcis-21105	116	15	level	level	NOUN
fcis-21105	116	16	and	and	CCONJ
fcis-21105	116	17	task	task	NOUN
fcis-21105	116	18	execution	execution	NOUN
fcis-21105	116	19	ability	ability	NOUN
fcis-21105	116	20	of	of	ADP
fcis-21105	116	21	robot	robot	NOUN
fcis-21105	116	22	system	system	NOUN
fcis-21105	116	23	,	,	PUNCT
fcis-21105	116	24	but	but	CCONJ
fcis-21105	116	25	also	also	ADV
fcis-21105	116	26	provide	provide	VERB
fcis-21105	116	27	new	new	ADJ
fcis-21105	116	28	ideas	idea	NOUN
fcis-21105	116	29	and	and	CCONJ
fcis-21105	116	30	methods	method	NOUN
fcis-21105	116	31	for	for	ADP
fcis-21105	116	32	intelligent	intelligent	ADJ
fcis-21105	116	33	development	development	NOUN
fcis-21105	116	34	in	in	ADP
fcis-21105	116	35	smart	smart	ADJ
fcis-21105	116	36	homes	home	NOUN
fcis-21105	116	37	,	,	PUNCT
fcis-21105	116	38	smart	smart	ADJ
fcis-21105	116	39	factories	factory	NOUN
fcis-21105	116	40	and	and	CCONJ
fcis-21105	116	41	other	other	ADJ
fcis-21105	116	42	fields	field	NOUN
fcis-21105	116	43	.	.	PUNCT
fcis-21105	117	1	in	in	ADP
fcis-21105	117	2	the	the	DET
fcis-21105	117	3	future	future	NOUN
fcis-21105	117	4	,	,	PUNCT
fcis-21105	117	5	we	we	PRON
fcis-21105	117	6	will	will	AUX
fcis-21105	117	7	continue	continue	VERB
fcis-21105	117	8	to	to	PART
fcis-21105	117	9	study	study	VERB
fcis-21105	117	10	the	the	DET
fcis-21105	117	11	application	application	NOUN
fcis-21105	117	12	of	of	ADP
fcis-21105	117	13	multi	multi	ADJ
fcis-21105	117	14	-	-	ADJ
fcis-21105	117	15	modal	modal	ADJ
fcis-21105	117	16	large	large	ADJ
fcis-21105	117	17	model	model	NOUN
fcis-21105	117	18	in	in	ADP
fcis-21105	117	19	robot	robot	NOUN
fcis-21105	117	20	control	control	NOUN
fcis-21105	117	21	,	,	PUNCT
fcis-21105	117	22	explore	explore	VERB
fcis-21105	117	23	more	more	ADJ
fcis-21105	117	24	innovative	innovative	ADJ
fcis-21105	117	25	methods	method	NOUN
fcis-21105	117	26	and	and	CCONJ
fcis-21105	117	27	technologies	technology	NOUN
fcis-21105	117	28	,	,	PUNCT
fcis-21105	117	29	and	and	CCONJ
fcis-21105	117	30	promote	promote	VERB
fcis-21105	117	31	the	the	DET
fcis-21105	117	32	development	development	NOUN
fcis-21105	117	33	and	and	CCONJ
fcis-21105	117	34	application	application	NOUN
fcis-21105	117	35	of	of	ADP
fcis-21105	117	36	intelligent	intelligent	ADJ
fcis-21105	117	37	robot	robot	NOUN
fcis-21105	117	38	technology	technology	NOUN
fcis-21105	117	39	.	.	PUNCT
fcis-21105	118	1	references	reference	NOUN
fcis-21105	118	2	[	[	X
fcis-21105	118	3	1	1	NUM
fcis-21105	118	4	]	]	X
fcis-21105	118	5	vladareanu	vladareanu	PROPN
fcis-21105	118	6	,	,	PUNCT
fcis-21105	118	7	l.	l.	PROPN
fcis-21105	118	8	,	,	PUNCT
fcis-21105	118	9	vladareanu	vladareanu	PROPN
fcis-21105	118	10	,	,	PUNCT
fcis-21105	118	11	v.	v.	CCONJ
fcis-21105	118	12	,	,	PUNCT
fcis-21105	118	13	yu	yu	PROPN
fcis-21105	118	14	,	,	PUNCT
fcis-21105	118	15	h.	h.	PROPN
fcis-21105	118	16	,	,	PUNCT
fcis-21105	118	17	wang	wang	PROPN
fcis-21105	118	18	,	,	PUNCT
fcis-21105	118	19	h.	h.	PROPN
fcis-21105	118	20	,	,	PUNCT
fcis-21105	118	21	&	&	CCONJ
fcis-21105	118	22	smarandache	smarandache	PROPN
fcis-21105	118	23	,	,	PUNCT
fcis-21105	118	24	f.	f.	PROPN
fcis-21105	118	25	(	(	PUNCT
fcis-21105	118	26	2018	2018	NUM
fcis-21105	118	27	)	)	PUNCT
fcis-21105	118	28	.	.	PUNCT
fcis-21105	119	1	robot	robot	NOUN
fcis-21105	119	2	advanced	advance	VERB
fcis-21105	119	3	intelligent	intelligent	ADJ
fcis-21105	119	4	control	control	NOUN
fcis-21105	119	5	developed	develop	VERB
fcis-21105	119	6	through	through	ADP
fcis-21105	119	7	versatile	versatile	ADJ
fcis-21105	119	8	intelligent	intelligent	ADJ
fcis-21105	119	9	portable	portable	ADJ
fcis-21105	119	10	platform	platform	NOUN
fcis-21105	119	11	.	.	PUNCT
fcis-21105	120	1	sensors	sensor	NOUN
fcis-21105	120	2	,	,	PUNCT
fcis-21105	120	3	20(13	20(13	NOUN
fcis-21105	120	4	)	)	PUNCT
fcis-21105	120	5	,	,	PUNCT
fcis-21105	120	6	5	5	X
fcis-21105	120	7	.	.	PUNCT
fcis-21105	121	1	[	[	X
fcis-21105	121	2	2	2	NUM
fcis-21105	121	3	]	]	SYM
fcis-21105	121	4	fan	fan	PROPN
fcis-21105	121	5	,	,	PUNCT
fcis-21105	121	6	j.	j.	PROPN
fcis-21105	121	7	(	(	PUNCT
fcis-21105	121	8	2020	2020	NUM
fcis-21105	121	9	)	)	PUNCT
fcis-21105	121	10	.	.	PUNCT
fcis-21105	122	1	the	the	DET
fcis-21105	122	2	automation	automation	NOUN
fcis-21105	122	3	control	control	NOUN
fcis-21105	122	4	system	system	NOUN
fcis-21105	122	5	of	of	ADP
fcis-21105	122	6	intelligent	intelligent	ADJ
fcis-21105	122	7	flexible	flexible	ADJ
fcis-21105	122	8	clearing	clearing	NOUN
fcis-21105	122	9	robot	robot	NOUN
fcis-21105	122	10	:	:	PUNCT
fcis-21105	122	11	.	.	PUNCT
fcis-21105	123	1	international	international	ADJ
fcis-21105	123	2	journal	journal	PROPN
fcis-21105	123	3	of	of	ADP
fcis-21105	123	4	advanced	advanced	ADJ
fcis-21105	123	5	robotic	robotic	ADJ
fcis-21105	123	6	systems	system	NOUN
fcis-21105	123	7	,	,	PUNCT
fcis-21105	123	8	17(3	17(3	NUM
fcis-21105	123	9	)	)	PUNCT
fcis-21105	123	10	,	,	PUNCT
fcis-21105	123	11	3009	3009	NUM
fcis-21105	123	12	-	-	SYM
fcis-21105	123	13	3023	3023	NUM
fcis-21105	123	14	.	.	PUNCT
fcis-21105	124	1	[	[	X
fcis-21105	124	2	3	3	NUM
fcis-21105	124	3	]	]	X
fcis-21105	124	4	wang	wang	PROPN
fcis-21105	124	5	,	,	PUNCT
fcis-21105	124	6	b.	b.	PROPN
fcis-21105	124	7	,	,	PUNCT
fcis-21105	124	8	li	li	PROPN
fcis-21105	124	9	,	,	PUNCT
fcis-21105	124	10	b.	b.	PROPN
fcis-21105	124	11	,	,	PUNCT
fcis-21105	124	12	yang	yang	PROPN
fcis-21105	124	13	,	,	PUNCT
fcis-21105	124	14	j.	j.	PROPN
fcis-21105	124	15	,	,	PUNCT
fcis-21105	124	16	yu	yu	PROPN
fcis-21105	124	17	,	,	PUNCT
fcis-21105	124	18	t.	t.	PROPN
fcis-21105	124	19	,	,	PUNCT
fcis-21105	124	20	&	&	CCONJ
fcis-21105	124	21	wang	wang	PROPN
fcis-21105	124	22	,	,	PUNCT
fcis-21105	124	23	w.	w.	PROPN
fcis-21105	124	24	(	(	PUNCT
fcis-21105	124	25	2019	2019	NUM
fcis-21105	124	26	)	)	PUNCT
fcis-21105	124	27	.	.	PUNCT
fcis-21105	125	1	simulation	simulation	NOUN
fcis-21105	125	2	and	and	CCONJ
fcis-21105	125	3	monitoring	monitoring	NOUN
fcis-21105	125	4	of	of	ADP
fcis-21105	125	5	a	a	DET
fcis-21105	125	6	6r	6r	NUM
fcis-21105	125	7	industrial	industrial	ADJ
fcis-21105	125	8	robot	robot	NOUN
fcis-21105	125	9	for	for	ADP
fcis-21105	125	10	intelligent	intelligent	ADJ
fcis-21105	125	11	manufacturing	manufacturing	NOUN
fcis-21105	125	12	.	.	PUNCT
fcis-21105	126	1	harbin	harbin	PROPN
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fcis-21105	126	3	daxue	daxue	PROPN
fcis-21105	126	4	xuebao	xuebao	PROPN
fcis-21105	126	5	/	/	SYM
fcis-21105	126	6	journal	journal	PROPN
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fcis-21105	126	8	harbin	harbin	PROPN
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fcis-21105	126	12	40(2	40(2	NUM
fcis-21105	126	13	)	)	PUNCT
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fcis-21105	127	2	4	4	NUM
fcis-21105	127	3	]	]	X
fcis-21105	127	4	zhang	zhang	PROPN
fcis-21105	127	5	,	,	PUNCT
fcis-21105	127	6	z.	z.	PROPN
fcis-21105	127	7	,	,	PUNCT
fcis-21105	127	8	liu	liu	PROPN
fcis-21105	127	9	,	,	PUNCT
fcis-21105	127	10	c.	c.	PROPN
fcis-21105	127	11	,	,	PUNCT
fcis-21105	127	12	&	&	CCONJ
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fcis-21105	127	14	,	,	PUNCT
fcis-21105	127	15	x.	x.	NOUN
fcis-21105	127	16	(	(	PUNCT
fcis-21105	127	17	2019	2019	NUM
fcis-21105	127	18	)	)	PUNCT
fcis-21105	127	19	.	.	PUNCT
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fcis-21105	127	21	distance	distance	NOUN
fcis-21105	127	22	measurement	measurement	NOUN
fcis-21105	127	23	of	of	ADP
fcis-21105	127	24	robot	robot	NOUN
fcis-21105	127	25	obstacle	obstacle	NOUN
fcis-21105	127	26	avoidance	avoidance	NOUN
fcis-21105	127	27	in	in	ADP
fcis-21105	127	28	cloud	cloud	NOUN
fcis-21105	127	29	computing	computing	NOUN
fcis-21105	127	30	environment	environment	NOUN
fcis-21105	127	31	.	.	PUNCT
fcis-21105	128	1	international	international	ADJ
fcis-21105	128	2	journal	journal	PROPN
fcis-21105	128	3	of	of	ADP
fcis-21105	128	4	performability	performability	NOUN
fcis-21105	128	5	engineering	engineering	NOUN
fcis-21105	128	6	,	,	PUNCT
fcis-21105	128	7	15(3	15(3	NUM
fcis-21105	128	8	)	)	PUNCT
fcis-21105	128	9	,	,	PUNCT
fcis-21105	128	10	959	959	NUM
fcis-21105	128	11	-	-	SYM
fcis-21105	128	12	968	968	NUM
fcis-21105	128	13	.	.	PUNCT
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fcis-21105	129	2	5	5	NUM
fcis-21105	129	3	]	]	X
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fcis-21105	129	5	,	,	PUNCT
fcis-21105	129	6	f.	f.	PROPN
fcis-21105	129	7	,	,	PUNCT
fcis-21105	129	8	liu	liu	PROPN
fcis-21105	129	9	,	,	PUNCT
fcis-21105	129	10	s.	s.	PROPN
fcis-21105	129	11	,	,	PUNCT
fcis-21105	129	12	&	&	CCONJ
fcis-21105	129	13	tian	tian	PROPN
fcis-21105	129	14	,	,	PUNCT
fcis-21105	129	15	g.	g.	PROPN
fcis-21105	129	16	(	(	PUNCT
fcis-21105	129	17	2019	2019	NUM
fcis-21105	129	18	)	)	PUNCT
fcis-21105	129	19	.	.	PUNCT
fcis-21105	130	1	methods	method	NOUN
fcis-21105	130	2	for	for	ADP
fcis-21105	130	3	sensor	sensor	NOUN
fcis-21105	130	4	data	datum	NOUN
fcis-21105	130	5	mapping	mapping	NOUN
fcis-21105	130	6	and	and	CCONJ
fcis-21105	130	7	automatic	automatic	ADJ
fcis-21105	130	8	service	service	NOUN
fcis-21105	130	9	composition	composition	NOUN
fcis-21105	130	10	in	in	ADP
fcis-21105	130	11	intelligent	intelligent	ADJ
fcis-21105	130	12	robot	robot	NOUN
fcis-21105	130	13	service	service	NOUN
fcis-21105	130	14	environment	environment	NOUN
fcis-21105	130	15	.	.	PUNCT
fcis-21105	131	1	jiqiren	jiqiren	PROPN
fcis-21105	131	2	/	/	SYM
fcis-21105	131	3	robot	robot	PROPN
fcis-21105	131	4	,	,	PUNCT
fcis-21105	131	5	41(1	41(1	NUM
fcis-21105	131	6	)	)	PUNCT
fcis-21105	131	7	,	,	PUNCT
fcis-21105	131	8	30	30	NUM
fcis-21105	131	9	-	-	SYM
fcis-21105	131	10	39	39	NUM
fcis-21105	131	11	.	.	PUNCT
fcis-21105	132	1	[	[	X
fcis-21105	132	2	6	6	NUM
fcis-21105	132	3	]	]	X
fcis-21105	132	4	wang	wang	PROPN
fcis-21105	132	5	,	,	PUNCT
fcis-21105	132	6	w.	w.	PROPN
fcis-21105	132	7	k.	k.	PROPN
fcis-21105	132	8	,	,	PUNCT
fcis-21105	132	9	wu	wu	PROPN
fcis-21105	132	10	,	,	PUNCT
fcis-21105	132	11	x.	x.	PROPN
fcis-21105	132	12	b.	b.	PROPN
fcis-21105	132	13	,	,	PUNCT
fcis-21105	132	14	&	&	CCONJ
fcis-21105	132	15	chen	chen	PROPN
fcis-21105	132	16	,	,	PUNCT
fcis-21105	132	17	w.	w.	PROPN
fcis-21105	132	18	b.	b.	PROPN
fcis-21105	132	19	(	(	PUNCT
fcis-21105	132	20	2018	2018	NUM
fcis-21105	132	21	)	)	PUNCT
fcis-21105	132	22	.	.	PUNCT
fcis-21105	133	1	research	research	NOUN
fcis-21105	133	2	on	on	ADP
fcis-21105	133	3	path	path	NOUN
fcis-21105	133	4	planning	planning	NOUN
fcis-21105	133	5	of	of	ADP
fcis-21105	133	6	intelligent	intelligent	ADJ
fcis-21105	133	7	plant	plant	NOUN
fcis-21105	133	8	inspection	inspection	NOUN
fcis-21105	133	9	robot	robot	NOUN
fcis-21105	133	10	.	.	PUNCT
fcis-21105	134	1	journal	journal	PROPN
fcis-21105	134	2	of	of	ADP
fcis-21105	134	3	computers	computer	NOUN
fcis-21105	134	4	(	(	PUNCT
fcis-21105	134	5	taiwan	taiwan	PROPN
fcis-21105	134	6	)	)	PUNCT
fcis-21105	134	7	,	,	PUNCT
fcis-21105	134	8	29(2	29(2	NUM
fcis-21105	134	9	)	)	PUNCT
fcis-21105	134	10	,	,	PUNCT
fcis-21105	134	11	174	174	NUM
fcis-21105	134	12	-	-	SYM
fcis-21105	134	13	185	185	NUM
fcis-21105	134	14	.	.	PUNCT
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fcis-21105	135	2	7	7	NUM
fcis-21105	135	3	]	]	SYM
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fcis-21105	135	5	,	,	PUNCT
fcis-21105	135	6	j.	j.	PROPN
fcis-21105	135	7	,	,	PUNCT
fcis-21105	135	8	ma	ma	PROPN
fcis-21105	135	9	,	,	PUNCT
fcis-21105	135	10	c.	c.	PROPN
fcis-21105	135	11	,	,	PUNCT
fcis-21105	135	12	xu	xu	PROPN
fcis-21105	135	13	,	,	PUNCT
fcis-21105	135	14	p.	p.	NOUN
fcis-21105	135	15	,	,	PUNCT
fcis-21105	135	16	guo	guo	PROPN
fcis-21105	135	17	,	,	PUNCT
fcis-21105	135	18	s.	s.	PROPN
fcis-21105	135	19	,	,	PUNCT
fcis-21105	135	20	&	&	CCONJ
fcis-21105	135	21	qiao	qiao	PROPN
fcis-21105	135	22	,	,	PUNCT
fcis-21105	135	23	l.	l.	PROPN
fcis-21105	135	24	(	(	PUNCT
fcis-21105	135	25	2018	2018	NUM
fcis-21105	135	26	)	)	PUNCT
fcis-21105	135	27	.	.	PUNCT
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fcis-21105	136	2	of	of	ADP
fcis-21105	136	3	the	the	DET
fcis-21105	136	4	dual	dual	ADJ
fcis-21105	136	5	-	-	PUNCT
fcis-21105	136	6	body	body	NOUN
fcis-21105	136	7	intelligent	intelligent	ADJ
fcis-21105	136	8	inspection	inspection	NOUN
fcis-21105	136	9	robot	robot	NOUN
fcis-21105	136	10	in	in	ADP
fcis-21105	136	11	substation	substation	NOUN
fcis-21105	136	12	based	base	VERB
fcis-21105	136	13	on	on	ADP
fcis-21105	136	14	data	data	NOUN
fcis-21105	136	15	mining	mining	NOUN
fcis-21105	136	16	algorithm	algorithm	NOUN
fcis-21105	136	17	.	.	PUNCT
fcis-21105	137	1	academic	academic	ADJ
fcis-21105	137	2	journal	journal	NOUN
fcis-21105	137	3	of	of	ADP
fcis-21105	137	4	manufacturing	manufacturing	NOUN
fcis-21105	137	5	engineering	engineering	NOUN
fcis-21105	137	6	,	,	PUNCT
fcis-21105	137	7	16(4	16(4	NUM
fcis-21105	137	8	)	)	PUNCT
fcis-21105	137	9	,	,	PUNCT
fcis-21105	137	10	102	102	NUM
fcis-21105	137	11	-	-	SYM
fcis-21105	137	12	109	109	NUM
fcis-21105	137	13	.	.	PUNCT
fcis-21105	138	1	[	[	X
fcis-21105	138	2	8	8	NUM
fcis-21105	138	3	]	]	SYM
fcis-21105	138	4	li	li	PROPN
fcis-21105	138	5	,	,	PUNCT
fcis-21105	138	6	m.	m.	NOUN
fcis-21105	138	7	,	,	PUNCT
fcis-21105	138	8	li	li	PROPN
fcis-21105	138	9	,	,	PUNCT
fcis-21105	138	10	y.	y.	PROPN
fcis-21105	138	11	,	,	PUNCT
fcis-21105	138	12	&	&	CCONJ
fcis-21105	138	13	wang	wang	PROPN
fcis-21105	138	14	,	,	PUNCT
fcis-21105	138	15	q.	q.	PROPN
fcis-21105	138	16	(	(	PUNCT
fcis-21105	138	17	2018	2018	NUM
fcis-21105	138	18	)	)	PUNCT
fcis-21105	138	19	.	.	PUNCT
fcis-21105	139	1	research	research	NOUN
fcis-21105	139	2	progress	progress	NOUN
fcis-21105	139	3	on	on	ADP
fcis-21105	139	4	modeling	modeling	NOUN
fcis-21105	139	5	,	,	PUNCT
fcis-21105	139	6	control	control	NOUN
fcis-21105	139	7	and	and	CCONJ
fcis-21105	139	8	application	application	NOUN
fcis-21105	139	9	of	of	ADP
fcis-21105	139	10	eap	eap	PROPN
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fcis-21105	139	12	intelligent	intelligent	ADJ
fcis-21105	139	13	driving	driving	NOUN
fcis-21105	139	14	materials	material	NOUN
fcis-21105	139	15	.	.	PUNCT
fcis-21105	140	1	jiqiren	jiqiren	PROPN
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fcis-21105	140	3	robot	robot	PROPN
fcis-21105	140	4	,	,	PUNCT
fcis-21105	140	5	40(5	40(5	NOUN
fcis-21105	140	6	)	)	PUNCT
fcis-21105	140	7	,	,	PUNCT
fcis-21105	140	8	660	660	NUM
fcis-21105	140	9	-	-	SYM
fcis-21105	140	10	672	672	NUM
fcis-21105	140	11	.	.	PUNCT
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fcis-21105	141	2	9	9	NUM
fcis-21105	141	3	]	]	SYM
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fcis-21105	141	5	,	,	PUNCT
fcis-21105	141	6	h.	h.	PROPN
fcis-21105	141	7	k.	k.	PROPN
fcis-21105	141	8	,	,	PUNCT
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fcis-21105	141	10	,	,	PUNCT
fcis-21105	141	11	h.	h.	PROPN
fcis-21105	141	12	y.	y.	PROPN
fcis-21105	141	13	,	,	PUNCT
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fcis-21105	141	15	,	,	PUNCT
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fcis-21105	141	17	b.	b.	PROPN
fcis-21105	141	18	,	,	PUNCT
fcis-21105	141	19	&	&	CCONJ
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fcis-21105	141	21	,	,	PUNCT
fcis-21105	141	22	h.	h.	PROPN
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fcis-21105	141	26	)	)	PUNCT
fcis-21105	141	27	.	.	PUNCT
fcis-21105	142	1	intelligent	intelligent	ADJ
fcis-21105	142	2	fault	fault	NOUN
fcis-21105	142	3	detection	detection	NOUN
fcis-21105	142	4	,	,	PUNCT
fcis-21105	142	5	diagnosis	diagnosis	NOUN
fcis-21105	142	6	and	and	CCONJ
fcis-21105	142	7	health	health	NOUN
fcis-21105	142	8	evaluation	evaluation	NOUN
fcis-21105	142	9	for	for	ADP
fcis-21105	142	10	industrial	industrial	ADJ
fcis-21105	142	11	robots	robot	NOUN
fcis-21105	142	12	.	.	PUNCT
fcis-21105	143	1	mechanika	mechanika	PROPN
fcis-21105	143	2	,	,	PUNCT
fcis-21105	143	3	27(1	27(1	NUM
fcis-21105	143	4	)	)	PUNCT
fcis-21105	143	5	,	,	PUNCT
fcis-21105	143	6	70	70	NUM
fcis-21105	143	7	-	-	SYM
fcis-21105	143	8	79	79	NUM
fcis-21105	143	9	.	.	PUNCT
fcis-21105	144	1	[	[	X
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fcis-21105	144	5	,	,	PUNCT
fcis-21105	144	6	y.	y.	PROPN
fcis-21105	144	7	,	,	PUNCT
fcis-21105	144	8	an	an	PROPN
fcis-21105	144	9	,	,	PUNCT
fcis-21105	144	10	d.	d.	PROPN
fcis-21105	144	11	,	,	PUNCT
fcis-21105	144	12	liu	liu	PROPN
fcis-21105	144	13	,	,	PUNCT
fcis-21105	144	14	j.	j.	PROPN
fcis-21105	144	15	,	,	PUNCT
fcis-21105	144	16	wu	wu	PROPN
fcis-21105	144	17	,	,	PUNCT
fcis-21105	144	18	y.	y.	PROPN
fcis-21105	144	19	,	,	PUNCT
fcis-21105	144	20	li	li	PROPN
fcis-21105	144	21	,	,	PUNCT
fcis-21105	144	22	w.	w.	PROPN
fcis-21105	144	23	,	,	PUNCT
fcis-21105	144	24	&	&	CCONJ
fcis-21105	144	25	wei	wei	PROPN
fcis-21105	144	26	,	,	PUNCT
fcis-21105	144	27	q.	q.	PROPN
fcis-21105	144	28	,	,	PUNCT
fcis-21105	144	29	et	et	PROPN
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fcis-21105	145	1	(	(	PUNCT
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fcis-21105	145	3	)	)	PUNCT
fcis-21105	145	4	.	.	PUNCT
fcis-21105	146	1	intelligent	intelligent	ADJ
fcis-21105	146	2	control	control	NOUN
fcis-21105	146	3	method	method	NOUN
fcis-21105	146	4	of	of	ADP
fcis-21105	146	5	underwater	underwater	ADJ
fcis-21105	146	6	inspection	inspection	NOUN
fcis-21105	146	7	robot	robot	NOUN
fcis-21105	146	8	in	in	ADP
fcis-21105	146	9	netcage	netcage	NOUN
fcis-21105	146	10	.	.	PUNCT
fcis-21105	147	1	aquaculture	aquaculture	NOUN
fcis-21105	147	2	research	research	NOUN
fcis-21105	147	3	,	,	PUNCT
fcis-21105	147	4	53(5	53(5	NUM
fcis-21105	147	5	)	)	PUNCT
fcis-21105	147	6	,	,	PUNCT
fcis-21105	147	7	1928	1928	NUM
fcis-21105	147	8	-	-	SYM
fcis-21105	147	9	1938	1938	NUM
fcis-21105	147	10	.	.	PUNCT